CN111131147B - Ethernet TCP/IP application layer TC transmission protocol method and system based on object dictionary - Google Patents
Ethernet TCP/IP application layer TC transmission protocol method and system based on object dictionary Download PDFInfo
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- CN111131147B CN111131147B CN201911089953.9A CN201911089953A CN111131147B CN 111131147 B CN111131147 B CN 111131147B CN 201911089953 A CN201911089953 A CN 201911089953A CN 111131147 B CN111131147 B CN 111131147B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/16—Implementation or adaptation of Internet protocol [IP], of transmission control protocol [TCP] or of user datagram protocol [UDP]
- H04L69/163—In-band adaptation of TCP data exchange; In-band control procedures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
- H04L2012/40215—Controller Area Network CAN
Abstract
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol based on an object dictionary, which comprises the following steps: the client writes data of the CANopen object address of the equipment and sends the data to the server; the server reads the data of the CANopen object address, converts the data into a CANopen data frame which CAN be identified by the CAN equipment end according to the set data corresponding relation, and sends the data to the CAN equipment end through the CAN bus; the TC protocol technology is designed based on an industrial field CANopen bus object dictionary, runs on an Ethernet application layer, is applied to industrial occasions with low real-time requirements, such as industrial automatic spraying, industrial automatic field monitoring, industrial field equipment parameter configuration and the like, has lower application cost and more convenient use, can be quickly used by each IT personnel without contacting with a traditional complex industrial field bus, and realizes data transmission from the industrial field CANbus to the Ethernet.
Description
Technical Field
The invention relates to the technical field, in particular to an Ethernet TCP/IP application layer TC transmission protocol method and system based on an object dictionary.
Background
With the development of internet technology, industrial automation equipment needs to be accessed to the internet, and the ethernet has unique technical advantages and can be quickly connected in a networking way. However, a large number of conventional devices exist in the industrial field, and the conventional industrial field buses, such as the CAN bus, adopted by the industrial field buses cannot transmit data with the existing ethernet bus, so that the use of the ethernet technology in the industrial field is greatly limited; the traditional Ethernet does not have application layer transmission protocols, such as http, ftp, sftp and the like, which are specially aimed at the industrial field, and is not optimized for the industrial field.
Disclosure of Invention
The technical problem to be solved by the present invention is to provide an ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, and also provide an ethernet TCP/IP application layer TC transmission protocol system based on an object dictionary, and an ethernet TCP/IP application layer TC transmission protocol device based on an object dictionary, aiming at the above-mentioned defects of the prior art.
The technical scheme adopted by the invention for solving the technical problem is as follows:
an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary is constructed, wherein the realization method comprises the following steps:
the client writes data of the CANopen object address of the equipment and sends the data to the server;
and the server reads the data of the CANopen object address, converts the data into a CANopen data frame which CAN be identified by the CAN equipment terminal according to the set data corresponding relation, and sends the data frame to the CAN equipment terminal through the CAN bus.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein the TC protocol instruction format of data written in a CANopen object address of equipment by a client is as follows:
CMD ID Index SUBINDEX Type＝Data\r\n；
wherein, CMD is the message head sent by the client; the ID is the station number of the CAN equipment which the client needs to access; index is a main Index address of a CAN bus address object dictionary accessed by a client; SubIndex is a sub-index of CAN equipment which a client needs to access; the Type is a data Type; -being an assigned identifier; data is assigned Data; \ r is a data end symbol; \ n is the end of data symbol.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein the instruction format of a CANopen data frame is as follows:
Std CMD IndexL IndexH SubIndex Data0 Data1 Data2 Data3；
wherein Std is CAN ID; CMD is a command type; IndexL is the lower 8 bits of the main index; IndexH is the high 8 bits of the main index; SubIndex is a sub-index; data0-3 is assigned Data;
the set data corresponding relation is as follows: ID numbers of Std and TC protocols correspond, read-write commands of CMD and TC protocols correspond, Index L corresponds to Index of IndexH and TC protocols, SubIndex corresponds to SubIndex of TC protocols, and Data of Dtata0-Data3 and TC protocols correspond to Data.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein when a server receives data of a CANopen object address, a response instruction is fed back to a client.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein the response instruction comprises one or more of a data assignment success instruction, a CANOpen address non-existing instruction, a CANOpen address read-only instruction, a CANOpen address data overflow instruction, an instruction format error instruction and a response overtime instruction.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein a server sends a CANopen data frame to a CAN equipment terminal and then feeds back a return instruction to a client.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein the return instruction comprises one or more of a return data instruction, an address non-existing instruction, an instruction format error instruction and a response timeout instruction.
