CN106020013B - Electronic apparatus and data transmission method for uplink - Google Patents
Electronic apparatus and data transmission method for uplink Download PDFInfo
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- CN106020013B CN106020013B CN201610181524.4A CN201610181524A CN106020013B CN 106020013 B CN106020013 B CN 106020013B CN 201610181524 A CN201610181524 A CN 201610181524A CN 106020013 B CN106020013 B CN 106020013B
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- 238000000034 method Methods 0.000 title claims abstract description 16
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- 238000001514 detection method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 4
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- 230000004044 response Effects 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1112—Bit addressing, handling
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24049—Use of control bits
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25171—Serial, RS232
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25211—Broadcast mode, length message, command, address of originator and destination
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25221—Identification of messages and their relative priority
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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Abstract
While the present invention provides a kind of sending performance of the data of holding regulation type, the electronic apparatus and data transmission method for uplink of different types of data are sent.The transmission unit (130) of encoder (1) is to provide that the unit of bit number carrys out the position data for repeatedly sending the data as regulation type.Also, different types of data of temperature sensor etc. are divided into segmentation data by variety classes data cutting part (120), the segmentation data by when to provide that bit number sends position data unwanted unused bits bit number as unit.Herein, transmission unit (130) by the segmentation data being partitioned by variety classes data cutting part (120) be assigned to regulation type data unused bits and divide transmission.At this moment, after transmission unit (130) segmentation sends the data comprising segmentation data, segmentation sends the bit reversal data of the segmentation data.
Description
Technical field
The present invention relates to electronic apparatus and data transmission method for uplink, more particularly to provide that the unit of bit number is more
The electronic apparatus and data transmission method for uplink of the secondary data for sending regulation type.
Background technique
It in the past, can be by the axis of motor etc. there is known a kind of device for being referred to as magnetic or optical profile type encoder
Rotation position detected as position data.The control units such as servo amplifier are connect with the encoder.Encoder will test
Position data out is sent to control unit, and control equipment exports the upward stage arrangement of the position data.
In such encoder, there are the need for wishing to send to the additional different types of Data Concurrent of rotary position data
It asks.
Herein, referring to patent document 1, it discloses a kind of from encoder that position data and other data is single to processing
The position detecting system of member transmission.Within the system, the data of the transmitting be divided into data and instruction urgent in time,
And data and instruction not anxious in time.Also, position data and status requirement instruction indicate number urgent in time
According to supplemental data and supplemental data instruction indicate other data not anxious in time.Also, due to needing position data,
Therefore status requirement urgent in time is instructed from processing unit and is sent to encoder.It then, will be then tight in time
Other data after anxious status requirement instruction are sent to encoder from processing unit.Due to the processing of other data be
Not anxious content on time, therefore data not anxious in time successively pass through continuous multiple additional numbers across defined interval
Temporally divide according to block to transmit.
Patent document 1: Japanese Patent Laid-Open 2012-142007 bulletin
Herein, it in the case where needing to carry out the communication of the defined data of position data etc. compared with short cycle, such as compiles
As code device and control equipment, the data volume that can be transmitted in primary communication is limited.
But it is not of the same race to send temporally dividing after position data transmission as the technology of patent document 1
In the mode of the data of class, the period of the transmission of the data of the regulations type such as position data becomes longer.Therefore, in regulation type
Data transmission in, there is the risk that cannot obtain desired performance.
Summary of the invention
In light of this situation, the present invention completes in view of the foregoing, its purpose is to provide a kind of electronic equipment device,
While the electronic apparatus keeps desired performance in providing the transmission of data of type, different types of number is sent
According to.
Electronic apparatus of the invention is that have by the unit of regulation bit number repeatedly to send out the data of regulation type
The electronic apparatus of the transmission unit sent, which is characterized in that the electronic apparatus has variety classes data partitioning unit,
The different types of data of data with the regulation type are divided into segmentation data by the variety classes data partitioning unit, described
Divide data by it is described regulation type data with it is described regulation bit number send when unwanted unused bits bit
Number is split as unit.The segmentation that the transmission unit will be partitioned by the variety classes data partitioning unit
Data are assigned at the unused bits of the data of the regulation type and successively send.
According to this structure, make the communication cycles of the data of regulation type not elongated, Neng Goubao due to different types of data
While holding desired performance, variety classes data are sent.
Electronic apparatus of the invention is characterized in that the transmission unit is being sent comprising the segmentation data
After data, next, sending the bit reversal data of the segmentation data.
According to this structure, it is capable of detecting when receiving mistake when dividing data.
Electronic apparatus of the invention is characterized in that the transmission unit is in the bit for having sent the segmentation data
After reversal data, next, sending comprising being combined even if by different types of data with the bit reversal data
The breakpoint data for the bit sequence that can not be generated.
According to this structure, the breakpoint of communicated variety classes data can be defined.
Electronic apparatus of the invention is characterized in that, the transmission unit is by the described different types of of multiple types
Data combination is sent, and the breakpoint data are a bits longer than two times of bit number of the bit number of different types of data
Above bit sequence.
