CN111308937B - Bus type servo motor network starting method, device, equipment and storage medium - Google Patents
Bus type servo motor network starting method, device, equipment and storage medium Download PDFInfo
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- CN111308937B CN111308937B CN202010130057.9A CN202010130057A CN111308937B CN 111308937 B CN111308937 B CN 111308937B CN 202010130057 A CN202010130057 A CN 202010130057A CN 111308937 B CN111308937 B CN 111308937B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The invention discloses a bus type servo motor network starting method, which comprises the following steps: when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack; acquiring a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack; analyzing a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack; and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out starting operation based on the target starting parameters. By applying the technical scheme provided by the embodiment of the invention, the network starting speed of the bus type servo motor is greatly increased, and the production efficiency is improved. The invention also discloses a bus type servo motor network starting device, equipment and a storage medium, and has corresponding technical effects.
Description
Technical Field
The invention relates to the technical field of automation control, in particular to a bus type servo motor network starting method, a bus type servo motor network starting device, bus type servo motor network starting equipment and a computer readable storage medium.
Background
In the automation industry, the servo axis is not used basically independently, but is used in conjunction with a superordinate controller. Early burst control methods generally had fewer servo drivers to adapt to a controller. The Profinet bus is a well-priced bus commonly found in factory automation control. Generally, when a bus is used, each control system corresponds to a relatively large number of servo axes. The high-speed bus servo has the characteristic that the advantages of the high-speed bus can be utilized to interact a large amount of data with an upper control system, and the starting and normal operation of the network are ensured.
At present, the bus protocol solves the problem of data interaction in the process, but preparation parameters before servo operation are still not completely transmitted, and are manually set in the equipment debugging stage. The manual input of the starting parameters for each servo is a very time-consuming matter, and the production efficiency is seriously influenced.
In summary, how to effectively solve the problems of time waste, influence on production efficiency and the like in the existing manual input mode of the starting parameters of the servo motor is a problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to provide a network starting method of a bus type servo motor, which greatly accelerates the network starting speed of the bus type servo motor and improves the production efficiency; another object of the present invention is to provide a bus type servo motor network starting apparatus, a bus type servo motor network starting apparatus and a computer readable storage medium.
In order to solve the technical problems, the invention provides the following technical scheme:
a network starting method for a bus type servo motor comprises the following steps:
when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack;
acquiring a target starting parameter of a target bus type servo motor corresponding to the target servo protocol stack;
analyzing a preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack;
and sending the target starting parameter to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out network starting operation based on the target starting parameter.
In an embodiment of the present invention, after the target startup parameter is sent to the target bus type servo motor by using the target parameter channel, the method further includes:
receiving parameter response feedback information returned by the target bus type servo motor;
judging whether the target starting parameter needs to be adjusted or not according to the parameter response feedback information;
and if so, adjusting the target starting parameter.
In a specific embodiment of the present invention, after determining a currently started servo protocol stack as a target servo protocol stack, before acquiring a target start parameter of a target bus type servo motor corresponding to the target servo protocol stack, the method further includes:
judging whether the target servo protocol stack is started normally;
if yes, executing the step of acquiring target starting parameters of the target bus type servo motor corresponding to the target servo protocol stack;
if not, starting an abnormal error reporting operation of the servo protocol stack.
In a specific embodiment of the present invention, the determining whether the target servo protocol stack is normally started includes:
and judging whether the virtual configuration of the network where the target servo protocol stack is positioned is consistent with the real configuration.
A bus type servo motor network starting device comprises:
the protocol stack determining module is used for determining the currently started servo protocol stack as a target servo protocol stack when the servo protocol stack starting is detected;
the starting parameter acquisition module is used for acquiring a target starting parameter of a target bus type servo motor corresponding to the target servo protocol stack;
the parameter channel acquisition module is used for analyzing a preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack;
and the network starting module is used for sending the target starting parameter to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out network starting operation based on the target starting parameter.
In one embodiment of the present invention, the method further comprises:
the feedback information receiving module is used for receiving parameter response feedback information returned by the target bus type servo motor after the target starting parameter is sent to the target bus type servo motor by using the target parameter channel;
the first judgment module is used for judging whether the target starting parameter needs to be adjusted or not according to the parameter response feedback information;
and the parameter adjusting module is used for adjusting the target starting parameter when the target starting parameter is determined to be adjusted according to the parameter response feedback information.
