CN106533793A

CN106533793A - CAN protocol based communication method and system

Info

Publication number: CN106533793A
Application number: CN201611144019.9A
Authority: CN
Inventors: 汪清华; 王巍
Original assignee: SHENZHEN RILAND INDUSTRY Co Ltd
Current assignee: Shenzhen Ruiling Industrial Group Co.,Ltd.
Priority date: 2016-12-12
Filing date: 2016-12-12
Publication date: 2017-03-22
Anticipated expiration: 2036-12-12
Also published as: CN106533793B

Abstract

The invention discloses a CAN protocol based communication method. Data in the CAN protocol at least comprise state type data. The communication method comprises the following steps: a first chip continuously transmits communication data to a second chip through the CAN protocol; if the second chip receives the communication data transmitted by the first chip for at least one time within a first preset time, the second chip determines the state of the first chip based on the current state type data of the first chip in the received communication data; and if the second chip does not receive any communication data within the first preset time, the second chip determines transmission between the first chip and the second chip is abnormal and enters an alarm state. The invention also discloses a CAN protocol based communication system. According to the CAN protocol based communication method and system, information interaction of the system is realized based on the CAN protocol, the link connection is simplified, and stability and security of the system are improved.

Description

Communication means and system based on CAN protocol

Technical field

The present invention relates to communication technical field, more particularly to a kind of communication means and system based on CAN protocol.

Background technology

Tri_arc welding systems are a kind of efficient low_input_power digital welding systems, and the system is made up of three inverters Digital power, two wire-feed motors, hand held controller, welding procedure monitoring and a welding data management PC host computer interfaces and Special automatic welding machine is constituted.Operating current in welding process is 500 to 1000A, three inverter meetings in reversals Powerful impulse disturbances are produced so as to affect the normal operation of whole welding system.For reduce because impulse disturbances produce it is unfavorable Affect, the welding system adopts traditional parallel communicationss, its jamproof ability be better than CAN communication at present.But using parallel The wiring of communication is complicated, and cost is very high, is unfavorable for the extension and upgrading of systemic-function.

The content of the invention

The main object of the present invention is to propose a kind of communication means based on CAN protocol, it is intended to solve system line connection The not high problem of complicated, CAN communication stability and safety.

For achieving the above object, the present invention provides the communication in CAN protocol described in a kind of communication means based on CAN protocol Data at least include state class data, and the communication means is comprised the following steps：

First chip is by CAN protocol to the second chip continuous transmission communication data；

If second chip at least receives once the communication number of the first chip transmission in the first Preset Time According to then second chip determines first core according to the current state class data of the first chip in the communication data for receiving The state of piece；

If second chip does not receive the communication data in the first Preset Time, second chip determines Transmission abnormality between first chip and the second chip, and enter alarm condition.

Additionally, for achieving the above object, the present invention also provides a kind of communication system based on CAN protocol, the CAN protocol In data at least include state class data, the communication system includes the first chip and the second chip：

First chip, for by CAN protocol continuous transmission communication data；

Second chip, if the communication data for the transmission of the first chip is received in the first Preset Time, basis connects In the communication data for receiving, the current state class data of the first chip determine the state of first chip；

If the second chip is additionally operable to the communication data is not received in the first Preset Time, it is determined that first core Transmission abnormality between piece and the second chip, and enter alarm condition.

A kind of communication means based on CAN protocol of the present invention, the data in the CAN protocol at least include state class number According to the communication means is comprised the following steps：First chip is by CAN protocol to the second chip continuous transmission communication data；If Second chip at least receives once the communication data of first chip transmission in the first Preset Time, then and described the Two chips determine the state of first chip according to the current state class data of the first chip in the communication data for receiving；If Second chip does not receive the communication data in the first Preset Time, then second chip determines first core Transmission abnormality between piece and the second chip.By with upper type, the present invention is communicated by CAN protocol, only 2 lines with it is outer Portion is connected, and simplifies the connection of system line, and communication media can be twisted-pair feeder, coaxial cable or optical fiberss, reduce Equipment cost；Data are transmitted in the way of persistently sending, and are reduced the adverse effect that factor data is lost and brought, are improve The stability and capacity of resisting disturbance of system；Mutually carry out state class data transfer to determine mutual state between each chip, plus The strong monitoring capacity of system；If a chip does not receive the status data of another chip transmission in the first Preset Time, really Fixed transmission abnormality between two chips each other, is conducive to user to find the failure problems of system in time and overhauled, improves The safety of system.

Description of the drawings

Fig. 1 is schematic flow sheet of the present invention based on the communication means first embodiment of CAN protocol；

Fig. 2 is schematic flow sheet of the present invention based on the communication means second embodiment of CAN protocol；

Fig. 3 is schematic flow sheet of the present invention based on the communication means 3rd embodiment of CAN protocol；

Fig. 4 is schematic flow sheet of the present invention based on the communication means fourth embodiment of CAN protocol；

Fig. 5 is schematic flow sheet of the present invention based on the 5th embodiment of communication means of CAN protocol；

Fig. 6 is schematic flow sheet of the present invention based on the communication means sixth embodiment of CAN protocol；

Fig. 7 is schematic flow sheet of the present invention based on the 7th embodiment of communication means of CAN protocol；

Fig. 8 is schematic flow sheet of the present invention based on the 8th embodiment of communication means of CAN protocol；

Fig. 9 is high-level schematic functional block diagram of the present invention based on the communication system first embodiment of CAN protocol；

Figure 10 is high-level schematic functional block diagram of the present invention based on the communication system second embodiment of CAN protocol.

The object of the invention is realized, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.

Specific embodiment

It should be appreciated that specific embodiment described herein is not intended to limit the present invention only to explain the present invention.

The present invention provides a kind of communication means based on CAN protocol.

With reference to Fig. 1, Fig. 1 is the schematic flow sheet of the communication means first embodiment based on CAN protocol.

In the present embodiment, the communication means following steps：

Step S10, the first chip is by CAN protocol to the second chip continuous transmission communication data；

In the present embodiment, the communication data in CAN protocol at least includes state class data, stores core in state class data The status information at piece a certain moment, is recognized that shape of the correspondence chip at the moment according to the state class data at a certain moment State.Welding system is applied to based on the communication means of CAN communication protocol, the welding system include controller, CAN, Execution equipment, execution equipment include inverter, wire feeding device, special welding machine, welding robot etc..Control device in system Connected by CAN with the equipment of execution, communication media adopts twisted-pair feeder, naturally it is also possible to fine using coaxial cable or photoconduction Dimension.Communicated using CAN, only 2 lines are communicated with the outside, communicate compared with traditional parallel communicationss, simplify circuit Connection, reduces equipment cost, is conducive to the extension and upgrading of system.

Chip in each execution equipment upon actuation, can be constantly passed to the chip of miscellaneous equipment automatically by CAN protocol Defeated communication data, at least includes state class data in the communication data of transmission.First character in state class data is saved in right Data type is identified, and correspondence chip status information at a time is record in state class data.Specifically, the first core By CAN protocol to the second chip continuous transmission communication data, the communication data includes record the second chip status letter piece The state class data of breath.

Step S20, if second chip at least receives once the first chip transmission in the first Preset Time Communication data, then second chip determine institute according to the current state class data of the first chip in the communication data for receiving State the state of the first chip；

In the present embodiment, each chip can be also received while communication data is transmitted to other chips by CAN protocol Other chips are transferred to communication data by CAN protocol.System will arrange the first Preset Time, normal when transmitting between each chip When, each chip can receive the communication data of other each chip transmission in the first Preset Time.If each chip exists The communication data of a certain chip transmission is received in first Preset Time at least, you can the communication number is determined according to the communication data According to corresponding transmission chip state at a time.Specifically, if the second chip is at least received in the first Preset Time The communication data of the first chip transmission, then will parse to communication data, obtain the status information of the first chip, and according to this Status information determines the first chip state at a time.

Step S30, if second chip does not receive the communication data in the first Preset Time, described second Chip determines transmission abnormality between first chip and the second chip.