According to this structure, the breakpoint of communicated data can be defined.
Electronic apparatus of the invention is characterized in that the breakpoint data are bit sequences below: by bit number
For the bit number of different types of data the 1 of two times with the 1 more than bit bit sequence combined or will
Bit number be two times of bit number of different types of data 0 with the 1 more than bit bit sequence combined.
According to this structure, the breakpoint of communicated data can be defined.
Electronic apparatus of the invention is characterized in that the data of the regulation type are the position datas of encoder,
The transmission unit distributes the vacancy bit that the position data is included to the segmentation data as the unused bits
And it is communicated.
According to this structure, unused bits can be distributed to by data are divided according to the precision of encoder.
Electronic apparatus of the invention is characterized in that the segmentation data include the temperature by detecting the encoder
The temperature data that the temperature sensor of degree obtains.
According to this structure, even if being assigned at unused bits and dividing transmission for the slow data of time change, also can
With the transmission of enough periods.
Electronic apparatus of the invention is characterized in that the segmentation data include to be set to the spare of the encoder
The voltage data of battery.
According to this structure, even if being assigned at unused bits and dividing transmission for the slow data of time change, also can
With the transmission of enough periods.
Electronic apparatus of the invention is characterized in that the segmentation data include the specific of the mistake of the encoder
Data.
According to this structure, even if being assigned at unused bits and dividing transmission for the slow data of time change, also can
With the transmission of enough periods.
Electronic apparatus of the invention is characterized in that the segmentation data are the numbers with a bit base to be partitioned into
According to.
According to this structure, even if unused bits are the bits of minimum unit, also it is capable of different types of number of additional demand
According to and send.
Data transmission method for uplink of the invention is a kind of number by repeatedly sending regulation type with the unit of regulation bit number
According to electronic apparatus come the data transmission method for uplink implemented, the data transmission method for uplink is characterized in that, will be with the regulation
The different types of data of the data of type are divided into segmentation data, the segmentation data by the data of the regulation type with institute
The bit number of institute's unwanted unused bits when regulation bit number is sent is stated as unit, the segmentation data being partitioned into are divided
It is fitted at the unused bits of the data of the regulation type and sends.
According to this structure, make the communication cycles of the data of regulation type not elongated, Neng Goubao due to different types of data
While holding desired performance, variety classes data are sent.
In accordance with the invention it is possible to provide a kind of electronic equipment device, the electronic apparatus is different types of by dividing
The data and unused bits of data for assigning it to regulation type are sent, can protect in the transmission of the data of regulation type
Desired performance is held, and sends different types of data.
Detailed description of the invention
Fig. 1 is the system construction drawing for showing the control system that embodiments of the present invention are related to.
Fig. 2 is the skeleton diagram for showing the data that encoder shown in FIG. 1 is sent to control unit.
Fig. 3 is the outline for showing the transmission processing of position data and variety classes data that embodiments of the present invention are related to
Figure.
Fig. 4 is the skeleton diagram for showing the transmission processing of position data shown in Fig. 3 and variety classes data.
Fig. 5 is variety classes data, bit reversal data, the breakpoint data for showing other embodiments of the invention and being related to
Transmission sequence skeleton diagram.
Fig. 6 is the skeleton diagram for showing the breakpoint data that other embodiments of the invention are related to.
Specific embodiment
<embodiment>
(structure of control system X)
The structure for the control system X being related to referring to Figures 1 and 2 to embodiments of the present invention is illustrated.Control system X
It is the structure with encoder 1, control unit 2, motor 3 and higher level equipment 4.
Encoder 1 is the electronic apparatus that embodiments of the present invention are related to.In the present embodiment, encoder 1 is examined
Data (Fig. 2) of the position data as regulation type of the rotation position of motor 3 are measured, and are sent to control unit 2.Therefore, it compiles
Code device 1 for example includes magnetic or optical profile type angle detection mechanism；Microcontroller, digital signal processor (DSP:
Digital Signal Processor) and specific integrated circuit (ASIC:Application Specific
Integrated Circuit) etc. control arithmetic element；Holding position data, ephemeral data random access memory (RAM:
Random Access Memory)；And it is stored with the read-only memory (ROM:Read Only Memory) etc. of control program
Non-provisional storage medium.
Also, encoder 1 also has the temperature sensor of the temperature of detection motor 3, encoder 1 itself.In addition, encoder
1 is built-in with the reserve battery (not illustrating) of data.Therefore, even if in the state that power supply does not power to control unit 2 and motor 3,
When by the drive shafts S such as external force, also continue for position data to be stored in built-in storage medium.Encoder 1, which has, detects the battery
Voltage voltage sensor.
Also, encoder 1 using the temperature sensor, the voltage sensor etc. of battery signal as different from position data
Different types of data come divide send.Specific control structure about the encoder 1 in present embodiment it is laggard
Row explanation.
Control unit 2 is controlled the driving of motor 3 by the control signal of higher level equipment 4.Also, control unit 2 response for example from
The request of data of higher level equipment 4.
