CN105589373B - The conversion method of SSBIII bus protocols and MKI bus protocols - Google Patents
The conversion method of SSBIII bus protocols and MKI bus protocols Download PDFInfo
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- CN105589373B CN105589373B CN201410640276.6A CN201410640276A CN105589373B CN 105589373 B CN105589373 B CN 105589373B CN 201410640276 A CN201410640276 A CN 201410640276A CN 105589373 B CN105589373 B CN 105589373B
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Abstract
The present invention provides the conversion method of a kind of SSBIII bus protocols and MKI bus protocols, and state machine is set inside microcontroller, realizes the transport protocol conversion between SSBIII buses and MKI buses using state machine, conversion is as follows：Resets simultaneously wait for, the protocol conversion between SSBIII buses and MKI bus initializations, state machine operation realization SSBIII buses and MKI buses.CNC system sends out command signal, and by SSBIII bus transfers, the data in SSBIII buses are monitored in main program, and carry out protocol conversion by microcontroller is run again by the corresponding control signal control frequency converter of MKI buses output.
Description
Technical field
The present invention relates to frequency converter field, the protocol conversion side between more particularly to a kind of SSBIII buses and MKI buses
Method.
Background technology
With between digital control system and universal frequency converter, I/O more and more using digital quantity communication mode, servo interface
Bussed trend be current digital control system Communication Development main flow direction, form fieldbus based open cnc system
System.SSBIII buses are by Shenyang Institute of Computing Technology, Chinese Academy of Sciences, the limited public affairs of Shenyang high-precision digital control technology
Department and third generation synchronous serial bus (the Synchronous Serial of high-grade numerical control National Engineering Research Centre joint development
Bus), suitable for factory automation.By SSBIII buses, a controller can control automatically controlling for multiple dispersions to set
It is standby, such as servo-driver, frequency converter and I/O modules.
The main equipment of SSBIII buses is inserted into numerical control device in the form of board, and slave device is generally directly in the hard of frequency converter
It is realized on part plate.The order of numerical control device is sent to the frequency converter specified by SSBIII buses and MKI buses；Frequency converter it is anti-
Feedback is transmitted to numerical control device also by MKI buses and SSBIII buses.The equipment that communication is participated in digital control system has numerical control device
(CNC), frequency converter, main shaft equipment and I/O equipment etc..Main equipment, i.e. main website there are one allowing in bus system；And it is multiple from
Equipment, such as slave station 1, slave station 2.It is communicated between main equipment and each slave device using one master and multiple slaves, interrogation reply system, communicate sequential
It is controlled by main equipment.
Therefore, a kind of SSBIII bus protocols and research of the conversion method of MKI bus protocols for this intermediate item are designed
It is of great significance.And due to extensive use of the MKI buses in digital control system Communication Development field, the practical value of the method
Very big impetus can be played to the marketing of such product.
Invention content
For above-mentioned shortcoming in the prior art, the technical problem to be solved in the present invention is to provide one kind
Method for converting protocol between SSBIII buses and MKI buses.
Present invention technical solution used for the above purpose is：A kind of SSBIII bus protocols are assisted with MKI buses
The conversion method of view carries out the protocol conversion between SSBIII buses and MKI buses by microcontroller, includes the following steps：
Monolithic processor resetting simultaneously waits for；
SSBIII buses and MKI buses are initialized, waits for SSBIII buses and MKI buses ready；
Microcontroller reads frequency converter alarm condition by MKI buses, and the frequency converter alarm condition is total by SSBIII
Line is uploaded to numerical control device, if there is alarm, then carries out alarm removing according to the clear alarm command of numerical control device；
Microcontroller reads the torque feedback of frequency converter by MKI buses, and enabling instruction according to CNC carries out enabled operation and make
It can detect, when the control model of numerical control device is speed control mode, microcontroller transmission speed control instruction and tachometer value lead to
MKI bus transfers are crossed to frequency converter, frequency converter switches to speed control mode and brings into operation；When the control model of numerical control device
During for position control mode, microcontroller sends position control instruction and positional value passes through MKI bus transfers to frequency converter, frequency converter
It switches to position control mode and brings into operation；
Microcontroller reads again frequency converter alarm condition, and above process cycle carries out.
Simultaneously waiting process includes the monolithic processor resetting：Microcontroller setting SSBIII bus communication modules are in off state
The SSBIII bus initialization process is：It is slave station that SSBIII bus communications module, which is configured, and slave station number is 1,
The SSBIII bus communication periods are set, tributary address, initialization house dog are set according to the address read in frequency converter and are enabled
SSBIII bus communications.