In one embodiment of the present invention, the method further comprises:
the second judgment module is used for judging whether the target servo protocol stack is normally started or not before acquiring the target starting parameter of the target bus type servo motor corresponding to the target servo protocol stack after the currently started servo protocol stack is determined as the target servo protocol stack;
the starting parameter acquiring module is specifically a module for acquiring a target starting parameter of a target bus type servo motor corresponding to the target servo protocol stack when the target servo protocol stack is determined to be normally started;
and the abnormal error reporting module is used for performing abnormal error reporting operation of starting the servo protocol stack when the target servo protocol stack is determined to be abnormal in starting.
In an embodiment of the present invention, the second determining module is a module for determining whether a virtual configuration of a network where the target servo protocol stack is located is consistent with a real configuration.
A bus type servo motor network starting apparatus comprising:
a memory for storing a computer program;
and the processor is used for realizing the steps of the bus type servo motor network starting method when executing the computer program.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the bus-type servomotor network startup method as described above.
By applying the method provided by the embodiment of the invention, when the starting of the servo protocol stack is detected, the currently started servo protocol stack is determined as the target servo protocol stack; acquiring a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack; analyzing a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack; and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out network starting operation based on the target starting parameters. By presetting the GSD file with the corresponding relation between each servo protocol stack and each parameter channel, when the servo protocol stack is started, the corresponding target parameter channel is directly utilized to send the starting parameter to the target bus type servo motor. Compared with the existing mode of manually inputting the network starting parameters of the bus type servo motor, the network starting speed of the bus type servo motor is greatly increased, and the production efficiency is improved.
Correspondingly, the embodiment of the invention also provides a bus type servo motor network starting device, equipment and a computer readable storage medium corresponding to the bus type servo motor network starting method, which have the technical effects and are not described herein again.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flowchart illustrating an embodiment of a method for starting a bus-type servo motor network;
FIG. 2 is a flowchart illustrating another embodiment of a method for starting a bus-type servo motor network according to the present invention;
FIG. 3 is a block diagram of a bus-type network starting apparatus for a servo motor according to an embodiment of the present invention;
fig. 4 is a block diagram of a bus type servo motor network starting device according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1, fig. 1 is a flowchart illustrating an implementation of a bus-type servo motor network starting method according to an embodiment of the present invention, where the method may include the following steps:
s101: and when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack.
The servo protocol stacks between each bus type servo motor and the upper controller can be respectively preset, the upper controller can detect whether the servo protocol stack is started or not in real time, when the servo protocol stack is detected to be started, the upper controller needs to control the bus type servo motor corresponding to the servo protocol stack, and under the condition, the currently started servo protocol stack can be determined as a target servo protocol stack.
S102: and acquiring target starting parameters of a target bus type servo motor corresponding to the target servo protocol stack.
The starting parameters of the bus type servo motor corresponding to each servo protocol stack can be stored in advance, the corresponding relation between each servo protocol stack and each starting parameter can be stored in advance, and after the target servo protocol stack is determined, the target starting parameters of the target bus type servo motor corresponding to the target servo protocol stack can be obtained.
S103: and analyzing the preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack.
A parameter channel used for the upper controller to send a start parameter to each bus type servo motor and a GSD (ground Sampling distance) file of a corresponding relation between each servo protocol stack and the parameter channel may be preset and deployed, and when a target servo protocol stack is determined, a target parameter channel corresponding to the target servo protocol stack is obtained by analyzing the preset GSD file. The starting parameters are planned in advance under each condition according to the use working conditions, and flexible channel allocation can be performed by fixing the parameter channels into the GSD file. The communication is expanded to an operator control level by fully utilizing the GSD data standardized by the GSD file, and equipment produced by different manufacturers can be integrated in the same bus system by using a GSD-based configuration tool, so that the method has the advantages of simplicity, user friendliness and the like.
S104: and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out network starting operation based on the target starting parameters.