At this moment, control unit 2 obtains position data from encoder 1, and is sent to higher level equipment 4.Also, control unit 2 obtains
Different types of data out that include in position data, divided, thus request of the response from higher level equipment 4.
Control unit 2 includes such as control amplifier, microcontroller, DSP, ASIC.
Motor 3 makes the axis S as rotating output shaft centered on rotation axis A by the control signal from control unit 2
Axis rotates.
Motor 3 is with rotor (rotor), bearing (bearing), stator (stator) and bracket (bracket) etc.
Common servo motor etc..
Higher level equipment 4 is the equipment for controlling client (customer) side for motor 3.Higher level equipment 4 is for example with microcontroller
The logic card etc. of the various equipment of device.
Higher level equipment 4 obtains the position data being detected from control unit 2.At this moment, it in higher level equipment 4, such as receives and increases
The transmission line of the transmission line and the absolute data request for obtaining position data of measuring signal is connect with control unit 2.At this moment,
The transmission line for receiving increment signal is transmitted by two that differ A, B phase of the edge transmission of the HL of 90 degree of signal respectively in phase
Line etc. is constituted.
Also, higher level equipment 4 is sent to control by the position data of acquirement, corresponding to the control signal of different types of data
Portion 2 processed.
Also, higher level equipment 4 also obtains different types of data.Also, higher level equipment 4 also can have for obtaining not
The dedicated transmission line of congener data.
(structure of encoder 1)
If further illustrating, encoder 1 includes (the rotation angle position of rotary angle position calculation part 100
Set computing unit), variety classes data acquisition 110 (variety classes data acquisition unit), variety classes data cutting part 120
(variety classes data partitioning unit) and transmission unit 130 (transmission unit).
The angle for the axis S coaxial with motor 3 that rotary angle position calculation part 100 always detects angle detection mechanism
It is calculated as position data (Fig. 2).Calculated position data is sent to transmission unit by rotary angle position calculation part 100
130.Also, rotary angle position calculation part 100 is also capable of detecting when generating certain mistake.
Variety classes data acquisition 110 from temperature sensor, the acquirements such as voltage sensor of battery and position data not
Congener data (hereinafter referred to as variety classes data, referring to Fig. 2).Variety classes data are as described later, due to than position
Data variation is slow, therefore can be sent with the period slower than position data.Also, variety classes data acquisition 110
The more all spin datas for the position data that angle detection mechanism detects can be obtained as variety classes data.Also,
In the case where generating certain mistake, variety classes data acquisition 110 can also will indicate type, situation of the mistake etc.
Specific data packet is obtained contained in character string information etc., and as variety classes data.
Variety classes data are divided into segmentation data (Fig. 2) by variety classes data cutting part 120, which will be
The data of regulation type are with regulation bit number come bit (hereinafter referred to as " unused bits " actually unwanted when sending.)
Bit number is as unit.
Transmission unit 130 is sent to control unit 2 according to the instruction from control unit 2, by various data.At this moment, transmission unit 130
Can for example in a manner of serial communication or parallel communications output position data.
Specifically, transmission unit 130 will be by the calculated position data of rotary angle position calculation part 100 to provide ratio
The unit of special number repeatedly to export to control unit 2.At this moment, transmission unit 130 is for example in order to improve control frequency band, with tens of microseconds
Period send the position data of a secondary amounts.
Also, when transmission unit 130 is to provide that the unit of bit number sends position data, segmentation data are assigned to positional number
According to unused bits at and successively send.That is, segmentation data are sent by the segmentation number n times of segmentation data to divide.
Also, after transmission unit 130 will be sent comprising the data for dividing data by n times segmentation, next by n times segmentation hair
Send the bit reversal data (Fig. 2) of segmentation data.
Also, transmission unit 130 will divide transmission by n times comprising dividing the data of data, next divide by n times segmentation transmission
After cutting the bit reversal data of data, segmentation sends aftermentioned breakpoint data (Fig. 2).
(compositions of the data of transmission)
Next, being illustrated referring to Fig. 2 to the particular content for the data for being sent to control unit 2 from encoder 1.
Position data is the data of regulation type of the present embodiment.Position data includes the revolution for indicating axis S
Spin data in one week of the angle of several more all spin datas and expression axis S.Also, position data is by more all rotation numbers
According to one week in spin data continuously become the data of bit sequence.Wherein, more all spin datas are several bits to tens of ratios
Special resolution ratio, spin data is resolution ratio of several bits to hundreds of bits in one week.In the present embodiment, as specific
It illustrates, records the illustration that position data is 47 bits.
Also, since position data is sent as unit of providing bit number, in the present embodiment, the positional number
According to bit number and regulation bit number remainder bit become unused bits at.At the unused bits, in the past, it is inserted into always
0 equal numerical value.In contrast, in the present embodiment, as explained below like that, segmentation data are assigned at unused bits and are divided
Cut transmission.
In addition, the position data can also be configured to a 23 bits left side by spin data in one week and more all spin datas
It is right.In this case, in addition to this position data also may include: the data in earth's magnetic field, " original " data of Hall sensor,
Data and expression for accurately correcting rotation position by control unit 2 produce the data of mistake and indicate this kind
The important data of the others of the ID (Identification) of class etc..And, it is specified that the data of type also can include position
Data except data.