In the present embodiment, if a certain chip does not receive the communication data of another chip transmission in the first Preset Time, Transmission abnormality between two chips is illustrated then.Specifically, if the second chip does not receive the first chip in the first Preset Time The communication data of transmission, then the second chip determine transmission abnormality between the first chip and the second chip.

In the present embodiment, system is communicated by CAN protocol, and only 2 lines are communicated with the outside, and simplify system line Connection, and communication media adopts twisted-pair feeder, reduces equipment cost；Data are transmitted in the way of persistently sending, and are reduced The adverse effect that factor data is lost and brought, improves the stability and capacity of resisting disturbance of system；Mutually enter between each chip Row state class data transfer strengthens the monitoring capacity of system to determine mutual state；If a core in the first Preset Time Piece does not receive the status data of another chip transmission, it is determined that transmission abnormality between two chips each other, is conducive to user timely It was found that the failure problems of system being overhauled, the safety of system is improve.

With reference to Fig. 2, Fig. 2 is schematic flow sheet of the present invention based on the communication means second embodiment of CAN protocol.

It is based on the embodiment described in above-mentioned Fig. 1, before step S10, further comprising the steps of：

Step S40, when the first chip and the second chip start, controller by CAN protocol to first chip and Second chip transmission start sense command data；

In the present embodiment, the communication data in CAN protocol also includes order class data, and order class packet contains：Order class Class is identified, and order entity, wherein command parameter, command parameter can be default, and the first character of order class data is saved in data Type be identified.Each chip is receiving order class data all by execution corresponding order.Wherein order class data include Start sense command data.On startup, controller will be to each chip transmission start sense command data for each chip.Specifically, When the first chip and the second chip start, controller is detected to the first chip and the second chip transmission start by CAN protocol Order data.

Step S50, first chip and the second chip receive it is described startup sense command data when, according to described Starting sense command data carries out startup detection, and is given birth to after CAN protocol starts detection to the controller constant feedback Into the first starting state data and the second starting state data.

In the present embodiment, each chip is started to own situation respectively when startup sense command data are received Detection, and corresponding startup detection status data is generated according to testing result.When detection data generation is started, each chip will be logical Cross CAN protocol and start detection status data to controller constant feedback is respective.Specifically, the first chip will be received on startup To sense command data are started, the first chip will carry out startup detection to itself according to sense command data are started, will after detection The corresponding first starting state data of first chip are generated according to testing result, in the first starting state data, the first core is record Status information when piece starts；In the first starting state data genaration, the first chip will be continued to controller by CAN protocol The first starting state data are fed back, the state during startup of the first chip is determined for controller according to the first starting state data.Class As, the second chip will also receive startup sense command data on startup, and the second chip will be according to startup sense command number Startup detection is carried out according to itself, will be according to the corresponding second starting state data of detection the second chip of structural generation after detection； In the second starting state data genaration, the second chip will be by CAN protocol to controller constant feedback the second starting state number According to, for controller according to the second starting state data determine the second chip start when state.If controller is when second is default It is interior at least to receive a first starting state data, second starting state is at least received in the second Preset Time Data, then into step S60；If controller does not at least receive the first starting state data and second in the second Preset Time One in starting state data, then into step S90.

Step S60, if the controller at least respectively receives once first starting state in the second Preset Time Data and a second starting state data, then the controller is respectively according to the first starting state data and the second startup Status data judges the state of first chip and the second chip；

In the present embodiment, system will arrange the second Preset Time, when transmitting normal between controller and each chip, control Device processed at least can respectively receive once the state class number of each chip feedback in the second Preset Time for sending order class data According to, and correspondence chip state at a time is determined according to the state class data of each chip feedback.Specifically, controller to After first chip transmission start sense command data, if the first chip feedback is at least received in the second Preset Time First starting state data, then obtain the status information of the first chip, and believed according to the state according to the first starting state data Breath judges whether the first chip is run on startup normal.Similar, in controller to the second chip transmission start sense command After data, if the second starting state data of the second chip feedback, basis are at least received in the second Preset Time Second starting state data obtain the status information of the second chip, and judge that the second chip is transported on startup according to the status information Whether row is normal.If now controller determines each chip all normal operations, into step S70；If controller is determined respectively At least one chip operation exception in chip, then into step S80.

Step S70, if the controller determines first chip and the second chip all normal operations, the control Device determines that first chip and the second chip start to be completed；

In the present embodiment, just all run if controller determines each chip according to the starting state data that each chip feeds back Often, then system start-up is completed.Specifically, if controller determines first according to the first starting state data that the first chip feeds back Normal operation when chip starts, determines when the second chip starts according to the second starting state data of the second chip feedback and also transports Row is normal, then system start-up is completed.

Step S80, if the controller determines the first chip and/or the second chip operation exception, the controller Into alarm condition；

In the present embodiment, if controller is determined in each chip at least according to the starting state data that each chip feeds back One chip operation exception, then system enter alarm condition.Specifically, if controller is determined according to the first starting state data Operation exception when first chip starts, or the startup of the second chip is determined according to the second starting state data of the second chip feedback When operation exception, then system enter alarm condition, and stop current operation, display alarm information；If controller is determined certainly First chip and the second chip all operation exceptions, then system also enter alarm condition, and stop current operation, display alarm letter Breath.

Step S90, if the controller do not receive in the second Preset Time the first starting state data and/or Second starting state data, then the controller determine transmission abnormality between the controller and/or the second chip, and enter report Alert state.

In the present embodiment, if not receive a certain chip anti-in the second Preset Time of transmission order class data for controller The state class data of feedback, then to determine that transmission between controller and the chip occurs abnormal for controller, and enters alarm condition.Tool Body, controller after to the first chip and the second chip transmission start sense command data, if in the second Preset Time not Receive the first starting state data of the first chip feedback, it is determined that the transmission between controller and the first chip occurs different Often, system into alarm condition, and will stop current operation, show abnormal information；It is similar, if in the second Preset Time not Receive the second starting state data of the second chip feedback, it is determined that the transmission between controller and the second chip occurs different Often, system also into alarm condition, and will stop current operation, show abnormal information.

In the present embodiment, when each chip starts, controller will transmit sense command data to start each chip Detection, only when each chip starts during all normal operations, system just completes to start.Otherwise, as long as there is a chip starting When operation exception, system all into alarm condition, and will show abnormal information, improve the safety of system.

With reference to Fig. 3, Fig. 3 is schematic flow sheet of the present invention based on the communication means second embodiment of CAN protocol.

It is based on the embodiment described in above-mentioned Fig. 2, after step S70, further comprising the steps of：

Step S100, controller transmit files classes data to the first chip and the second chip by CAN protocol；

In the present embodiment, the communication data in CAN protocol also includes files classes data, and files classes packet contains：Files classes Mark, one group of manual data, 16 bond pads technological parameters, a check code.The first character of files classes data is saved in logarithm According to type be identified.The various welding conditions tested can be saved as data APMB package by welding procedure teacher, often Individual files classes packet is preserved in a hard disk with text.When the startup of each chip is completed, files classes data are sent out by controller To each chip, will be configured and verify according to the parameter in files classes data for each chip.Specifically, in the first chip and When the startup of two chips is completed, controller transmits files classes data to the first chip and the second chip by CAN protocol.

Step S110, first chip and the second chip when the files classes data are received, according to the file Class data carry out parameter verification, and the first school generated to after the controller constant feedback parameter verification by CAN protocol Test status data and the second verification status data.

In the present embodiment, each chip will enter line parameter respectively according to files classes data and set when files classes data are received Put and verify, and corresponding verification status data is generated according to assay.When verification data is generated, each chip will pass through CAN protocol is to the respective verification status data of controller constant feedback.Specifically, the first chip will receive file on startup Class data, the first chip will will be generated according to check results after verification according to files classes data to carrying out parameter setting and verification The corresponding first verification status data of first chip, records the state letter of the first chip verification in the first verification status data Breath；When the first verification status data is generated, the first chip will verify state to controller constant feedback first by CAN protocol Data, determine the state after the verification of the first chip for controller according to the first starting state data.Similar, the second chip is being opened Files classes data will be also received when dynamic, the second chip will carry out parameter setting and verification according to files classes data, will after verification The corresponding second verification status data of the second chip is generated according to check results；When the second verification status data is generated, second Chip will verify status data to controller constant feedback second by CAN protocol, for controller according to the second verification status number According to the state determined after the verification of the second chip.If controller at least receives a first verification state in the second Preset Time Data, at least receive one time second verification status data, then in the second Preset Time into step S120；If controller exists One in the first verification status data and the second verification status data is not at least received in second Preset Time, then enters step Rapid S150.