After the target starting parameter of the target bus type servo motor corresponding to the target servo protocol stack is obtained and the target parameter channel corresponding to the target servo protocol stack is obtained through analyzing the GSD file, the target starting parameter can be sent to the target bus type servo motor through the target parameter channel, and therefore the target bus type servo motor is started based on the target starting parameter. By setting the parameter channel between the upper computer controller and the bus type servo motor, the upper controller can automatically send starting parameters to the bus type servo motor, the network starting speed of the bus type servo motor is greatly accelerated, the production efficiency is improved, and the labor cost is greatly saved. And the bus type servo motor responds to the target starting parameter before running, and does not operate in running, so that the execution efficiency of the upper controller and the bus type servo motor is not influenced.
By applying the method provided by the embodiment of the invention, when the starting of the servo protocol stack is detected, the currently started servo protocol stack is determined as the target servo protocol stack; acquiring a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack; analyzing a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack; and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out starting operation based on the target starting parameters. By presetting the GSD file with the corresponding relation between each servo protocol stack and each parameter channel, when the servo protocol stack is started, the corresponding target parameter channel is directly utilized to send the starting parameter to the target bus type servo motor. Compared with the existing mode of manually inputting the network starting parameters of the bus type servo motor, the network starting speed of the bus type servo motor is greatly increased, and the production efficiency is improved.
It should be noted that, based on the first embodiment, the embodiment of the present invention further provides a corresponding improvement scheme. In the following embodiments, steps that are the same as or correspond to those in the first embodiment may be referred to each other, and corresponding advantageous effects may also be referred to each other, which are not described in detail in the following modified embodiments.
Example two:
s201: and when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack.
S202: and judging whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration, if not, executing the step S203, and if so, executing the step S204.
After the target servo protocol stack is determined, whether the virtual configuration and the real configuration of the network where the target servo protocol stack is located are consistent or not can be judged, so that whether the target servo protocol stack is normally started or not is determined according to the virtual configuration and the real configuration of the network, namely when the virtual configuration and the real configuration of the network where the target servo protocol stack is located are consistent, the target servo protocol stack is in a normal starting state, step S204 is executed, when the virtual configuration and the real configuration of the network where the target servo protocol stack is located are inconsistent, the target servo protocol stack is in an abnormal starting state, and step S203 is executed.
It should be noted that, in addition to determining the start state of the servo protocol stack according to the consistency between the virtual configuration and the real configuration of the network, the start state of the servo protocol stack may also be determined according to whether other determination conditions capable of indicating the start state of the servo protocol stack are satisfied, which is not limited in the embodiment of the present invention.
S203: and performing abnormal error reporting operation of the starting of the servo protocol stack.
When the virtual configuration of the network where the target servo protocol stack is located is inconsistent with the real configuration, it is indicated that the target servo protocol stack is in an abnormal starting state, and abnormal error reporting operation of starting the servo protocol stack is performed, so that related personnel are prompted to perform maintenance operation in time.
S204: and acquiring target starting parameters of a target bus type servo motor corresponding to the target servo protocol stack.
S205: and analyzing the preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack.
S206: and sending the target starting parameters to the target bus type servo motor by using the target parameter channel.
S207: and receiving parameter response feedback information returned by the target bus type servo motor.
After the target starting parameter is sent to the target bus type servo motor by using the target parameter channel, the target bus type servo motor identifies the target starting parameter, such as the length of the parameter, the effective mode of the parameter and the correctness of the parameter, obtains an identification result, generates parameter response feedback information according to the identification result, and returns the parameter response feedback information to the upper controller, and the upper controller receives the parameter response feedback information returned by the target bus type servo motor.
S208: and judging whether the target starting parameter needs to be adjusted or not according to the parameter response feedback information, if so, executing the step S209, and if not, not processing.
After parameter response feedback information returned by the target bus type servo motor is received, whether the target starting parameter needs to be adjusted or not can be judged according to the parameter response feedback information, if yes, the target starting parameter is indicated to be wrong, step S209 is executed, and if not, the target starting parameter is indicated to be normal, and no processing is needed.
S209: and adjusting the target starting parameters.
When the target starting parameters are determined to be adjusted according to the parameter response feedback information, adjusting the target starting parameters, such as adjusting the length of the parameters, the effective mode of the parameters and the like, so that the starting parameters meet corresponding starting conditions, and the servo motor is ensured to be started correctly.