Variety classes data be with the different types of data of position data, be that can be sent with the period longer than position data
Data.The particular instantiation of variety classes data as present embodiment has been enumerated as described above from temperature sensor, electricity
The data of the acquirements such as the voltage sensor in pond, the specific data of mistake and more all spin datas etc..Show in the illustration of Fig. 2
The variety classes data are eight bits out, and the numerical value of minus 128 (0xFF)~127 (0x7F) is obtained in two complement.
Dividing data is the data for being partitioned into variety classes data using the bit number of unused bits as unit.Segmentation
Data are sequentially allocated at the unused bits of position data and send.That is, segmentation data are divided into repeatedly to send.
In the illustration of Fig. 2, since unused bits are a bit, the variety classes data of eight bits are divided into eight
A segmentation data (n=8).Therefore, it in the illustration of Fig. 2, when the position data of 47 bit quantities is sent eight times, sends
The hash of one secondary amounts.
Bit reversal data are segmentation data by the data of bit reversal.In the illustration of Fig. 2, segmentation data are assigned to
At the unused bits of position data and after being sent eight times, which, which is assigned, is sent eight times.
Breakpoint data are the breakpoint numbers that the data sent after segmentation data and bit reversal data are sent are sent
According to.In the present embodiment, breakpoint data are used and can not be generated combining variety classes data with bit reversal data
Bit sequence data.Herein, combine variety classes data with bit reversal data refer to variety classes data and
Bit reversal data are arranged in order.About the sequence, it is ok either in variety classes data and bit reversal data
Positioned at front.
When specifically describing, for example, variety classes data be eight bits the case where when, " 0b00000000 " is (hereinafter, " 0b
~" indicate binary notation bit sequence.) bit reversal data be " 0b11111111 ".Therefore, as breakpoint data,
0 bit sequence of 8 × 2=16 bit quantity as " 0b0000000000000000 " (0x00) can not be generated.Therefore,
It can be used such bit sequence as breakpoint data.That is, when the case where variety classes data are eight bits, due to sending
The bit reversal data of eight bits, therefore will not send 16 times continuous 0.Equally, for 1 bit sequence of 16 bit quantities
Column " 0b1111111111111111 " (0xFF) can be used as breakpoint data come using.
Also, as breakpoint data, as long as can not be given birth to combining variety classes data with bit reversal data
At bit sequence, it will be able to use arbitrary bit sequence.For example, be able to use " 0b1111111100000001 ",
Bit sequence as " 0b1111111111111110 ", " 0b1010101010101010 ".
In addition, the expression method of the bit sequence of above-mentioned each data is either high priority (big endian) can also
To be that low level is preferential (small endian).
(transmission of position data and variety classes data is handled)
Next, referring to Fig. 3 and Fig. 4, the position data that be related to embodiments of the present invention and variety classes data
Transmission processing is illustrated.
The transmission processing of the position data and variety classes data of present embodiment is by interval timer (not shown)
Deng processing corresponding with the sending cycle of position data, to obtain position data, and until being sent completely.In the processing
In, firstly, variety classes data are divided into the segmentation data using the bit number of unused bits as unit.Then, it is partitioned into
Segmentation data, divide data bit reversal data and any data in breakpoint data be in turn assigned to regulation kind
At the unused bits of class data and send.
The transmission processing of the position data of present embodiment is primarily referred to as the control arithmetic element of encoder 1 and each portion is closed
Make, the control program (not illustrating) for being stored in storage medium is executed using hardware resource.
Hereinafter, referring to the flow chart of Fig. 3, by each step to position data of the present embodiment and variety classes
The transmission processing of data is illustrated.
(step S101)
Firstly, rotary angle position calculation part 100 carries out position data calculation processing.
Rotary angle position calculation part 100 obtains the numerical value that angle detection mechanism detects, and calculates position data.Such as
Upper described, which includes more all spin datas and spin data in one week, and can include other important data.
Also, at this moment rotary angle position calculation part 100 is being able to detect the generation to make mistake.
(step S102)
Next, transmission unit 130 judges whether to complete the transmission of variety classes data.It is obtained in segmentation variety classes data
To segmentation data, one group of data of bit reversal data and breakpoint data be sent completely when, transmission unit 130 is judged as YES
(Yes).Also, since reset etc. is when most starting to need to send variety classes data, transmission unit 130 is also judged as YES
(Yes).When the data of this group are still in transmission, transmission unit 130 is judged as NO (No).
To be (Yes), transmission unit 130 enters step the processing of S103.
For no (No), transmission unit 130 enters step the processing of S105.
(step S103)
In the case where one group for dividing data etc. is sent completely, variety classes data acquisition 110 carries out variety classes
Data acquirement processing.
Variety classes data acquisition 110 obtains the numerical value of the voltage sensor etc. as temperature sensor, battery not
With type data.