Step S120, if the controller at least respectively receives once the first verification state in the second Preset Time With one time second verification status data, then the controller is respectively according to the described first verification status data and the second verification state Data judge the state of first chip and the second chip；

In the present embodiment, when transmitting normal between controller and each chip, controller is sending files classes data The state class data of each chip feedback can be respectively received once in second Preset Time at least, and according to the shape of each chip feedback State class data determine correspondence chip state at a time.Specifically, files classes data are transmitted to the first chip in controller Afterwards, if the first verification status data of the first chip feedback is at least received in the second Preset Time, according to first Verification status data obtains the status information of the first chip, and judges the fortune after the verification of the first chip parameter according to the status information Whether row is normal.Similar, in controller to after the second chip transmission files classes data, if at least connecing in the second Preset Time The second verification status data of the second chip feedback is received, then the shape of the second chip is obtained according to the second verification status data State information, and judge whether the operation after the verification of the second chip parameter is normal according to the status information.If now controller judges To each chip all normal operations, then into step S130；If at least one chip operation is different during controller determines each chip Often, then into step S140.

Step S130, if the controller determines first chip and the second chip all normal operations, the control Device processed enters holding state；

In the present embodiment, just all run if controller determines each chip according to the verification status data that each chip feeds back Often, then system start-up is completed.Specifically, if controller verifies status data according to the first chip feeds back first determines first Normal operation after chip parameter verification, determines the second chip parameter school according to the second verification status data of the second chip feedback Also normal operation after testing, then system enter holding state.

Step S140, if the controller determines first chip and/or the second chip operation exception, the control Device processed enters alarm condition；

In the present embodiment, if controller is determined in each chip at least according to the verification status data that each chip feeds back One chip operation exception, then system enter alarm condition.Specifically, if controller is determined according to the first verification status data Operation exception after the verification of first chip parameter, or controller determines the according to the second verification status data that the second chip feed back Operation exception after the verification of two chip parameters, then system enter alarm condition, and stop current operation, display alarm information；Certainly If controller determines the first chip and the second chip all operation exceptions, system also enters alarm condition, and stops current behaviour Make, display alarm information.

Step S150, if the controller do not receive in the second Preset Time it is described first verification status data and/ Or second verification status data, then the controller determine between the controller and the first chip and/or the second chip transmit It is abnormal, and enter alarm condition；

In the present embodiment, if not receive a certain chip anti-in the second Preset Time of transmission files classes data for controller The state class data of feedback, then to determine that transmission between controller and the chip occurs abnormal for controller, and enters alarm condition.Tool Body, controller to the first chip and the second chip transmission files classes data after, if not receiving in the second Preset Time First verification status data of the first chip feedback, it is determined that abnormal, system occurs in the transmission between controller and the first chip Into alarm condition, and current operation will be stopped, showing abnormal information；Similar, if not receiving in the second Preset Time Second verification status data of the second chip feedback, it is determined that abnormal, system occurs in the transmission between controller and the second chip Also into alarm condition, and current operation will be stopped, showing abnormal information.

In the present embodiment, when each chip startup is completed, controller will transmit files classes data to join each chip Number is arranged and is verified, and only when all normal operations after the verification of each chip parameter, system just enters holding state.Otherwise, as long as There is operation exception after a chip parameter verification, system all into alarm condition, and will show abnormal information.By opening in chip Parameter setting and verification are carried out after the completion of dynamic, it is to avoid the parameter of chip does not meet the situation of job requirement；Set in chip parameter The state for determining chip is put and verified, can find that chip, because being provided with the parameter of mistake and the situation of operation exception, is improved in time The safety of system.

With reference to Fig. 4, Fig. 4 is schematic flow sheet of the present invention based on the communication means second embodiment of CAN protocol.

Based on the embodiment described in above-mentioned Fig. 1, the communication means is further comprising the steps of：

Step S160, controller transmit call instruction data to first chip and the second chip by CAN protocol；

In the present embodiment, the communication data in CAN protocol also includes order class data, the first character section of order class data For being identified to the type of data.Each chip is receiving order class data all by execution corresponding order.Wherein order Class data include call instruction data, and call instruction data include the obj ect file title called and address information.Controller Call instruction data can be transmitted to each chip.Specifically, controller is opened to the first chip and the transmission of the second chip by CAN protocol Dynamic sense command data.

Step S170, first chip and the second chip when the call instruction data are received, according to the tune In internal memory, one group of parameter is called to be configured with order data, and by CAN protocol to the controller constant feedback parameter The the first setting status data generated after setting and second arranges status data；

In the present embodiment, when call instruction data are received, the first chip will be according to call instruction data for the first chip Obj ect file is called in internal memory parameter setting is carried out according to obj ect file, and the first chip pair will be generated after the completion of parameter setting The the first setting status data answered, records the status information that the first chip is provided with the first setting status data； When one setting status data is generated, the first chip will arrange status data to controller constant feedback first by CAN protocol, supply Controller determines the state after the setting of the first chip parameter according to the first starting state data.Similar, the second chip is starting When will also receive call instruction data, the second chip will call obj ect file with basis according to call instruction data in internal memory Obj ect file carries out parameter setting, will generate the second chip corresponding second and arrange status data after the completion of parameter setting； When two setting status datas are generated, the second chip will arrange status data to controller constant feedback second by CAN protocol, supply Controller determines the state after the setting of the second chip parameter according to the second setting status data.If controller is in the second Preset Time One time first setting status data is inside at least received, one time second setting status number is at least received in the second Preset Time According to then into step S180；If controller does not at least receive the first starting state data and second in the second Preset Time One in starting state data, then into step S210.

Step S180, if the controller at least respectively receives once the first setting state in the second Preset Time Data and one time second setting status data, then the controller is respectively according to the described first setting status data and the second setting The state of the first chip and the second chip described in condition adjudgement；

In the present embodiment, in controller to after the first chip transmission call instruction data, if in the second Preset Time The first setting status data of the first chip feedback is at least received, then the first core is obtained according to the first setting status data The status information of piece, and judge whether the first chip is run after parameter setting normal according to the status information.Similar, in control Device processed is to after the second chip transmission call instruction data, if the second chip feedback is at least received in the second Preset Time The second setting status data, then the status information of the second chip is obtained according to the second setting status data, and according to the state Information judges whether the second chip is run after parameter setting normal.If now controller determines each chip all normal operations, Step S190 is entered then；If controller determines at least one chip operation exception in each chip, into step S200.

Step S190, if the controller determines first chip and the second chip all normal operations, the control Device determination processed is called and is completed；

In the present embodiment, if controller arranges status data according to the first chip feeds back first determines the first chip Normal operation after parameter setting, determines after the setting of the second chip parameter according to the second setting status data of the second chip feedback Also normal operation, then system complete call.

Step S200, if the controller determines first chip and/or the second chip operation exception, the control Device processed enters alarm condition；

In the present embodiment, if controller is determined in each chip at least according to the setting status data that each chip feeds back One chip operation exception, then system enter alarm condition.Specifically, if controller is determined according to the first setting status data Operation exception after the setting of first chip parameter, or the second chip is determined according to the second setting status data of the second chip feedback Operation exception after parameter setting, then system enter alarm condition, and stop current operation, display alarm information；If controlling certainly Device determines the first chip and the second chip all operation exceptions, then system also enters alarm condition, and stops current operation, shows Warning message.