Corresponding to the above method embodiments, the embodiments of the present invention further provide a bus type servo motor network starting apparatus, and the bus type servo motor network starting apparatus described below and the bus type servo motor network starting method described above may be referred to correspondingly.
Referring to fig. 3, fig. 3 is a block diagram of a bus type servo motor network starting apparatus according to an embodiment of the present invention, where the apparatus may include:
the protocol stack determining module 31 is configured to determine, when it is detected that there is a start of a servo protocol stack, a currently started servo protocol stack as a target servo protocol stack;
a starting parameter obtaining module 32, configured to obtain a target starting parameter of a target bus-type servo motor corresponding to a target servo protocol stack;
a parameter channel obtaining module 33, configured to analyze a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack;
and the network starting module 34 is configured to send the target starting parameter to the target bus type servo motor by using the target parameter channel, so that the target bus type servo motor performs a network starting operation based on the target starting parameter.
By applying the device provided by the embodiment of the invention, when the servo protocol stack starting is detected, the currently started servo protocol stack is determined as the target servo protocol stack; acquiring a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack; analyzing a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack; and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out starting operation based on the target starting parameters. By presetting the GSD file with the corresponding relation between each servo protocol stack and each parameter channel, when the servo protocol stack is started, the corresponding target parameter channel is directly utilized to send the starting parameter to the target bus type servo motor. Compared with the existing mode of manually inputting the network starting parameters of the bus type servo motor, the network starting speed of the bus type servo motor is greatly increased, and the production efficiency is improved.
In one embodiment of the present invention, the apparatus may further include:
the feedback information receiving module is used for receiving parameter response feedback information returned by the target bus type servo motor after the target starting parameter is sent to the target bus type servo motor by using the target parameter channel;
the first judgment module is used for judging whether the target starting parameter needs to be adjusted or not according to the parameter response feedback information;
and the parameter adjusting module is used for adjusting the target starting parameter when the target starting parameter is determined to be adjusted according to the parameter response feedback information.
In one embodiment of the present invention, the apparatus may further include:
the second judgment module is used for judging whether the target servo protocol stack is normally started or not before acquiring the target starting parameters of the target bus type servo motor corresponding to the target servo protocol stack after the currently started servo protocol stack is determined as the target servo protocol stack;
the starting parameter obtaining module 32 is specifically a module for obtaining a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack when it is determined that the target servo protocol stack is normally started;
and the abnormal error reporting module is used for performing abnormal error reporting operation of starting the servo protocol stack when the target servo protocol stack is determined to be abnormal in starting.
In an embodiment of the present invention, the second determining module is a module for determining whether the virtual configuration of the network where the target servo protocol stack is located is consistent with the real configuration.
In correspondence to the above method embodiment, referring to fig. 4, fig. 4 is a schematic diagram of a bus type servo motor network starting device provided by the present invention, where the device may include:
a memory 41 for storing a computer program;
the processor 42, when executing the computer program stored in the memory 41, may implement the following steps:
when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack; acquiring a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack; analyzing a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack; and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out network starting operation based on the target starting parameters.
For the introduction of the device provided by the present invention, please refer to the above method embodiment, which is not described herein again.
Corresponding to the above method embodiment, the present invention further provides a computer-readable storage medium having a computer program stored thereon, the computer program, when executed by a processor, implementing the steps of:
when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack; acquiring a target starting parameter of a target bus type servo motor corresponding to a target servo protocol stack; analyzing a preset GSD file to obtain a target parameter channel corresponding to a target servo protocol stack; and sending the target starting parameters to the target bus type servo motor by using the target parameter channel so as to enable the target bus type servo motor to carry out network starting operation based on the target starting parameters.
The computer-readable storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of the computer-readable storage medium provided by the present invention, please refer to the above method embodiments, which are not described herein again.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device, the apparatus and the computer-readable storage medium disclosed in the embodiments correspond to the method disclosed in the embodiments, so that the description is simple, and the relevant points can be referred to the description of the method.
