CN114326510B - IO communication method of industrial robot controller based on serial port - Google Patents
IO communication method of industrial robot controller based on serial port Download PDFInfo
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- CN114326510B CN114326510B CN202111639817.XA CN202111639817A CN114326510B CN 114326510 B CN114326510 B CN 114326510B CN 202111639817 A CN202111639817 A CN 202111639817A CN 114326510 B CN114326510 B CN 114326510B
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- 238000004891 communication Methods 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000004044 response Effects 0.000 claims abstract description 16
- 230000003993 interaction Effects 0.000 claims description 11
- 230000000737 periodic effect Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an IO communication method of an industrial robot controller based on a serial port, which is used for controlling an industrial robot and comprises the following steps of; the controller workflow is as follows: the first step, the controller is powered on and initialized, enters a 'PREOP' state, and waits for a 'configuration request'; the second step, the controller receives the invalid 'configuration request', sends an invalid 'configuration response', and continues waiting for the 'configuration request'; thirdly, the controller receives a valid configuration request, sends a valid configuration response, enters a SAFEOP state and waits for reading input data; and fourthly, the controller receives the read input data, enters an OP state and sends the write input data, so that the purposes of low cost and sufficient goods sources are realized, and the cost is effectively reduced and the safety of a supply chain is ensured on the premise of achieving the same functional performance.
Description
Technical Field
The invention relates to the field of IO communication, in particular to an IO communication method of an industrial robot controller based on a serial port.
Background
The industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by means of self power energy and control capability. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry, etc.;
industrial robot controllers (hereinafter referred to as controllers) need to communicate with IO boards (input/output boards: DI is digital input, DO is digital output, AI is analog input, AO is analog output), generally, ethernet ports are used to communicate with IO boards by using EtherCAT (industrial real-time ethernet) protocols, the IO boards need to use EtherCAT slave chips, and the price of the EtherCAT slave chips is increased and the supply is tension; and when the user uses the system, the EtherCAT slave station chip cannot automatically recover when communication interruption is caused by abnormal connection, and the user is required to connect communication signals, so that the system is inconvenient to use.
Disclosure of Invention
According to the technical problems, the patent provides an IO communication method of an industrial robot controller based on a serial port, which is used for controlling an industrial robot and comprises the following steps of;
the controller workflow is as follows:
the first step, the controller is powered on and initialized, enters a 'PREOP' state, and waits for a 'configuration request';
the second step, the controller receives the invalid 'configuration request', sends an invalid 'configuration response', and continues waiting for the 'configuration request';
thirdly, the controller receives a valid configuration request, sends a valid configuration response, enters a SAFEOP state and waits for reading input data;
fourth, the controller receives the read input data, enters an OP state and sends write input data;
fifthly, the controller receives the 'read input data' overtime and returns to the 'PREOP' state;
sixthly, the controller sends write output data and receives read input data at regular time;
seventh, the controller receives the 'read input data' overtime and returns to the 'PREOP' state;
the IO board working flow is as follows:
the IO board is electrified and initialized, and enters a 'PREOP' state;
the IO board sends a configuration request at regular time;
the IO board receives the effective configuration response and enters a SAFEOP state;
the IO board sends read input data and enters an OP state;
the IO board sends 'read input data' at regular time;
the IO board receives the overtime of the write output data and enters a PREOP state;
the INIT state is a power-on uninitialized state of the controller and the IO board, the PREOP state is that data interaction is not performed in a preparation configuration stage, the SAFEOP state is that the configuration is successful and data interaction is about to be performed, and the OP state is that the data interaction is normally performed.
The beneficial effects of the invention are as follows:
the invention replaces EtherCAT slave station chip by serial port chip, which realizes the purposes of low cost and sufficient goods source, effectively reduces cost and ensures the safety of supply chain under the premise of achieving the same function performance, realizes one-to-one reliable communication under the full duplex serial port environment under the baud rate agreed by both parties, and periodically sends a configuration request (namely, supported DI, DO, AI, AO and allowed communication period, AI/AO can be 16bit data or 32bit data) to the serial port by the IO board before communication, and the controller negotiates DI, DO, AI, AO and communication period to be interacted by configuration after receiving default IO configuration and sends configuration response. After the negotiation is passed, the two parties enter periodic IO data interaction: the method has the advantages that each path of DI/DO/AI/AO in the IO boards has unique description of SDO (service data object), the configuration negotiation is flexible, the compatibility is strong, the realization cost is low, the DI/DO/AI/AO communication can be reselected by the controller according to the need no matter how the functions of the IO boards are expanded and upgraded, the controller can support various IO boards, the communication period can be flexibly selected, the controller can be a high-performance CPU (Central processing Unit) or a low-performance MCU (micro control Unit), the communication interruption of the communication method is automatically recovered, and the communication method can be timely discovered and automatically recovered due to the communication interruption caused by some reasons.
Drawings
FIG. 1 is a schematic diagram of the overall flow of the present invention;
fig. 2 is a table of description of the communication messages of the present invention.