Step S210, if the controller do not receive in the second Preset Time it is described first arrange status data and/ Or second arrange status data, then the controller determine between the controller and the first chip and/or the second chip transmit It is abnormal, and enter alarm condition；

In the present embodiment, if not receive a certain chip anti-in the second Preset Time of transmission order class data for controller The state class data of feedback, then to determine that transmission between controller and the chip occurs abnormal for controller, and enters alarm condition.Tool Body, controller after to the first chip and the second chip transmission start sense command data, if in the second Preset Time not Receive the first setting status data of the first chip feedback, it is determined that the transmission between controller and the first chip occurs different Often, system into alarm condition, and will stop current operation, show abnormal information；It is similar, if in the second Preset Time not Receive the second setting status data of the second chip feedback, it is determined that the transmission between controller and the second chip occurs different Often, system also into alarm condition, and will stop current operation, show abnormal information.

In the present embodiment, controller can transmit call instruction data so that each chip store in calling internal memory certain group parameter It is configured, meets different job requirements.The running status of chip is determined after parameter setting, only when each chip all runs When normal, system ability complete call, otherwise, as long as there is a chip operation exception, system all into alarm condition, and will show Abnormal information, improves the safety of system.

With reference to Fig. 5, Fig. 5 is schematic flow sheet of the present invention based on the 5th embodiment of communication means of CAN protocol.

Step S220, according to the modification instruction of user's triggering, controller is by CAN protocol to first chip and second Chip transmission modification order data；

In the present embodiment, the communication data in CAN protocol also includes order class data, the first character section of order class data For being identified to the type of data.Each chip is receiving order class data all by execution corresponding order.Wherein order Class data include changing order data, and modification order data can be used to individually change certain arrange parameter.Parameter can be divided into handss again Dynamic parameter and welding parameter, wherein manual data are that, for controlling and detecting a certain chip manually, welding parameter is to weld Parameter to be performed in journey.According to the modification instruction of user's triggering, controller is to each chip transmission modification order data with independent Change certain parameter.Specifically, user clicks on modification option in controller, and after being input into the parameter information of modification, controller will Generate corresponding modification instruction.After modification instruction is generated, controller is transmitted to the first chip and the second chip by CAN protocol Corresponding modification order data.

Step S230, first chip and the second chip are repaiied according to described when the modification order data is received Change order data and individually change certain parameter setting, and by CAN protocol to institute after the controller constant feedback parameter modification The the first modification status data for generating and the second modification status data；

In the present embodiment, when modification order data is received, the first chip will be according to modification order data for the first chip Corresponding parameter is individually modified, the corresponding first modification status data of the first chip after the completion of parameter modification, will be generated, The status information that the modification of the first chip is completed is record in first modification status data；When the first modification status data is generated, First chip will change status data to controller constant feedback first by CAN protocol, for controller according to the first modification shape State data determine the amended state of the first chip parameter.Similar, the second chip is receiving call instruction data, also by root Corresponding parameter is individually modified according to modification order data, the second chip corresponding second after the completion of parameter modification, will be generated Modification status data；When the second modification status data is generated, the second chip will be by CAN protocol to controller constant feedback the Two modification status datas, determine second chip parameter amended state according to the second modification status data for controller.If control Device processed at least receives one time first modification status data in the second Preset Time, at least receives in the second Preset Time One time second modification status data, then into step S240；If controller does not at least receive first in the second Preset Time One in modification status data and the second modification status data, then into step S270.

Step S240, if the controller at least respectively receives once the first modification state in the second Preset Time Data and one time second modification status data, then the controller is respectively according to the described first modification status data and the second modification Status data judges the state of first chip and the second chip；

In the present embodiment, in controller to after the first chip transmission modification order data, if in the second Preset Time The first modification status data of the first chip feedback is at least received, then the first core is obtained according to the first modification status data The status information of piece, and judge whether the first chip is run after parameter modification normal according to the status information.Similar, in control Device processed is changed after order data to the transmission of the second chip, if the second chip feedback is at least received in the second Preset Time The second modification status data, then the status information of the second chip is obtained according to the second modification status data, and according to the state Information judges whether the second chip is run after parameter modification normal.If now controller determines each chip all normal operations, Step S250 is entered then；If controller determines at least one chip operation exception in each chip, into step S260.

Step S250, if the controller determines first chip and the second chip all normal operations, the control Device processed determines that modification is completed；

In the present embodiment, if controller changes status data according to the first chip feeds back first determines the first chip Normal operation after parameter modification, determines after the modification of the second chip parameter according to the second modification status data of the second chip feedback Also normal operation, then system complete modification.

Step S260, if the controller determines first chip and/or the second chip operation exception, the control Device processed enters alarm condition；

In the present embodiment, if controller is determined in each chip at least according to the modification status data that each chip feeds back One chip operation exception, then system enter alarm condition.Specifically, if controller is determined according to the first modification status data Operation exception after the modification of first chip parameter, or the second chip is determined according to the second modification status data of the second chip feedback Operation exception after parameter modification, then system enter alarm condition, and stop current operation, display alarm information；If controlling certainly Device determines the first chip and the second chip all operation exceptions, then system also enters alarm condition, and stops current operation, shows Warning message.

Step S270, if the controller do not receive in the second Preset Time it is described first modification status data and/ Or second modification status data, then the controller determine between the controller and the first chip and/or the second chip transmit It is abnormal, and enter alarm condition；

In the present embodiment, if not receive a certain chip anti-in the second Preset Time of transmission order class data for controller The state class data of feedback, then to determine that transmission between controller and the chip occurs abnormal for controller, and enters alarm condition.Tool Body, controller to the first chip and the second chip transmission modification order data after, if not receiving in the second Preset Time To the first modification status data of the first chip feedback, it is determined that exception occurs in the transmission between controller and the first chip, is System into alarm condition, and will stop current operation, show abnormal information；Similar, if not receiving in the second Preset Time To the second modification status data of the second chip feedback, it is determined that exception occurs in the transmission between controller and the second chip, is System also into alarm condition, and will stop current operation, show abnormal information.

In the present embodiment, controller changes order data so that each chip is individually changed according to the instruction transmission that user triggers Certain arrange parameter, meets different job requirements.After parameter modification determine chip running status, only when each chip all During normal operation, system just complete modification, otherwise, as long as there is a chip operation exception, system all will into alarm condition, and Abnormal information is shown, the safety of system is improve.

With reference to Fig. 6, Fig. 6 is schematic flow sheet of the present invention based on the communication means sixth embodiment of CAN protocol.

Step S280, according to the work order of user's triggering, controller is by CAN protocol to first chip and second Chip transmits work order data；

In the present embodiment, the communication data in CAN protocol also includes order class data, the first character section of order class data For being identified to the type of data.According to the work order of user's triggering, controller transmits work order number to each chip Each chip is made to be operated preparation according to this.Specifically, user in controller click work option, controller will generate corresponding work Instruct.After work order is generated, controller transmits corresponding work life to the first chip and the second chip by CAN protocol Make data.

Step S290, first chip and the second chip when the work order data are received, according to the work Preparation is operated as order data, and the generated after being ready to complete to the controller constant feedback by CAN protocol One operating state data and the second operating state data；

In the present embodiment, when work order data are received, the first chip will be according to work order data for the first chip Preparation is operated, corresponding first operating state data of the first chip, the first working condition after the completion of Job readiness, will be generated The status information that the first chip operation is ready to complete is record in data；When the first operating state data is generated, the first chip Will be true according to the first operating state data for controller by CAN protocol to the first operating state data of controller constant feedback Determine the state after the first chip operation is ready to complete.Similar, the second chip is receiving work order data, also will be according to work Preparation is operated as order data, corresponding second operating state data of the second chip after Job readiness, will be generated；Second When operating state data is generated, the second chip will be by CAN protocol to the second operating state data of controller constant feedback, for control Device processed according to the second operating state data determine the second chip operation be ready to complete after state.If controller is when second is default It is interior at least to receive first operating state data, second working condition is at least received in the second Preset Time Data, then into step S300；If controller does not at least receive the first operating state data and in the second Preset Time One in two operating state datas, then into step S330.