A system of an Ethernet TCP/IP application layer TC transmission protocol based on an object dictionary is disclosed, which comprises a client, a switch, an industrial gateway and a CAN device end which are sequentially connected in a communication manner;
the industrial gateway comprises an Ethernet interface and a CAN interface, wherein the Ethernet interface supports a TCP/IP transmission protocol, and the CAN interface needs to support a standard CANOpen transmission protocol; the industrial gateway further comprises a TC protocol layer supporting the object dictionary based Ethernet TCP/IP application layer TC transport protocol.
The system of the TC transmission protocol of the Ethernet TCP/IP application layer based on the object dictionary comprises a client and a client, wherein the client comprises a human-computer interaction interface which supports the TC transmission protocol of the Ethernet TCP/IP application layer based on the object dictionary.
The equipment of the TC transmission protocol of the Ethernet TCP/IP application layer based on the object dictionary is a system of the TC transmission protocol of the Ethernet TCP/IP application layer based on the object dictionary, wherein the equipment is provided with the system of the TC transmission protocol of the Ethernet TCP/IP application layer based on the object dictionary.
The invention has the beneficial effects that: the TC protocol technology is designed based on an industrial field CANopen bus object dictionary, runs on an Ethernet application layer, is applied to industrial occasions with low real-time requirements, such as industrial automatic spraying, industrial automatic field monitoring, industrial field equipment parameter configuration and the like, has lower application cost and more convenient use, can be quickly used by each IT personnel without contacting with a traditional complex industrial field bus, and realizes data transmission from the industrial field CANbus to the Ethernet.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only part of the embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts based on the drawings:
FIG. 1 is a flow chart of the Ethernet TCP/IP application layer TC transport protocol based on the object dictionary in the preferred embodiment of the present invention;
fig. 2 is a schematic block diagram of a system for an object dictionary based ethernet TCP/IP application layer TC transport protocol according to a preferred embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
The method for transmitting the TC protocol of the Ethernet TCP/IP application layer based on the object dictionary in the preferred embodiment of the invention is realized as follows, as shown in figure 1:
s01: the client writes data of the CANopen object address of the equipment and sends the data to the server;
s02: the server reads data of the CANopen object address, converts the data into a CANopen data frame which CAN be identified by the CAN equipment end according to the set data corresponding relation, and sends the data to the CAN equipment end through the CAN bus;
the TC protocol technology is designed based on an industrial field CANopen bus object dictionary, runs on an Ethernet application layer, is applied to industrial occasions with low real-time requirements, such as industrial automatic spraying, industrial automatic field monitoring, industrial field equipment parameter configuration and the like, has lower application cost and more convenient use, can be quickly and conveniently used by all IT personnel without contacting with a traditional complex industrial field bus, and realizes data transmission from the industrial field CANbus to the Ethernet.
Preferably, the TC protocol instruction format of the data written by the client to the CANopen object address is as follows:
CMD ID Index SUBINDEX Type＝Data\r\n；
for example: tcw 0165000208 ═ 1532 carriage return line breaks;
wherein, CMD is the message head sent by the client; the ID is the station number of the CAN equipment which needs to be accessed by the client; index is a main Index address of a CAN bus address object dictionary accessed by a client; SubIndex is a sub-index of CAN equipment which a client needs to access; type is data Type; is an assigned identifier; data is assigned Data; r is the end of data symbol; \ n is the end of data symbol.
Preferably, the instruction format of the CANopen data frame is:
Std CMD IndexL IndexH SubIndex Data0 Data1 Data2 Data3；
wherein Std is CAN ID; CMD is a command type; IndexL is the lower 8 bits of the main index; IndexH is the upper 8 bits of the main index; SubIndex is a sub-index; data0-3 is assigned Data;
the set data corresponding relation is as follows: ID numbers of Std and TC protocol correspond to each other, read-write commands of CMD and TC protocol correspond to each other, IndexL corresponds to IndexH and Index of TC protocol, SubIndex corresponds to SubIndex of TC protocol, and Dtata0-Data3 corresponds to Data of TC protocol.