Also, when certain mistake occurs, variety classes data acquisition 110 can judge the concrete condition of the mistake,
And from the specific data of storage medium read error, and obtained as variety classes data.
Also, variety classes data acquisition 110 can obtain from rotary angle position calculation part 100 and be used as variety classes
More all spin datas of data.
(step S104)
Next, variety classes data cutting part 120 carries out variety classes data dividing processing.
Variety classes data are divided by variety classes data cutting part 120 using the bit number of unused bits as unit
Divide data.
In the illustration of Fig. 4, since unused bits are a bit, it is split by a bit base.
(step S105)
When herein, to provide that the unit of bit number sends position data, transmission unit 130 judges whether comprising useless ratio
It is special.Comprising unused bits, transmission unit 130 is judged as YES (Yes).In the illustration of Fig. 4, in position data with eight
Bit is the last time that unit is sent in six times, since comprising unused bits, being is (Yes).In feelings in addition to this
Under condition, transmission unit 130 is judged as NO (No).
To be (Yes), transmission unit 130 enters step the processing of S106.
For no (No), transmission unit 130 enters step the processing of S111.
(step S106)
Comprising unused bits, transmission unit 130 judges whether to send segmentation data.In one group of data
In the case where the transmission for being split data in the data most started, transmission unit 130 is judged as YES (Yes).In addition to this
In the case of, transmission unit 130 is judged as NO (No).
To be (Yes), transmission unit 130 enters step the processing of S107.
For no (No), transmission unit 130 enters step the processing of S108.
(step S107)
In the case where sending segmentation data, transmission unit 130 is split the allocation processing of data.
Unused bits in the data for the regulation bit number that segmentation data are sequentially allocated position data by transmission unit 130
Place.In the illustration of Fig. 4, variety classes data are eight bits, and unused bits are a bits.Therefore, transmission unit 130 will divide number
It is assigned at unused bits and sends according to by a bit.
That is, transmission unit 130 after the position data for sending eight 47 bit quantities, sends the segmentation number of eight bit quantities
According to.
(step S108)
Though comprising unused bits do not send segmentation data in the case where, transmission unit 130 judges whether to bit
Reversal data is sent.The segmentation data in one group of above-mentioned data are being sent, and in the feelings for next sending bit reversal data
Under condition, transmission unit 130 is judged as YES (Yes).In the case where in addition to this, transmission unit 130 is judged as NO (No).
To be (Yes), transmission unit 130 enters step the processing of S109.
For no (No), transmission unit 130 enters step the processing of S110.
(step S109)
In the case where sending bit reversal data, transmission unit 130 carries out bit reversal data allocation processing.
The bit reversal data for dividing data are sequentially allocated the data of the regulation bit number of position data by transmission unit 130
In unused bits at.In transmission unit 130, the distribution is carried out similarly with segmentation data allocation processing.
(step S110)
Although being sent in the case where comprising unused bits but neither sending segmentation data nor sending bit reversal data
Portion 130 carries out breakpoint data allocation processing.
That is, transmission unit 130 is sending segmentation data, and after having sent bit reversal data, distribution sends breakpoint number
According to.
Breakpoint data are assigned at the unused bits in the data of the regulation bit number of position data by transmission unit 130.Hair
It send in portion 130, is carried out similarly the distribution with segmentation data allocation processing, bit reversal data allocation processing.
(step S111)
Herein, transmission unit 130 carries out regulation bit number unit data transmission processing.
The data of regulation bit number unit are sent to control unit 2 by transmission unit 130.In the data of the regulation bit number unit
In the case where at unused bits, as described above, appointing in distribution segmentation data, bit reversal data and breakpoint data
One data.
(step S112)
Next, transmission unit 130 judges whether to complete the transmission of position data.
In the case where having sent all acquired position datas as unit of providing bit number, transmission unit 130 judges
To be (Yes).In the illustration of Fig. 4, the case where sending the data of regulation bit number unit in six times to a position data
Under, transmission unit 130 is judged as YES (Yes).In the case where still without the transmission of completion position data, transmission unit 130 judges
For no (No).
In the case where being (Yes), the transmission of 130 end position data of transmission unit and variety classes data is handled.
In the case where no (No), the processing of 130 return step S102 of transmission unit continues to send acquired positional number
According to.
By above step, terminate at the position data and variety classes data transmission that embodiments of the present invention are related to
Reason.
In addition, control unit 2 receives the data of the regulation bit number unit, and obtain position data.At this moment, control unit 2 takes
Obtain segmentation data, bit reversal data and the breakpoint data for including in the unused bits of position data.Then, control unit 2
According to segmentation data, variety classes data are decoded.Also, control unit 2 utilizes bit reversal data inspection segmentation data
Integrality.Control unit 2 can reliably obtain the difference that the segmentation as unit of a bit to several bits sends transmission as a result,
Type data.
(main effect of present embodiment)
By above such structure, following such effect can be obtained.