Detailed Description
Example 1
The patent provides an IO communication method of an industrial robot controller based on serial ports, which is used for controlling the industrial robot and comprises the following steps:
the first step, the controller is powered on and initialized, enters a 'PREOP' state, and waits for a 'configuration request';
the second step, the controller receives the invalid 'configuration request', sends an invalid 'configuration response', and continues waiting for the 'configuration request';
thirdly, the controller receives a valid configuration request, sends a valid configuration response, enters a SAFEOP state and waits for reading input data;
fourth, the controller receives the read input data, enters an OP state and sends write input data;
fifthly, the controller receives the 'read input data' overtime and returns to the 'PREOP' state;
sixthly, the controller sends write output data and receives read input data at regular time;
seventh, the controller receives the 'read input data' overtime and returns to the 'PREOP' state;
the IO board working flow is as follows:
the IO board is electrified and initialized, and enters a 'PREOP' state;
the IO board sends a configuration request at regular time;
the IO board receives the effective configuration response and enters a SAFEOP state;
the IO board sends read input data and enters an OP state;
the IO board sends 'read input data' at regular time;
the IO board receives the overtime of the write output data and enters a PREOP state;
the INIT state is a power-on uninitialized state of the controller and the IO board, the PREOP state is that data interaction is not performed in a preparation configuration stage, the SAFEOP state is that configuration is successful, data interaction is about to be performed, and the OP state is that data interaction is normally performed. .
Example 2
According to the invention, under the baud rate agreed by both sides, one-to-one reliable communication is realized in a full duplex serial port environment, before communication, an IO board periodically sends a configuration request (namely, supported DI, DO, AI, AO and allowed communication period, AI/AO can be 16bit data or 32bit data) to a serial port through the serial port, and after receiving default IO configuration, a controller negotiates DI, DO, AI, AO to be interacted with and the communication period, and sends a configuration response. After the negotiation is passed, the two parties enter periodic IO data interaction: "read input data" and "write output data", each DI/DO/AI/AO in the IO board has a unique description SDO (i.e., service data object);
configuration request: the communication frame sent by the IO board comprises a supported SDO list (namely supported DI/DO/AI/AO), an allowed communication period range, a hardware model, a hardware version, a manufacturer ID, a product ID, a firmware version number, an IO board serial number and firmware compiling time;
configuration response: the communication frame sent by the controller comprises a communication SDO list (i.e. supported DI/DO/AI/AO) selected by final negotiation and a communication period;
reading input data: the communication frame sent by the IO board sends DI and AI data according to the configuration response and the SDO list sequence;
writing output data: the communication frame sent by the controller sends DO and AO data according to the 'configuration response' and the SDO list sequence.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. Various components mentioned in the present invention are common in the art, and it should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications can be made in the present invention without departing from the spirit and scope of the invention, which is defined in the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (2)
1. An IO communication method of an industrial robot controller based on a serial port is used for controlling the industrial robot and comprises the following steps of;
the controller workflow is as follows:
the first step, the controller is powered on and initialized, enters a 'PREOP' state, and waits for a 'configuration request';
the second step, the controller receives the invalid 'configuration request', sends an invalid 'configuration response', and continues waiting for the 'configuration request';
thirdly, the controller receives a valid configuration request, sends a valid configuration response, enters a SAFEOP state and waits for reading input data;
fourth, the controller receives the read input data, enters an OP state and sends write input data;
fifthly, the controller receives the 'read input data' overtime and returns to the 'PREOP' state;
sixthly, the controller sends write output data and receives read input data at regular time;
seventh, the controller receives the 'read input data' overtime and returns to the 'PREOP' state;
the IO board working flow is as follows:
the IO board is electrified and initialized, and enters a 'PREOP' state;
the IO board sends a configuration request at regular time;
the IO board receives the effective configuration response and enters a SAFEOP state;
the IO board sends read input data and enters an OP state;
the IO board sends 'read input data' at regular time;
the IO board receives the 'write output data' overtime and enters a 'PREOP' state.
2. The serial port-based IO communication method of the industrial robot controller according to claim 1, wherein the INIT state is a state in which the controller and the IO board are not initialized when powered on, the pre state is that no data interaction is performed in a configuration preparation stage, the safop state is that the configuration is successful, the data interaction is about to be entered, and the OP state is that the data interaction is normally entered.
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| CN202111639817.XA CN114326510B (en) | 2021-12-29 | 2021-12-29 | IO communication method of industrial robot controller based on serial port |
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| CN202111639817.XA CN114326510B (en) | 2021-12-29 | 2021-12-29 | IO communication method of industrial robot controller based on serial port |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101034306A (en) * | 2007-04-24 | 2007-09-12 | 北京中星微电子有限公司 | Control method for low-power consumption RAM and RAM control module |
| JP2007323513A (en) * | 2006-06-02 | 2007-12-13 | Felica Networks Inc | Data communication system, information processing terminal, ic card, reader/writer, and program |
| WO2013137023A1 (en) * | 2012-03-15 | 2013-09-19 | オムロン株式会社 | Control device, image processing device, control method, computer-readable recording medium, and program |
| CN111008169A (en) * | 2019-11-20 | 2020-04-14 | 南京南瑞水利水电科技有限公司 | Low-cost high-speed communication bus and transmission control method thereof |
-
2021
- 2021-12-29 CN CN202111639817.XA patent/CN114326510B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007323513A (en) * | 2006-06-02 | 2007-12-13 | Felica Networks Inc | Data communication system, information processing terminal, ic card, reader/writer, and program |
| CN101034306A (en) * | 2007-04-24 | 2007-09-12 | 北京中星微电子有限公司 | Control method for low-power consumption RAM and RAM control module |
| WO2013137023A1 (en) * | 2012-03-15 | 2013-09-19 | オムロン株式会社 | Control device, image processing device, control method, computer-readable recording medium, and program |
| CN111008169A (en) * | 2019-11-20 | 2020-04-14 | 南京南瑞水利水电科技有限公司 | Low-cost high-speed communication bus and transmission control method thereof |
Non-Patent Citations (1)
| Title |
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| 基于Siemens PLC程序的FANUC机器人IO控制与调用;李亚巍;杨雷;段毅;张智;;中国设备工程;20201010(第19期);35-37 * |
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| CN114326510A (en) | 2022-04-12 |
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