Preferably, when the server receives the data of the CANopen object address, a response instruction is fed back to the client.
Preferably, the response instruction includes one or more of a data assignment success instruction, a CANOpen address non-existing instruction, a CANOpen address read-only instruction, a CANOpen address data overflow instruction, an instruction format error instruction, and a response timeout instruction;
the instruction format is as follows:
and assigning a successful instruction:
CMD ID number Index SubIndex ═ Data \ r \ n
For example: tsw 01650002-1532 carriage return character line feed character
CANOpen address no instruction:
CMD ID number Index SubIndex ═ Data \ r \ n
For example: tsw 01650002 null enter line feed (null stands for address not present)
CANOpen addresses are read-only instructions:
CMD ID number Index SubIndex ═ Data \ r \ n
For example: tsw 01650002 ro carriage return character line wrapping character (return ro indicates the CANOpen address is read-only and non-writable)
CANOpen address data overflow instruction:
CMD ID number Index SubIndex ═ Data \ r \ n
For example: tsw 01650002-over carriage return symbol (return over indicates that the CANOpen address data overflows)
Instruction format error instruction:
CMD＝Data\r\n
for example: ts ═ error carriage return character line wrapping character (return error indicates an instruction format error)
Responding to a timeout instruction
CMD＝Data\r\n
For example: ts-time out carriage return character line-feed character
Preferably, the server sends the CANopen data frame to the CAN device terminal, and then feeds back a return instruction to the client.
The invention relates to an Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary, wherein a return instruction comprises one or more of a return data instruction, an address nonexistence instruction, an instruction format error instruction and a response overtime instruction;
the instruction format is as follows:
and returning a data instruction:
CMD ID number Index SubIndex Data r n
For example: tsr 01650002-1532 carriage return character line feed character
Address not present instruction:
CMD ID number Index SubIndex ═ Data \ r \ n
For example: tsw 01650002 null enter line feed (null stands for address not present)
CMD＝Data\r\n
For example: ts ═ error carriage return character line wrapping character (return error indicates an instruction format error)
Responding to a timeout instruction
CMD＝Data\r\n
For example: ts is time out enter character line wrapping character;
a system of an Ethernet TCP/IP application layer TC transmission protocol based on an object dictionary is characterized in that according to the method of the Ethernet TCP/IP application layer TC transmission protocol based on the object dictionary, the system comprises a client 1, a switch 2, an industrial gateway 3 and a CAN equipment terminal 4 which are in communication connection in sequence;
the industrial gateway 3 comprises an Ethernet interface and a CAN interface, wherein the Ethernet interface supports a TCP/IP transmission protocol, and the CAN interface needs to support a standard CANOpen transmission protocol; the industrial gateway also comprises a TC protocol layer, wherein the TC protocol layer supports an Ethernet TCP/IP application layer TC transmission protocol based on an object dictionary;
the industrial gateway 3 constitutes a server in the TC transmission protocol described above.
Preferably, the client comprises a human-computer interaction interface, and the human-computer interaction interface supports an Ethernet TCP/IP application layer TC transmission protocol based on an object dictionary;
the system is designed based on an industrial field CANopen bus object dictionary, runs on an Ethernet application layer, is applied to industrial occasions with low real-time requirements, such as industrial automatic spraying, industrial automatic field monitoring, industrial field equipment parameter configuration and the like, has lower application cost and more convenient use, can be quickly handled by all IT personnel without contacting with the traditional complex industrial field bus, and realizes data transmission from the industrial field CANbus to the Ethernet.
The equipment of the TC transmission protocol of the Ethernet TCP/IP application layer based on the object dictionary is provided with the TC transmission protocol system of the Ethernet TCP/IP application layer based on the object dictionary.
It will be appreciated that modifications and variations are possible to those skilled in the art in light of the above teachings, and it is intended to cover all such modifications and variations as fall within the scope of the appended claims.
Claims (10)
1. An Ethernet TCP/IP application layer TC transmission protocol method based on an object dictionary is characterized in that the realization method is as follows:
writing data of a CANopen object address of the equipment into the client and sending the data to the server;
and the server reads the data of the CANopen object address, converts the data into a CANopen data frame which CAN be identified by the CAN equipment terminal according to the set data corresponding relation, and sends the data frame to the CAN equipment terminal through the CAN bus.