The MKI bus initialization process is：Read SSBIII buses tributary address set by user, motor pole number, volume
Code device line number, and whether verify the tributary address read legal：The MKI bus initializations success if legal；As illegally, then led to
Cross MKI bus transfers initialization failure warning message.
The microcontroller reads frequency converter alarm condition by MKI buses, including procedure below：Microcontroller sends the police that reads the newspaper
Status command string 0x30,0x44,0x45,0x46,0x30,0x45,0x39,0x13 simultaneously pass through MKI bus transfers to frequency converter, etc.
Treat frequency converter responding and analyzing data, such as receive frequency converter response data as 0x30,0x30,0x46,0x46,0x13, then without
Alarm, the data such as received are other data, then have alarm.The alarm condition of reading is uploaded to by SSBIII buses
CNC。
It is described that alarm removing is carried out according to the clear alarm command of numerical control device, including procedure below：When CNC detects frequency converter
Alarm condition, then assign clear alarm command by SSBIII buses, and microcontroller sends clear alarm command after receiving clear alarm command
String 0x30,0x44,0x46,0x43,0x13 can remove alarm by MKI bus transfers to frequency converter.
The microcontroller reads the torque feedback of frequency converter, including procedure below：Microcontroller, which is sent, reads torque command string
0x30,0x44,0x45,0x46,0x30,0x30,0x30,0x13 wait for frequency converter response by MKI bus transfers to frequency converter
And parse, the torque data after parsing is uploaded to CNC by SSBIII buses.
It is described instruction is enabled according to CNC to carry out enabled operation, including procedure below：CNC sends enabled order and passes through
For SSBIII bus transfers to microcontroller, microcontroller judges that order to be upper enabled or lower enabled, is sent if for upper enabled order
Enabled command string 0x30,0x44,0x45,0x46,0x30,0x13 are enabled on frequency converter by MKI bus transfers to frequency converter,
Enabled command string 0x30,0x43,0x44 under being sent if for lower enabled order, 0x45,0x31,0x13 pass through MKI bus transfers
To frequency converter, enabled under frequency converter.
It is described instruction is enabled according to CNC to carry out enabled detection, including procedure below：Microcontroller, which is sent, reads enabled state order
String 0x30,0x45,0x46,0x13 passes through MKI bus transfers to frequency converter, waits for frequency converter responding and analyzing data, as received
Be 0x30,0x30,0x30,0x30,0x13 to frequency converter response data, then without enabling, the data such as received are 0x30,
0x30,0x30,0x31,0x13 then have enabled；The enabled state of reading is uploaded to CNC by SSBIII buses.
The present invention has the following advantages and beneficial effects：
1. it is other not need to addition using chip microcontroller SSBIII buses and the conversion of MKI bus protocols by the present invention
Peripheral circuit is realized simple and cost-effective；
2. the present invention sets state machine inside microcontroller, on the normal operation of MKI buses and miscellaneous equipment without influence；
3. present invention realization is easy and in stable condition, the conversion occasions of a variety of bus protocols are can be widely used for.
Description of the drawings
Fig. 1 is SSBIII buses and the conversion application schematic diagram of MKI bus protocols；
Fig. 2 is that flow chart is realized in SSBIII buses and the conversion of MKI bus protocols；
Fig. 3 is SSBIII bus protocols and MKI bus protocol transition status figures.
Specific embodiment
The present invention provides the conversion method of a kind of SSBIII bus protocols and MKI bus protocols, is set inside microcontroller
State machine realizes the transport protocol conversion between SSBIII buses and MKI buses using state machine, passes through tool below in conjunction with the accompanying drawings
Body embodiment elaborates to the present invention.
Fig. 1 is the conversion application schematic diagram of SSBIII buses and MKI bus protocols, CNC transmission speeds, position and other controls
Through SSBIII bus transfers to microcontroller, the agreement carried out by microcontroller between SSBIII buses and MKI buses turns for system instruction
It changes and passes through MKI bus transfers to frequency converter, and then control frequency converter movement.
Fig. 2 is that flow chart is realized in SSBIII buses and the conversion of MKI bus protocols, and detailed process includes：Resets
And it waits for, the agreement between SSBIII buses and MKI bus initializations, state machine operation realization SSBIII buses and MKI buses
Conversion
Simultaneously waiting process includes resets：Microcontroller setting SSBIII bus communication modules are in off state, and are delayed
SSBIII buses 20ms, MCU are resetted after 10ms and resets SSBIII buses and MKI buses, waits for SSBIII buses ready.