Step S300, if the controller at least respectively receives once first working condition in the second Preset Time Data and second operating state data, then the controller is respectively according to first operating state data and the second work Status data judges the state of first chip and the second chip；

In the present embodiment, in controller to after the first chip transmission work order data, if in the second Preset Time The first operating state data of the first chip feedback is at least received, then the first core is obtained according to the first operating state data The status information of piece, and judge whether the first chip is run after the completion of Job readiness normal according to the status information.Similar, In controller to after the second chip transmission work order data, if second chip is at least received in the second Preset Time Second operating state data of feedback, then obtain the status information of the second chip according to the second operating state data, and according to this Status information judges whether the second chip is run after the completion of Job readiness normal.If now controller determines each chip and all transports Row is normal, then into step S310；If controller determines at least one chip operation exception in each chip, into step S320。

Step S310, if the controller determines first chip and the second chip all normal operations, the control Device processed enters working condition；

In the present embodiment, if controller determines the first chip according to the first operating state data that the first chip feeds back Normal operation after the completion of Job readiness, determines the second chip operation according to the second operating state data of the second chip feedback accurate Also normal operation after the completion of standby, then system enter working condition.

Step S320, if the controller determines first chip and/or the second chip operation exception, the control Device processed enters alarm condition；

In the present embodiment, if controller is determined in each chip at least according to the operating state data that each chip feeds back One chip operation exception, then system enter alarm condition.Specifically, if controller is determined according to the first operating state data First chip operation is ready to complete rear operation exception, or determines second according to the second modification status data of the second chip feedback Chip operation is ready to complete rear operation exception, then system enters alarm condition, and stops current operation, display alarm information；When If so controller determines the first chip and the second chip all operation exceptions, system also enters alarm condition, and stops current Operation, display alarm information.

Step S330, if the controller do not receive in the second Preset Time first operating state data and/ Or second operating state data, then the controller determine It is abnormal, and enter alarm condition；

In the present embodiment, if not receive a certain chip anti-in the second Preset Time of transmission order class data for controller The state class data of feedback, then to determine that transmission between controller and the chip occurs abnormal for controller, and enters alarm condition.Tool Body, controller to the first chip and the second chip transmission work order data after, if not receiving in the second Preset Time To the first operating state data of the first chip feedback, it is determined that exception occurs in the transmission between controller and the first chip, is System into alarm condition, and will stop current operation, show abnormal information；Similar, if not receiving in the second Preset Time To the second operating state data of the second chip feedback, it is determined that exception occurs in the transmission between controller and the second chip, is System also into alarm condition, and will stop current operation, show abnormal information.

In the present embodiment, when user triggers work order, controller will transmit work order data so that each chip The state for preparing and determining each chip is operated, only when each chip starts during all normal operations, system just enters work State.Otherwise, as long as there is chip operation exception on startup, system all into alarm condition, and will show abnormal information, Improve the safety of system.

With reference to Fig. 7, Fig. 7 is schematic flow sheet of the present invention based on the 7th embodiment of communication means of CAN protocol.

Based on the embodiment described in above-mentioned Fig. 6, the communication means is further comprising the steps of：

Step S340, according to the halt instruction of user's triggering, controller is by CAN protocol to first chip and second Chip transmits data of ceasing and desisting order；

In the present embodiment, user clicks in controller and stops option, and controller will generate corresponding halt instruction.Stopping After instruction is generated, controller transmits corresponding cease and desist order data to the first chip and the second chip by CAN protocol.

Step S350, first chip and the second chip receive it is described cease and desist order data when, stopped according to described Only order data quits work, and first generated after CAN protocol works stopping to the controller constant feedback stops Only status data and the second halted state data；

In the present embodiment, the first chip receive cease and desist order data when, the first chip will be according to work order data Quit work, the corresponding first halted state data of the first chip will be generated after stopping, being record in the first operating state data Status information when first chip quits work；In the first halted state data genaration, the first chip will by CAN protocol to According to the first halted state data, controller constant feedback the first halted state data, determine that the first chip stops work for controller State when making.Similar, the second chip is receiving data of ceasing and desisting order, and also will be quit work according to data of ceasing and desisting order, The corresponding second halted state data of the second chip will be generated after quitting work；In the second halted state data genaration, second Chip will be by CAN protocol to controller constant feedback the second halted state data, for controller according to the second working condition number State when quitting work according to the second chip of determination.If controller at least receives one time first stopping in the second Preset Time Status data, at least receives a second halted state data, then in the second Preset Time into step S360；If control Device does not at least receive one in the first operating state data and the second operating state data in the second Preset Time, then enter Enter step S390.

Step S360, if the controller at least respectively receives once first halted state in the second Preset Time Data and a second halted state data, then the controller is respectively according to the first halted state data and the second stopping Status data judges the state of first chip and the second chip；

In the present embodiment, after controller ceases and desist order data to the transmission of the first chip, if in the second Preset Time The first halted state data of the first chip feedback are at least received, then the first core is obtained according to the first operating state data The status information of piece, and whether operation is normal when judging that the first chip quits work according to the status information.Similar, in control Device is ceased and desisted order to the transmission of the second chip after data, if the second chip feedback is at least received in the second Preset Time Second halted state data, then obtain the status information of the second chip, and believed according to the state according to the second halted state data When breath judges that the second chip quits work, whether operation is normal.If now controller determines each chip all normal operations, enter Enter step S370；If controller determines at least one chip operation exception in each chip, into step S380.

Step S370, if the controller determines first chip and the second chip all normal operations, the control Device processed enters holding state；

In the present embodiment, if controller determines the first chip according to the first halted state data that the first chip feeds back Normal operation when quitting work, when determining the second chip and quit work according to the second halted state data of the second chip feedback Also normal operation, then system enter holding state.

Step S380, if the controller determines first chip and/or the second chip operation exception, the control Device processed enters alarm condition；

In the present embodiment, if controller is determined in each chip at least according to the halted state data that each chip feeds back One chip operation exception, then system enter alarm condition.Specifically, if controller is determined according to the first halted state data Operation exception when first chip quits work, or the second chip is determined according to the second halted state data of the second chip feedback Operation exception when quitting work, then system enter alarm condition, and stop current operation, display alarm information；If controlling certainly Device determines the first chip and the second chip all operation exceptions, then system also enters alarm condition, and stops current operation, shows Warning message.

Step S390, if the controller do not receive in the second Preset Time the first halted state data and/ Or the second halted state data, then the controller determine It is abnormal, and enter alarm condition；

In the present embodiment, if not receive a certain chip anti-in the second Preset Time of transmission order class data for controller The state class data of feedback, then to determine that transmission between controller and the chip occurs abnormal for controller, and enters alarm condition.Tool Body, controller is being ceased and desisted order after data to the first chip and the transmission of the second chip, if not receiving in the second Preset Time To the first halted state data of the first chip feedback, it is determined that exception occurs in the transmission between controller and the first chip, is System into alarm condition, and will stop current operation, show abnormal information；Similar, if not receiving in the second Preset Time To the second halted state data of the second chip feedback, it is determined that exception occurs in the transmission between controller and the second chip, is System also into alarm condition, and will stop current operation, show abnormal information.

In the present embodiment, when user triggers halt instruction, controller will transmit data of ceasing and desisting order so that each chip The state of each chip is quit work and determines, only when each chip starts during all normal operations, system just enters holding state. Otherwise, as long as there is chip operation exception on startup, system all into alarm condition, and will show abnormal information, improve The safety of system.

With reference to Fig. 8, Fig. 8 is schematic flow sheet of the present invention based on the 7th embodiment of communication means of CAN protocol.

Step S400, controller is by CAN protocol to first chip and the second chip transfer bus sense command number According to；

In the present embodiment, the communication data in CAN protocol also includes order class data, and the first byte of order class data is used In being identified to data type, order class data include bus sense command data.Controller is by bus sense command data Each chip is issued, so that each chip will be detected to CAN according to bus sense command data.Specifically, controller leads to CAN protocol is crossed to the first chip and the second chip transfer bus sense command data.