2. The object dictionary based ethernet TCP/IP application layer TC transport protocol method of claim 1, wherein the TC protocol instruction format of the data written by the client to the CANopen object address is:
CMD ID Index SUBINDEX Type＝Data\r\n；
wherein, CMD is the message head sent by the client; the ID is the station number of the CAN equipment which the client needs to access; index is a main Index address of a CAN bus address object dictionary accessed by a client; SubIndex is a sub-index of CAN equipment which a client needs to access; the Type is a data Type; -being an assigned identifier; data is assigned Data; r is the end of data symbol; \ n is a data end character.
3. The object dictionary based ethernet TCP/IP application layer TC transport protocol method of claim 2, wherein the instruction format of the CANopen data frame is:
Std CMD IndexL IndexH SubIndex Data0 Data1 Data2 Data3；
wherein Std is CAN ID; CMD is a command type; IndexL is the lower 8 bits of the main index; IndexH is the high 8 bits of the main index; SubIndex is a sub-index; data0-3 is assigned Data;
the set data corresponding relation is as follows: ID numbers of Std and TC protocol correspond to each other, read-write commands of CMD and TC protocol correspond to each other, IndexL corresponds to IndexH and Index of TC protocol, SubIndex corresponds to SubIndex of TC protocol, and Dtata0-Data3 corresponds to Data of TC protocol.
4. The object dictionary-based ethernet TCP/IP application layer TC protocol method according to any of claims 1-3, wherein said server feeds back a response command to the client when receiving data of the CANopen object address.
5. The object dictionary-based ethernet TCP/IP application layer TC transport protocol method of claim 4, wherein said response instruction comprises one or more of a data assignment success instruction, a CANOpen address not present instruction, a CANOpen address being a read only instruction, a CANOpen address data overflow instruction, an instruction format error instruction, and a response timeout instruction.
6. The object dictionary based ethernet TCP/IP application layer TC transport protocol method of any of claims 1 to 3, wherein said server sends a CANopen data frame to the CAN device side and then feeds back a return command to the client side.
7. The object dictionary based ethernet TCP/IP application layer TC transport protocol method according to claim 6, wherein said return instruction comprises one or more of a return data instruction, an address not present instruction, an instruction format error instruction and a response time out instruction.
8. A system of an object dictionary-based Ethernet TCP/IP application layer TC transmission protocol is characterized by comprising a client, a switch, an industrial gateway and a CAN (controller area network) device which are sequentially connected in a communication manner, wherein the client, the switch, the industrial gateway and the CAN device are arranged in the system according to any one of claims 1 to 7;
the industrial gateway comprises an Ethernet interface and a CAN interface, wherein the Ethernet interface supports a TCP/IP transmission protocol, and the CAN interface needs to support a standard CANOpen transmission protocol; the industrial gateway further comprises a TC protocol layer supporting the object dictionary based Ethernet TCP/IP application layer TC transport protocol.
9. The system of object dictionary based ethernet TCP/IP application layer TC transport protocol according to claim 8, wherein said client comprises a human-machine interaction interface supporting said object dictionary based ethernet TCP/IP application layer TC transport protocol.
10. An apparatus of an object dictionary based ethernet TCP/IP application layer TC transport protocol, characterized in that the apparatus is provided with a system of an object dictionary based ethernet TCP/IP application layer TC transport protocol according to claim 8 or 9.
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| US7051143B2 (en) * | 2001-06-25 | 2006-05-23 | Schneider Automation Inc. | Method, system and program for the transmission of modbus messages between networks |
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| WO2011120999A1 (en) * | 2010-03-31 | 2011-10-06 | Schneider Electric Automation Gmbh | Method for transmitting data via a canopen bus |
| CN103516462A (en) * | 2012-06-15 | 2014-01-15 | 华锐风电科技(集团)股份有限公司 | Method and apparatus for sending data frame of nonstandard Canopen slave node |
| CN108881001A (en) * | 2017-05-16 | 2018-11-23 | 比亚迪股份有限公司 | The gateway and method of data conversion are carried out based on CANopen agreement and Ethernet protocol |
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Denomination of invention: TCP/IP application layer TC transmission protocol method and system based on object dictionary Effective date of registration: 20230210 Granted publication date: 20220726 Pledgee: Shenzhen Rural Commercial Bank Co.,Ltd. Nanshan Sub branch Pledgor: SHENZHEN TEDA ROBOTICS Co.,Ltd. Registration number: Y2023980032405 |