SSBIII bus initialization process is as follows：It is slave station that SSBIII communication modules, which are configured, and slave station number is 1, communication
Period is 2ms, and tributary address is set according to the address read from frequency converter, initializes house dog, and enabled SSBIII buses are led to
Letter；MKI bus initialization process is as follows：Microcontroller reads the SSBIII bus slave stations that user sets in frequency-changer operation panel
Address, motor pole number, encoder line number, and whether the tributary address that verification is read is legal, if data are legal at the beginning of MKI buses
Begin chemical conversion work(, if data are illegal, then initializes failure warning message by MKI bus transfers.
Fig. 3 is SSBIII bus protocols and MKI bus protocol transition status figures, realizes that process is as follows：
Microcontroller reads frequency converter alarm condition by MKI buses, and this state is uploaded to by SSBIII buses
CNC carries out alarm removing according to the clear alarm commands of CNC, and microcontroller reads the torque feedback of frequency converter, instruction is enabled according to CNC
Carry out enabled operation and enabled detection, if CNC control models are speed control mode, then microcontroller transmission speed control instruction and
Tachometer value to frequency converter, such as CNC control models is position control mode, then microcontroller sends position control instruction and positional value extremely
Frequency converter, microcontroller read again frequency converter alarm condition, and above process cycle carries out.
It is as follows that 1. microcontroller reads frequency converter alarm condition process：Microcontroller sends the alert status command string 0x30 that reads the newspaper,
0x44,0x45,0x46,0x30,0x45,0x39,0x13 wait for frequency converter responding and analyzing data, such as receive to frequency converter
Frequency converter response data is 0x30,0x30,0x46,0x46,0x13, then alarm free, the data such as received are other data, then
There is alarm.The alarm condition of reading is uploaded to CNC by SSBIII buses.
It is as follows that 2. microcontroller removes frequency converter alarm procedure：If CNC detects frequency converter alarm condition, then pass through SSBIII
Bus assigns clear alarm command, and microcontroller sends clear alarm command string 0x30,0x44,0x46,0x43 after receiving clear alarm command,
0x13 can remove alarm to frequency converter.
3. the torque feedback process that microcontroller reads frequency converter is as follows：Microcontroller, which is sent, reads torque command string 0x30,0x44,
0x45,0x46,0x30,0x30,0x30,0x13 wait for frequency converter responding and analyzing, by the torque data after parsing to frequency converter
CNC is uploaded to by SSBIII buses and is shown in operation interface.
It is as follows that 4. microcontroller enables operating process：CNC sends enabled order by SSBIII bus transfers to microcontroller, single
Piece machine judges that order to be upper enabled or lower enabled, send if for upper enabled order and enables command string 0x30,0x44,0x45,
0x46,0x30,0x13 are enabled on frequency converter to frequency converter, as it is lower it is enabled order if enabled command string 0x30 under transmission,
0x43,0x44,0x45,0x31,0x13 are enabled under frequency converter to frequency converter.
It is as follows that 5. microcontroller enables detection process：Microcontroller, which is sent, reads enabled state command string 0x30,0x45,0x46,
0x13 waits for frequency converter responding and analyzing data to frequency converter, such as receives frequency converter response data as 0x30,0x30,0x30,
0x30,0x13, then without enabling, the data such as received are 0x30,0x30,0x30,0x31,0x13, then have enabled.By reading
Enabled state is uploaded to CNC by SSBIII buses.
6. when CNC is in speed control mode, to microcontroller, microcontroller is sent for transmission speed state of a control and tachometer value
To frequency converter, frequency converter switches to speed control mould for speed control commands string 0x30,0x31,0x32,0x33,0x13 and tachometer value
Formula simultaneously brings into operation.
7. when CNC is in position control mode, position state of a control and positional value are sent to microcontroller, microcontroller is sent
To frequency converter, frequency converter switches to position control mould for position control command string 0x30,0x40,0x42,0x44,0x13 and positional value
Formula simultaneously brings into operation.
Claims (9)
1. the conversion method of a kind of SSBIII bus protocols and MKI bus protocols, which is characterized in that carried out by microcontroller
Protocol conversion between SSBIII buses and MKI buses, includes the following steps：
Monolithic processor resetting simultaneously waits for；
SSBIII buses and MKI buses are initialized, waits for SSBIII buses and MKI buses ready；
Microcontroller reads frequency converter alarm condition by MKI buses, and the frequency converter alarm condition is passed through in SSBIII buses
Numerical control device is reached, if there is alarm, then alarm removing is carried out according to the clear alarm command of numerical control device；
Microcontroller reads the torque feedback of frequency converter by MKI buses, and enabling instruction according to CNC carries out enabled operation and enabled inspection
It surveys, when the control model of numerical control device is speed control mode, microcontroller transmission speed control instruction and tachometer value pass through MKI
To frequency converter, frequency converter switches to speed control mode and brings into operation bus transfer；When the control model of numerical control device is position
When putting control model, microcontroller sends position control instruction and positional value and passes through MKI bus transfers to frequency converter, frequency converter switching
To position control mode and bring into operation；
Microcontroller reads again frequency converter alarm condition, and above process cycle carries out.
2. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
It states monolithic processor resetting and waiting process includes：Microcontroller setting SSBIII bus communication modules are in off state.
3. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
Stating SSBIII bus initialization process is：It is slave station that SSBIII bus communications module, which is configured, and slave station number is 1, sets SSBIII
The bus communication period, according to address setting tributary address, initialization house dog and the enabled SSBIII buses read in frequency converter
Communication.
4. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
Stating MKI bus initialization process is：SSBIII buses tributary address set by user, motor pole number, encoder line number are read, and
Whether legal verify the tributary address read：The MKI bus initializations success if legal；As illegally, then passed by MKI buses
Defeated initialization failure warning message.
5. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
It states microcontroller and frequency converter alarm condition is read by MKI buses, including procedure below：Microcontroller sends alert status command string of reading the newspaper
0x30,0x44,0x45,0x46,0x30,0x45,0x39,0x13 simultaneously pass through MKI bus transfers to frequency converter, and frequency converter is waited for ring
Data should and be parsed, frequency converter response data is such as received as 0x30,0x30,0x46,0x46,0x13, then alarm free, such as receives
The data arrived are other data, then have alarm, the alarm condition of reading is uploaded to CNC by SSBIII buses.
6. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
It states and alarm removing is carried out according to the clear alarm command of numerical control device, including procedure below：When CNC detects frequency converter alarm condition,
Clear alarm command is then assigned by SSBIII buses, microcontroller sends clear alarm command string 0x30 after receiving clear alarm command,
0x44,0x46,0x43,0x13 can remove alarm by MKI bus transfers to frequency converter.
7. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
The torque feedback that microcontroller reads frequency converter is stated, including procedure below：Microcontroller, which is sent, reads torque command string 0x30,0x44,
By MKI bus transfers to frequency converter, waiting frequency converter responding and analyzing will by 0x45,0x46,0x30,0x30,0x30,0x13
Torque data after parsing is uploaded to CNC by SSBIII buses.
8. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
It states and instruction is enabled according to CNC carries out enabled operation, including procedure below：CNC sends enabled order and passes through SSBIII bus transfers
To microcontroller, microcontroller judges that order to be upper enabled or lower enabled, send if for upper enabled order and enables command string 0x30,
0x44,0x45,0x46,0x30,0x13 are enabled on frequency converter by MKI bus transfers to frequency converter, as it is lower it is enabled order if
Enabled command string 0x30 under transmission, 0x43,0x44,0x45,0x31,0x13 is by MKI bus transfers to frequency converter, under frequency converter
It is enabled.
9. the conversion method of SSBIII bus protocols according to claim 1 and MKI bus protocols, which is characterized in that institute
It states and instruction is enabled according to CNC carries out enabled detection, including procedure below：Microcontroller, which is sent, reads enabled state command string 0x30,
0x45,0x46,0x13 wait for frequency converter responding and analyzing data, such as receive frequency converter by MKI bus transfers to frequency converter
Response data is 0x30,0x30,0x30,0x30,0x13, then without enabled, the data such as received are 0x30,0x30,0x30,
0x31,0x13 then have enabled；The enabled state of reading is uploaded to CNC by SSBIII buses.
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| CN100511963C (en) * | 2006-09-25 | 2009-07-08 | 湖南文理学院 | Computer control multiple motor variable frequency and speed regulating synchronous method and central and distributing control system thereof |
| CN101465798B (en) * | 2007-12-19 | 2011-03-16 | 中兴通讯股份有限公司 | System and method for sharing mobile multimedia broadcast contents |
| CA2860866C (en) * | 2012-01-12 | 2020-06-23 | Blackberry Limited | System and method of lawful access to secure communications |
| CN202495907U (en) * | 2012-02-03 | 2012-10-17 | 山重建机有限公司 | Frequency conversion control device of electric excavator |
| CN104090514B (en) * | 2014-07-17 | 2017-02-15 | 南京铁道职业技术学院 | Master-slave type frequency converting control system and control method based on single-chip microcomputer |
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Address after: Nanping Road in Dongling District of Shenyang city of Liaoning Province, No. 110168 16-2 Patentee after: Shenyang Zhongke CNC Technology Co.,Ltd. Address before: Nanping Road in Dongling District of Shenyang city of Liaoning Province, No. 110168 16-2 Patentee before: SHENYANG GOLDING NC & INTELLIGENCE TECH. Co.,Ltd. |
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