Step S410, first chip and the second chip when the bus sense command data are received, according to institute Bus sense command Data Detection CAN state is stated, and by CAN protocol to after controller constant feedback bus detection The the first bus state data for being generated and the second bus state data；

In the present embodiment, when bus sense command data are received, the first chip will be detected the first chip according to bus Order and CAN detected, after detection, the corresponding first bus state data of the first chip will be generated according to testing result, The detection information of the first chip detection is record in first verification status data；In the first bus state data genaration, first Chip will be by CAN protocol to controller constant feedback the first bus state data, for controller according to the first bus state number According to the state for determining CAN.Similar, the second chip will also receive bus sense command data, the second core on startup Piece will be detected to CAN according to bus sense command data, will generate the second chip pair according to testing result after detection The the second bus state data answered；In the second bus state data genaration, the second chip will be held to controller by CAN protocol The second bus state data of continuous feedback, determine the state of CAN for controller according to the second verification status data.If controller A first bus state data are at least received in the second Preset Time, is at least received once in the second Preset Time Second bus state data, then into step S420；If controller does not at least receive the first bus in the second Preset Time One in status data and the second bus state data, then into step S450.

Step S420, if the controller at least respectively receives once first bus state in the second Preset Time Data and a second bus state data, then the controller is according to the first bus state data and the second bus state Data judge the state of the CAN；

In the present embodiment, in controller to after the first chip transfer bus sense command data, if when second is default Interior the first bus state data at least receiving the first chip feedback, then obtain according to the first verification status data The status information of CAN, and judge whether CAN operation is normal according to the status information.It is similar, in controller to After two chip bus sense command data, if second that the second chip feedback is at least received in the second Preset Time is total Line states data, then obtain the status information of CAN, and judged according to the status information according to the second bus state data Whether CAN operation is normal.If now controller all obtains CAN operation according to the bus state data that each chip feeds back Normal judged result, then into step S430；If controller is drawn according at least to the bus state data that a chip feeds back The judged result of CAN operation exception, then into step S440.

Step S430, if the controller determines the CAN normal operation, the controller is pre- through the 3rd If the time transmits the bus sense command data to first chip and the second chip again；

In the present embodiment, if controller determines CAN according to the first bus state data that the first chip feeds back Normal operation, just also runs after determining the verification of the second chip parameter according to the second bus state data of the second chip feedback Often, then controller can again to each chip transfer bus sense command data, with total to CAN again after the 3rd Preset Time Line is detected.

Step S440, if the controller determines the CAN operation exception, the controller enters warning shape State；

In the present embodiment, if controller determines CAN operation exception, or control according to the first bus state data Device determines CAN operation exception according to the bus state data that the second chip feeds back, then system enters alarm condition, and stops Only current operation, display alarm information；If certainly controller according to the first bus state data and the second bus state data all The judged result of CAN operation exception can be obtained, then system also enters alarm condition, and stops current operation, display alarm Information.

Step S450, if the controller do not receive in the second Preset Time the first bus state data and/ Or the second bus state data, then the controller determine It is abnormal, and enter alarm condition；

In the present embodiment, controller after to the first chip and the second chip transfer bus sense command data, if The first bus state data of the first chip feedback are not received in two Preset Times, it is determined that between controller and the first chip Transmission occur abnormal, system into alarm condition, and will stop current operation, display abnormal information；It is similar, if second The second bus state data of the second chip feedback are not received in Preset Time, it is determined that between controller and the second chip There is exception in transmission, and system also into alarm condition, and will stop current operation, shows abnormal information.

In the present embodiment, controller periodically can be carried out to each chip transfer bus sense command data with CAN Detection, as long as the judged result of CAN operation exception is obtained according to the bus state parameter of chip feedback, system all incite somebody to action Into alarm condition, and abnormal information is shown, improve the safety of system.

The present invention also provides a kind of communication system based on CAN protocol.

With reference to Fig. 9, Fig. 9 is high-level schematic functional block diagram of the present invention based on the communication system first embodiment of CAN protocol.

In the present embodiment, the communication system includes the first chip 10 and the second chip 20：

First chip 10, for by CAN protocol continuous transmission communication data；

Second chip 20, if the communication data for the transmission of the first chip 10 is received in the first Preset Time, root The state of first chip 10 is determined according to the current state class data of the first chip 10 in the communication data for receiving；

If the second chip 10 is additionally operable to the communication data is not received in the first Preset Time, it is determined that described first Transmission abnormality between chip 10 and the second chip 20, and enter alarm condition.

With reference to Figure 10, Figure 10 is high-level schematic functional block diagram of the present invention based on the communication system second embodiment of CAN protocol.

Based on the embodiment described in above-mentioned Fig. 9, the communication system also includes controller 30：

Controller 30, for when the first chip 10 and the second chip 20 start, by CAN protocol to first chip 10 and 20 transmission start sense command data of the second chip；

First chip 10 and the second chip 20 are additionally operable to when the startup sense command data are received, and are opened according to described Dynamic sense command data carry out startup detection, and are generated after CAN protocol starts detection to the controller constant feedback The first starting state data and the second starting state data；

If controller 30 is additionally operable in the second Preset Time at least respectively receive once the first starting state data With a second starting state data, then institute is judged according to the first starting state data and the second starting state data respectively State the state of the first chip 10 and the second chip 20；

If controller 30 is additionally operable to determine first chip 10 and the second chip 20 all normal operations, it is determined that described First chip 10 and the second chip 20 complete to start；

If controller 30 is additionally operable to determine 20 operation exception of first chip 10 and/or the second chip, report is entered Alert state；

If controller 30 is additionally operable to the first starting state data and/or second are not received in the second Preset Time Starting state data, it is determined that transmission abnormality between the controller 30 and the first chip 10 and/or the second chip 10, and enter Alarm condition.

With continued reference to Figure 10, communication system described in the present embodiment：

Controller 30 is additionally operable to transmit files classes data to first chip 10 and the second chip 20 by CAN protocol；

First chip 10 and the second chip 20 are additionally operable to when the files classes data are received, according to the files classes number According to carrying out parameter verification, and first shape is verified by what CAN protocol generated to after the controller constant feedback parameter verification State data and the second verification status data；

If controller 30 is additionally operable in the second Preset Time at least respectively receive once the first verification status data With one time second verification status data, then institute is judged according to the described first verification status data and the second verification status data respectively State the state of the first chip 10 and the second chip 20；

If controller 30 is additionally operable to determine first chip 10 and the second chip 20 all normal operations, into standby State；

If controller is additionally operable to determine 20 operation exception of first chip 10 and/or the second chip, enters and report to the police State；

If controller 30 is additionally operable to the first verification status data and/or second is not received in the second Preset Time Verification status data, it is determined that transmission abnormality between the controller and the first chip 10 and/or the second chip 20, and enter report Alert state.

Controller 30 is additionally operable to the call instruction according to user's triggering, and CAN protocol is to first chip 10 and the second core Piece 20 transmits call instruction data；

First chip 10 and the second chip 20 are additionally operable to, when the call instruction data are received, call life according to described Make data in internal memory, call one group of parameter to be configured, and by CAN protocol to the controller constant feedback parameter setting The the first setting status data for being generated afterwards and second arranges status data；

If controller 30 be additionally operable at least to receive once in the second Preset Time described first arrange status data and One time second setting status data, then respectively first according to described first arranges status data and second arranges condition adjudgement The state of chip 10 and the second chip 20；

If controller 30 is additionally operable to determine first chip 10 and the second chip 20 all normal operations, it is determined that call Complete；

If controller 30 is additionally operable to the first setting status data and/or second is not received in the second Preset Time Status data is set, it is determined that transmission abnormality between the controller and the first chip 10 and/or the second chip 20, and enters report Alert state.