The encoder 1 that embodiments of the present invention are related to is that have the data of regulation type with the unit of regulation bit number
Come the electronic apparatus of the transmission unit 130 repeatedly sent, which is characterized in that encoder 1 has variety classes data cutting part
120, the variety classes data cutting part 120 will be divided into segmentation data with the different types of data of the data of regulation type,
It is described segmentation data by the data of regulation type with regulation bit number come when sending institute unwanted unused bits bit number work
For unit, the segmentation data being partitioned by variety classes data cutting part 120 are assigned to the number of regulation type by transmission unit 130
According to unused bits at and successively send.
According to this structure, the communication cycle of the data of regulation type can be made not elongated because of different types of data, come
Send different types of data.Therefore, it while being able to maintain that the desired communication performance of the data of regulation type, sends not
With type data.
Also, it, can not due to using the data for being split the bit number of unused bits as unit
Increase the traffic of regulation bit number unit, and increases the information content of the transmission of each frequency band.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, transmission unit 130 is sent comprising segmentation number
According to data after, next, send segmentation data bit reversal data.
According to this structure, it is capable of detecting when to receive in control unit 2 by the segmentation number as unit of bit number of unused bits
According to when mistake.That is, due to being compared in control unit 2 by implementing XOR etc. to segmentation data and bit reversal data,
Therefore can easily judge whether that segmentation data are correctly received.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, transmission unit 130 is sent comprising segmentation number
According to data, next, send segmentation data bit reversal data after, next send breakpoint data, the breakpoint data
It include the bit sequence that can not be generated in the case where combining different types of data with bit reversal data.
According to this structure, the one of communicated variety classes data, bit reversal data and breakpoint data can be defined
The breakpoint of the data of group amount.Thereby, it is possible to reliably obtain variety classes data.
Also, even if, as structure as breakpoint, to be also capable of clear stipulaties type to unused bits distribution 0 etc.
The breakpoint that the data of data are sent.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, it is specified that the data of type are encoders 1
Position data, transmission unit 130 using the vacancy bit for including in position data distributed as unused bits segmentation data go forward side by side
Row communication.
According to this structure, unused bits can be distributed to by data are divided according to the precision of encoder 1.That is, due to coding
The position data of device 1 is also more multiple than top grade with 17 other than with foregoing illustrative 47 bit, 23 bits
Type, therefore can segmentation data are assigned at unused bits corresponding with the type and be sent.Also, in unused bits
It, can be effectively sharp since segmentation data can be assigned at each unused bits and be sent in the case where with multiple bits
With being communicated at unused bits.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, segmentation data include by detection coding
The temperature data that the temperature sensor of the temperature of device 1 obtains.
According to this structure, since temperature data is slower than the time change of position data, even if segmentation is sent with nothing
With the segmentation data as unit of the bit number of bit, also information can be sent with enough frequency bands.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, segmentation data include to be set to encoder
The voltage data of 1 reserve battery.
According to this structure, since the time change of the voltage data of battery is slow, even if segmentation is sent with useless ratio
Special bit number is the segmentation data of unit, also can send information with enough periods.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, segmentation data include the specific number of mistake
According to.
According to this structure, since the variation of the time of the specific data of mistake is slow, even if segmentation is sent with useless
The bit number of bit is the segmentation data of unit, also can send information with enough frequency bands.Also, due to text information
Mode obtains the specific data of mistake, therefore in control unit 2, higher level equipment 4, and the reason for grasping mistake becomes easy, thus
It can steadily control.
Also, the encoder 1 that embodiments of the present invention are related to is characterized in that, segmentation data are with a bit base point
The data cut out.
It according to this structure, can be with a bit of minimum unit come variety classes data required for adding and sending.That is,
Even if the bit number of hash is only a bit, it can also divide and send variety classes data.Even if also, due to in this way
A bit send bit reversal data and breakpoint data also come when sending, therefore control unit 2 can reliably receive segmentation number
According to.
The data transmission method for uplink that embodiments of the present invention are related to is the data transmission method for uplink implemented by encoder 1, is compiled
Code device 1 is the electronic apparatus that the data of regulation type are repeatedly sent with the unit of regulation bit number, the data transmission method for uplink
Be characterized in that, with when sending the data of regulation type with regulation bit number the bit bases of unwanted unused bits divide
It cuts and the different types of data of regulation data, and the segmentation data distribution that will be partitioned by variety classes data cutting part 120
To at the unused bits of the data of regulation type and send.
According to this structure, different types of data can be sent in the case where keeping communication cycle not elongated, be able to maintain that
The performance of control.Further, it is possible to not increase the traffic of regulation bit number unit and increase the information content of each frequency band.
(other embodiments)
In addition, the data for recording regulation type in the above-described embodiment are the illustrations of the position data of encoder 1.
But the data as regulation type, it is able to use the data of the period transmission except position data.As the position
Set the data except data particular instantiation be able to use the data of communication bag, voice data, image frame data and be used for
The data of other common communication modes.
According to this structure, in the case where the data that unused bits generate are sent when sending as unit of providing bit number,
It can be easy to send comprising different types of data.That is, can be applied in the case where sending the data of regulation type
The communication of the various electronic equipments of different types of data can be sent in unused bits with enough periods.