The principle and the implementation of the present invention are explained in the present application by using specific examples, and the above description of the embodiments is only used to help understanding the technical solution and the core idea of the present invention. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (8)
1. A network starting method for a bus type servo motor is characterized by comprising the following steps:
when the starting of the servo protocol stack is detected, determining the currently started servo protocol stack as a target servo protocol stack;
acquiring a target starting parameter of a target bus type servo motor corresponding to the target servo protocol stack;
analyzing a preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack;
sending the target starting parameters to the target bus type servo motor by using the target parameter channel;
receiving parameter response feedback information returned by the target bus type servo motor;
judging whether the target starting parameter needs to be adjusted or not according to the parameter response feedback information;
and if so, adjusting the target starting parameter to enable the target bus type servo motor to carry out network starting operation based on the target starting parameter.
2. The method for starting a bus type servo motor network according to claim 1, wherein after determining a currently started servo protocol stack as a target servo protocol stack, before acquiring target start parameters of a target bus type servo motor corresponding to the target servo protocol stack, the method further comprises:
judging whether the target servo protocol stack is started normally;
if yes, executing the step of acquiring target starting parameters of the target bus type servo motor corresponding to the target servo protocol stack;
if not, starting an abnormal error reporting operation of the servo protocol stack.
3. The method for starting a bus type servo motor network according to claim 2, wherein the step of judging whether the target servo protocol stack is started normally comprises the steps of:
and judging whether the virtual configuration of the network where the target servo protocol stack is positioned is consistent with the real configuration.
4. A bus type servo motor network starting device is characterized by comprising:
the protocol stack determining module is used for determining the currently started servo protocol stack as a target servo protocol stack when the servo protocol stack starting is detected;
the starting parameter acquisition module is used for acquiring a target starting parameter of a target bus type servo motor corresponding to the target servo protocol stack;
the parameter channel acquisition module is used for analyzing a preset GSD file to obtain a target parameter channel corresponding to the target servo protocol stack;
the network starting module is used for sending the target starting parameters to the target bus type servo motor by using the target parameter channel;
the feedback information receiving module is used for receiving parameter response feedback information returned by the target bus type servo motor after the target starting parameter is sent to the target bus type servo motor by using the target parameter channel;
the first judgment module is used for judging whether the target starting parameter needs to be adjusted or not according to the parameter response feedback information;
and the parameter adjusting module is used for adjusting the target starting parameter when the target starting parameter is determined to be adjusted according to the parameter response feedback information, so that the target bus type servo motor performs network starting operation based on the target starting parameter.
5. The bus type servo motor network start apparatus of claim 4, further comprising:
the second judgment module is used for judging whether the target servo protocol stack is normally started or not before acquiring the target starting parameter of the target bus type servo motor corresponding to the target servo protocol stack after the currently started servo protocol stack is determined as the target servo protocol stack;
the starting parameter acquiring module is specifically a module for acquiring a target starting parameter of a target bus type servo motor corresponding to the target servo protocol stack when the target servo protocol stack is determined to be normally started;
and the abnormal error reporting module is used for performing abnormal error reporting operation of starting the servo protocol stack when the target servo protocol stack is determined to be abnormal in starting.
6. The bus-type servo motor network start device according to claim 5, wherein the second determining module is a module for determining whether the virtual configuration and the real configuration of the network where the target servo protocol stack is located are consistent.
7. A bus type servo motor network starting device is characterized by comprising:
a memory for storing a computer program;
a processor for implementing the steps of the bus type servo motor network starting method according to any one of claims 1 to 3 when executing the computer program.
8. A computer-readable storage medium, having a computer program stored thereon, which, when being executed by a processor, implements the steps of the bus type servo motor network starting method according to any one of claims 1 to 3.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010130057.9A CN111308937B (en) | 2020-02-28 | 2020-02-28 | Bus type servo motor network starting method, device, equipment and storage medium |
| PCT/CN2020/079692 WO2021168928A1 (en) | 2020-02-28 | 2020-03-17 | Bus-type servo motor network startup method, apparatus and device, and storage medium |
| SG11202100573X SG11202100573XA (en) | 2020-02-28 | 2020-03-17 | Method, apparatus, and device for starting bus servomotor over network, and storage medium |
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| CN202010130057.9A CN111308937B (en) | 2020-02-28 | 2020-02-28 | Bus type servo motor network starting method, device, equipment and storage medium |
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| CN111308937A (en) | 2020-06-19 |
| WO2021168928A1 (en) | 2021-09-02 |
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