Controller 30 is additionally operable to the modification instruction according to user's triggering, by CAN protocol to first chip 10 and the The transmission modification order data of two chip 20；

First chip 10 and the second chip 20 are additionally operable to when the modification order data is received, according to the modification life Make data individually change certain parameter setting, and generated to after the controller constant feedback parameter modification by CAN protocol First modification status data and second modification status data；

If controller 30 is additionally operable in the second Preset Time at least respectively receive once the first modification status data With one time second modification status data, then institute is judged according to the described first modification status data and the second modification status data respectively State the state of the first chip 10 and the second chip 20；

If controller 30 is additionally operable to determine first chip 10 and the second chip 20 all normal operations, it is determined that modification Complete；

If controller 30 is additionally operable to the first modification status data and/or second is not received in the second Preset Time Modification status data, it is determined that transmission abnormality between the controller and the first chip 10 and/or the second chip 20, and enter report Alert state.

Controller 30 is additionally operable to the work order according to user's triggering, by CAN protocol to first chip 10 and the Two chip 20 transmits work order data；

First chip 10 and the second chip 20 are additionally operable to when the work order data are received, and are ordered according to the work Data are made to be operated preparation, and generated to after the completion of the controller constant feedback Job readiness by CAN protocol One operating state data and the second operating state data；

If controller 30 is additionally operable in the second Preset Time at least respectively receive once first operating state data With second operating state data, then institute is judged according to first operating state data and the second operating state data respectively State the state of the first chip 10 and the second chip 20；

If controller 30 is additionally operable to determine first chip 10 and the second chip 20 all normal operations, into work State；

If controller 30 is additionally operable to first operating state data and/or second are not received in the second Preset Time Operating state data, it is determined that transmission abnormality between the controller and the first chip 10 and/or the second chip 20, and enter report Alert state.

Controller 30 is additionally operable to the halt instruction according to user's triggering, by CAN protocol to first chip 10 and the Two chip 20 transmits data of ceasing and desisting order；

First chip 10 and the second chip 20 be additionally operable to receive it is described cease and desist order data when, stop life according to described Data are made to quit work, and the first stopping shape being generated after CAN protocol works stopping to the controller constant feedback State data and the second halted state data；

If controller 30 is additionally operable in the second Preset Time at least respectively receive once the first halted state data With a second halted state data, then institute is judged according to the first halted state data and the second halted state data respectively State the state of the first chip 10 and the second chip 20；

If controller 30 is additionally operable to the first halted state data and/or second are not received in the second Preset Time Halted state data, it is determined that transmission abnormality between the controller and the first chip 10 and/or the second chip 20, and enter report Alert state.

Controller 30 is additionally operable to by CAN protocol to the 20 transfer bus sense command of first chip 10 and the second chip Data；

First chip 10 and the second chip 20 are additionally operable to when the bus sense command data are received, according to described total Line sense command Data Detection CAN state, and given birth to after controller constant feedback bus detection by CAN protocol Into the first bus state data and the second bus state data；

If controller 30 be additionally operable at least to receive once in the second Preset Time the first bus state data and Second bus state data, then judge the CAN according to the first bus state data and the second bus state data The state of bus；

If controller 30 is additionally operable to determine the CAN normal operation, through the 3rd Preset Time again to institute State the first chip 10 and the second chip 20 sends the bus sense command data；

If controller 30 is additionally operable to determine the CAN operation exception, into alarm condition；

If controller 30 is additionally operable to the first bus state data and/or second are not received in the second Preset Time Bus state data, it is determined that transmission abnormality between the controller and the first chip 10 and/or the second chip 20, and enter report Alert state.

The present invention is corresponding with each step in said method embodiment based on modules in the communication system of CAN protocol, Each function and realize that process is no longer repeated one by one herein.

The preferred embodiments of the present invention are these are only, the scope of the claims of the present invention is not thereby limited, it is every using this Equivalent structure or equivalent flow conversion that bright description and accompanying drawing content are made, or directly or indirectly it is used in other related skills Art field, is included within the scope of the present invention.

Claims

1. a kind of communication means based on CAN protocol, it is characterised in that the communication data in the CAN protocol at least includes shape State class data, the communication means are comprised the following steps：

If second chip at least receives once the communication data of the first chip transmission in the first Preset Time, Second chip determines first chip according to the current state class data of the first chip in the communication data for receiving State；

If second chip does not receive the communication data in the first Preset Time, second chip determines described Transmission abnormality between first chip and the second chip, and enter alarm condition.

2. communication means as claimed in claim 1, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order data include starting sense command data, and first chip is continued to the second chip by CAN protocol Before the step of transmission communication data, also include：

When the first chip and the second chip start, controller is transmitted to first chip and the second chip by CAN protocol Start sense command data；

First chip and the second chip when the startup sense command data are received, according to the startup sense command Data carry out startup detection, and the first startup generated after CAN protocol starts detection to the controller constant feedback Status data and the second starting state data；

If the controller at least respectively receives once the first starting state data and one time in the second Preset Time Two starting state data, then the controller is respectively according to the first starting state data and the judgement of the second starting state data The state of first chip and the second chip；

If the controller determines first chip and the second chip all normal operations, the controller determines described One chip and the startup of the second chip are completed；

If the controller determines first chip and/or the second chip operation exception, the controller is entered reports to the police State；

If the controller does not receive the first starting state data and/or the second starting state in the second Preset Time Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

3. communication means as claimed in claim 2, it is characterised in that the communication data in the CAN protocol also includes file Class data, if the controller judges first chip and the second chip all normal operations, controller determines described After first chip and the second chip start the step of completing, also include：

Controller transmits files classes data to first chip and the second chip by CAN protocol；

First chip and the second chip enter line parameter according to the files classes data when the files classes data are received Verification, and first status data and the are verified by what CAN protocol generated to after the controller constant feedback parameter verification Two verification status datas；

If the controller at least respectively receives once the first verification status data and a time the in the second Preset Time Two verification status datas, then the controller is respectively according to the described first verification status data and the second verification status data judgement The state of first chip and the second chip；

If the controller determines first chip and the second chip all normal operations, the controller enters standby shape State；

If the controller does not receive the first verification status data and/or the second verification state in the second Preset Time Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

4. communication means as claimed in claim 1, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order class data include call instruction data, and the communication means also includes：

According to the call instruction of user's triggering, controller is called to first chip and the transmission of the second chip by CAN protocol Order data；

First chip and the second chip when the call instruction data are received, according to including the call instruction data One group of parameter is called to be configured in depositing, and generated to after the controller constant feedback parameter setting by CAN protocol First arranges status data and second arranges status data；

If the controller at least respectively receives once described first in the second Preset Time and arranges status data and a time the Two arrange status datas, then the controller respectively according to described first arrange status data and second arrange condition adjudgement described in The state of the first chip and the second chip；

If the controller determines first chip and the second chip all normal operations, the controller determination has been called Into；

If the controller does not receive described first in the second Preset Time and arranges status data and/or the second setting state Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

5. communication means as claimed in claim 1, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order class data include changing order data, and the communication means also includes：

According to the modification instruction of user's triggering, controller is by CAN protocol to first chip and the transmission modification of the second chip Order data；

First chip and the second chip are when the modification order data is received, independent according to the modification order data Change certain parameter setting, and the first modification generated to after the controller constant feedback parameter modification by CAN protocol Status data and the second modification status data；

If the controller at least respectively receives once the first modification status data and a time the in the second Preset Time Two modification status datas, then the controller is respectively according to the described first modification status data and the second modification status data judgement The state of first chip and the second chip；

If the controller determines first chip and the second chip all normal operations, the controller determines have been changed Into；

If the controller does not receive the first modification status data and/or the second modification state in the second Preset Time Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

6. communication means as claimed in claim 1, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order class data include work order data, and the communication means also includes：

According to the work order of user's triggering, controller is by CAN protocol to first chip and the second chip transmission work Order data；

First chip and the second chip are carried out according to the work order data when the work order data are received Job readiness, and the first operating state data generated after being ready to complete to the controller constant feedback by CAN protocol With the second operating state data；

If the controller at least respectively receives once first operating state data and one time in the second Preset Time Two operating state datas, then the controller is respectively according to first operating state data and the judgement of the second operating state data The state of first chip and the second chip；

If the controller determines first chip and the second chip all normal operations, the controller enters work shape State；

If the controller does not receive first operating state data and/or the second working condition in the second Preset Time Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