Also, the particular instantiation sent between encoder 1 and control unit 2 is recorded in the above-described embodiment.
But the sending method of present embodiment can be used for the communication between control unit 2 and higher level equipment 4.According to
The structure, even if also can easily obtain the variety classes data for being contained in position data in higher level equipment 4.
Also, in the above-described embodiment, record send temperature data, the voltage data of battery, mistake it is specific
Illustration of any data as variety classes data in data and more all spin datas.
But as shown in figure 5, it can also combine the variety classes data for sending multiple types.For example, such as Fig. 5 (a) institute
Show, can according to temperature data, temperature data bit reversal data (hereinafter, in Fig. 5, bit reversal data tilde
"~" and () indicates), the sequence of breakpoint data A, voltage data, the bit reversal data of voltage data and breakpoint data B,
Above-mentioned segmentation Data Concurrent is partitioned into send.
It according to this structure, can also be than rule by communication cycle while being able to maintain the communication cycle of regulation type data
The variety classes data for determining the long multiple types of type data are assigned at unused bits and successively send.Even if not making as a result,
With special signal wire etc., the variety classes data of multiple types can be also sent, can reduce cost.
Also, as shown in Fig. 5 (b), when the variety classes Data Concurrent for combining multiple types is sent, it is also possible to sending
The such composition of a breakpoint data is sent after complete all variety classes data and bit reversal data.
Also, in the above-described embodiment, to having sent breakpoint after variety classes data and bit reversal data
The illustration that data are sent as " foot " is illustrated.It in contrast, also can be to make breakpoint data as shown in Fig. 5 (c)
For " head ", such structure is sent before variety classes data and bit reversal data.
Also, also it is able to use the breakpoint data of this two side of " head " and " foot ".
According to this structure, the breakpoint of data can flexibly be set when sending the variety classes data of multiple types.And
And when sending the combination of variety classes data of multiple types change, also can easily it cope with.
It also, is in the above-described embodiment, even if by variety classes data and bit reversal data to breakpoint data
The illustration for combining the data for the bit sequence that can not also generate is illustrated.
Herein, as shown in Fig. 5 (b), Fig. 5 (c), in the case where the variety classes data for being combined with multiple types,
In the structure for sending a breakpoint data, the bit that there is generation using a variety classes data and the variety classes data is anti-
A possibility that bit sequence that the combination of revolution evidence can not generate.
By Fig. 6 come when illustrating particular instantiation, as shown in Fig. 6 (a), with the bit reversal with variety classes data before
The relationship of data arrangement generates as above-mentioned illustration " 0b1111111111111111 " (0xFFFF), such as above-mentioned Fig. 2
Illustrate such bit sequence.That is, in the case where being only the bit sequence using the bit number of two times of variety classes data,
It is assumed to illustration as described above.
Therefore, in other embodiments of the invention, the variety classes data of multiple types are combined in transmission unit 130
And send in the case where, as breakpoint data particular instantiation, it is preferable to use the bit number than variety classes data two multiple proportions
The bit sequence more than long bit of special number.
Also, in this case, in the bit sequence of breakpoint data, more preferably in the bit than the variety classes data
Bit at the long bit of several two times of bit numbers, with the bit phase before a bit of the bit number from the variety classes data
Together.
By the particular instantiation of Fig. 6 (b), such breakpoint data are illustrated.Herein, the ratio of variety classes data
When special number is eight bit, it is desirable to which the data of transmission and its reversal data add up to two bytes (16 bit).In use and this phase
When than the only bit sequence of a long bit, breakpoint data are 17 bits.In the illustration, breakpoint data by head bit sequence
The bit B3 for arranging B1, next bit sequence B2 and only growing a bit is constituted.
Herein, in the illustration, bit sequence B1 and bit sequence B2 are even if variety classes data are different from this
What the bit reversal data combination of type data can not also generate.Also, in the illustration, from the bit number of variety classes data
A bit before bit be header bits bit C1 as bit sequence B2.Bit C1 is identical as bit B3, is " 1 ".
Therefore, even if the bit sequence after bit B3 achieves eight bits, the reversal data of bit sequence B2 can not be become.
As long as that is, being suitable for the bit sequence of the above-mentioned condition, even if in the variety classes number for combining multiple types
According to and send in the case where, can also be used preferably as breakpoint data.
According to this structure, the breakpoint of data can be flexibly set.Further, it is possible to the transmission times of breakpoint data is reduced,
Variety classes data are sent with the shorter period.
Also, in other embodiments of the invention, the particular instantiation as such a breakpoint data is able to use:
By bit number be variety classes data bit number the 1 of two times with the 1 more than bit bit sequence combined or
By the 0 of two times of the bit number that bit number is variety classes data and the 1 more than bit bit sequence combined.
In this case, such as above-mentioned illustration, if the bit number of variety classes data is eight bits, breakpoint data
Bit sequence become " 0b00000000000000001 ", " 0x7FFFF ".
According to this structure, the composition of breakpoint data can be flexibly set.Also, due to sending identical ratio longlyer
Spy, therefore be easy discovery and send mistake.Also, in control unit 2, can easily it be known by the length of the 0 of variety classes data
Not Gui Ding type data communication period etc..