7. communication means as claimed in claim 6, it is characterised in that the order class data include data of ceasing and desisting order, institute Stating communication means also includes：

According to the halt instruction of user's triggering, controller is stopped to first chip and the transmission of the second chip by CAN protocol Order data；

First chip and the second chip receive it is described cease and desist order data when, according to the data stopping of ceasing and desisting order Work, and by CAN protocol work to the controller constant feedback stop after the first halted state data for being generated and the Two halted state data；

If the controller at least respectively receives once the first halted state data and one time in the second Preset Time Two halted state data, then the controller is respectively according to the first halted state data and the judgement of the second halted state data The state of first chip and the second chip；

If the controller does not receive the first halted state data and/or the second halted state in the second Preset Time Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

8. the communication means as described in claim 1 to 7 any one claim, it is characterised in that logical in the CAN protocol Letter data also includes order class data, and the order class data include bus sense command data, and the communication means also includes：

Controller is by CAN protocol to first chip and the second chip transfer bus sense command data；

First chip and the second chip when the bus sense command data are received, according to the bus sense command Data Detection CAN state, and first generated after CAN protocol is detected to the controller constant feedback bus is total Line states data and the second bus state data；

If the controller at least respectively receives once the first bus state data and one time in the second Preset Time Two lines bus status data, then the controller is according to the first bus state data and the second bus state data judge The state of CAN；

If the controller determines the CAN normal operation, the controller through the 3rd Preset Time again to First chip and the second chip transmit the bus sense command data；

If the controller determines the CAN operation exception, the controller enters alarm condition；

If the controller does not receive the first bus state data and/or the second bus state in the second Preset Time Data, then the controller determine transmission abnormality between the controller and the first chip and/or the second chip, and enter and report to the police State.

9. a kind of communication system based on CAN protocol, it is characterised in that the data in the CAN protocol at least include state class Data, the communication system include the first chip and the second chip：

First chip is used for by CAN protocol continuous transmission communication data；

If the second chip is used for the communication data that the transmission of the first chip is received in the first Preset Time, according to what is received In communication data, the current state class data of the first chip determine the state of first chip；

If the second chip is additionally operable to the communication data is not received in the first Preset Time, it is determined that first chip and Transmission abnormality between second chip, and enter alarm condition.

10. communication system as claimed in claim 9, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order data include starting sense command data, and the communication system also includes controller：

Controller for when the first chip and the second chip start, by CAN protocol to first chip and the second chip Transmission start sense command data；

First chip and the second chip are additionally operable to when the startup sense command data are received, and start detection life according to described Make data carry out startup detection, and first generated after CAN protocol starts detection to the controller constant feedback is opened Dynamic status data and the second starting state data；

If controller is additionally operable in the second Preset Time at least respectively to receive once the first starting state data and once Second starting state data, then judge described first according to the first starting state data and the second starting state data respectively The state of chip and the second chip；

If controller is additionally operable to determine first chip and the second chip all normal operations, it is determined that first chip and Second chip completes to start；

If controller is additionally operable to determine first chip and/or the second chip operation exception, into alarm condition；

If controller is additionally operable to the first starting state data and/or the second startup shape are not received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.

11. communication systems as claimed in claim 10, it is characterised in that the communication data in the CAN protocol also includes text Part class data, the communication system：

Controller is additionally operable to transmit files classes data to first chip and the second chip by CAN protocol；

First chip and the second chip are additionally operable to when the files classes data are received, and are joined according to the files classes data Number verification, and by CAN protocol generated to after the controller constant feedback parameter verification first verify status data and Second verification status data；

If controller is additionally operable in the second Preset Time at least respectively to receive once the first verification status data and once Second verification status data, then judge described first according to the described first verification status data and the second verification status data respectively The state of chip and the second chip；

If controller is additionally operable to determine first chip and the second chip all normal operations, into holding state；

If controller is additionally operable to the first verification status data and/or the second verification shape are not received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.

12. communication systems as claimed in claim 9, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order class data include call instruction data, and the communication system also includes controller：

Controller is called to first chip and the transmission of the second chip for the call instruction that triggered according to user, CAN protocol Order data；

First chip and the second chip are additionally operable to when the call instruction data are received, and are existed according to the call instruction data Call one group of parameter to be configured in internal memory, and generated to after the controller constant feedback parameter setting by CAN protocol First setting status data and second arrange status data；

If controller is additionally operable at least to receive once described first in the second Preset Time and arranges status data and a time the Two arrange status datas, then respectively according to described first arrange status data and second arrange condition adjudgement described in the first chip and The state of the second chip；

If controller is additionally operable to determine first chip and the second chip all normal operations, it is determined that calls and completes；

If controller is additionally operable to the first setting status data and/or the second setting shape are not received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.

13. communication systems as claimed in claim 9, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order class data include changing order data, and the communication system also includes controller：

Controller is transmitted to first chip and the second chip by CAN protocol for the modification instruction triggered according to user Modification order data；

First chip and the second chip are additionally operable to when the modification order data is received, according to the modification order data list Solely change certain parameter setting, and first repaiied by what CAN protocol generated to after the controller constant feedback parameter modification Change status data and the second modification status data；

If controller is additionally operable in the second Preset Time at least respectively to receive once the first modification status data and once Second modification status data, then judge described first according to the described first modification status data and the second modification status data respectively The state of chip and the second chip；

If controller is additionally operable to determine first chip and the second chip all normal operations, it is determined that modification is completed；

If controller is additionally operable to the first modification status data and/or the second modification shape are not received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.

14. communication systems as claimed in claim 9, it is characterised in that the communication data in the CAN protocol also includes order Class data, the order class data include work order data, and the communication system also includes controller：

Controller, for the work order triggered according to user, is transmitted to first chip and the second chip by CAN protocol Work order data；

First chip and the second chip are additionally operable to when the work order data are received, and are entered according to the work order data Row Job readiness, and the first work shape generated to after the completion of the controller constant feedback Job readiness by CAN protocol State data and the second operating state data；

If controller is additionally operable in the second Preset Time at least respectively to receive once first operating state data and once Second operating state data, then judge described first according to first operating state data and the second operating state data respectively The state of chip and the second chip；

If controller is additionally operable to determine first chip and the second chip all normal operations, into working condition；

If controller is additionally operable to first operating state data and/or the second work shape are not received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.

15. communication systems as claimed in claim 14, it is characterised in that the order class data include data of ceasing and desisting order, The communication system：

Controller is additionally operable to the halt instruction according to user's triggering, is passed to first chip and the second chip by CAN protocol Defeated data of ceasing and desisting order；

First chip and the second chip be additionally operable to receive it is described cease and desist order data when, stopped according to the data of ceasing and desisting order Only work, and by CAN protocol work to the controller constant feedback stop after the first halted state data for being generated and Second halted state data；

If controller is additionally operable in the second Preset Time at least respectively to receive once the first halted state data and once Second halted state data, then judge described first according to the first halted state data and the second halted state data respectively The state of chip and the second chip；

If controller is additionally operable to the first halted state data and/or the second stopping shape not being received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.

16. communication systems based on CAN protocol as described in claim 9 to 15 any one claim, it is characterised in that institute Stating the communication data in CAN protocol also includes order class data, and the order class data include bus sense command data, described Communication system also includes controller：

Controller, for passing through CAN protocol to first chip and the second chip transfer bus sense command data；

First chip and the second chip are additionally operable to when the bus sense command data are received, and are ordered according to bus detection Make Data Detection CAN state, and first generated to after controller constant feedback bus detection by CAN protocol Bus state data and the second bus state data；

If controller is additionally operable to the first bus state data and one time are at least received once in the second Preset Time Two lines bus status data, then judge the CAN according to the first bus state data and the second bus state data State；

If controller is additionally operable to determine the CAN normal operation, through the 3rd Preset Time again to described first Chip and the second chip send the bus sense command data；

If controller is additionally operable to determine the CAN operation exception, into alarm condition；

If controller is additionally operable to the first bus state data and/or second total wire are not received in the second Preset Time State data, it is determined that transmission abnormality between the controller and the first chip and/or the second chip, and enter alarm condition.