Also, as the particular instantiation of breakpoint data, it is able to use the bit sequence below suitable for above-mentioned condition
“0b10101010101110101”、“0b00000001000000000”、“0b11000011100110011”。
Meet the breakpoint data of above-mentioned condition as long as however, it is not limited to this, it will be able to use various bit sequences.
According to this structure, the breakpoint for the data that can clearly communicate.
Also, it is corresponding with the type of variety classes data, it is able to use different breakpoint data.
For example, different bit sequences can be used in breakpoint data A and breakpoint data B in the illustration of Fig. 5 (a)
Breakpoint data.
According to this structure, control unit 2 can easily judge temperature data, voltage data after the receipt and socialize more
The type of the variety classes data of revolution evidence etc.Also, it by changing bit sequence every time, can reduce because of breakpoint data
Signal Degrade, radiation, reflection of data sequence etc. cause communication mistake.
In addition, the composition of above embodiment and movement are to illustrate, it can be in the range for not departing from spirit of the invention
It is inside suitably changed and implements to be self-evident.
Symbol description
1 encoder
2 control units
3 motors
4 higher level equipments
100 rotary angle position calculation parts
110 variety classes data acquisitions
120 variety classes data cutting parts
130 transmission units
A rotary shaft
S axis
X control system
Claims (11)
1. a kind of electronic equipment device has to provide that the unit of bit number repeatedly sends the transmission list of the data of regulation type
Member,
The electronic apparatus is characterized in that, comprising:
The different types of data of data with the regulation type are divided into segmentation number by variety classes data partitioning unit
According to, segmentation data by the unwanted unused bits of institute when sending the data of the regulation type with the regulation bit number
Bit number as unit,
The segmentation data being partitioned by the variety classes data partitioning unit are assigned to described by the transmission unit
It sends at the unused bits of the data of regulation type and successively.
2. electronic apparatus according to claim 1, which is characterized in that
The transmission unit is after having sent the data comprising the segmentation data, next, sending the segmentation data
Bit reversal data.
3. electronic apparatus according to claim 2, which is characterized in that
The transmission unit is after the bit reversal data for having sent the segmentation data, even if next, transmission includes will
Different types of data combine the breakpoint data for the bit sequence that can not also generate with the bit reversal data.
4. electronic apparatus according to claim 3, which is characterized in that
The transmission unit sends different types of data combination of multiple types,
The breakpoint data are the ratios of a bit longer than two times of bit number of the bit number of different types of data or more
Special sequence.
5. electronic apparatus according to claim 4, which is characterized in that
The breakpoint data are bit sequences below:
By two times of 1 ratio combined with more than a bit 1 of the bit number that bit number is different types of data
Special sequence or by bit number is different types of data two times of bit number 0 combined with more than a bit 1
The bit sequence arrived.
6. electronic apparatus according to any one of claim 1 to 5, which is characterized in that the number of the regulation type
According to the position data for being encoder,
The transmission unit distributes the vacancy bit that the position data is included to the segmentation as the unused bits
Data are simultaneously communicated.
7. electronic apparatus according to claim 6, which is characterized in that
The segmentation data include the temperature data obtained by the temperature sensor for detecting the temperature of the encoder.
8. electronic apparatus according to claim 6, which is characterized in that
The segmentation data include the voltage data for being set to the reserve battery of the encoder.
9. electronic apparatus according to claim 6, which is characterized in that
The segmentation data include the specific data of the mistake of the encoder.
10. electronic apparatus according to claim 1, which is characterized in that
The segmentation data are the data with a bit base to be partitioned into.
11. a kind of data transmission method for uplink, by provide that the unit of bit number repeatedly sends the electronics of the data of regulation type
Apparatus is implemented,
The data transmission method for uplink is characterized in that,
The different types of data of data with the regulation type are divided into segmentation data, the segmentation data will be in the rule
Determine when the data of type are sent using the regulation bit number unwanted unused bits bit number as unit,
It at the unused bits for the data that the segmentation data being partitioned into are assigned to the regulation type and will send.
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| JP2015069487A JP6563229B2 (en) | 2015-03-30 | 2015-03-30 | Electronic device apparatus and data transmission method |
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| KR102503176B1 (en) * | 2018-03-13 | 2023-02-24 | 삼성디스플레이 주식회사 | Data transmitting system and display apparatus including the same method of transmitting data using the same |
| JP6826077B2 (en) | 2018-08-08 | 2021-02-03 | ファナック株式会社 | Encoder and data transmission method |
| JP2022011695A (en) * | 2020-06-30 | 2022-01-17 | 日本電産サンキョー株式会社 | Motor amplifier and motor amplifier control method |
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| CN106020013A (en) | 2016-10-12 |
| KR102448451B1 (en) | 2022-09-30 |
| KR20160117225A (en) | 2016-10-10 |
| TWI684840B (en) | 2020-02-11 |
| JP2016189159A (en) | 2016-11-04 |
| JP6563229B2 (en) | 2019-08-21 |
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