CN114513284A - Data transmission method and system of networked servo system communication protocol - Google Patents
Data transmission method and system of networked servo system communication protocol Download PDFInfo
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- CN114513284A CN114513284A CN202210069617.3A CN202210069617A CN114513284A CN 114513284 A CN114513284 A CN 114513284A CN 202210069617 A CN202210069617 A CN 202210069617A CN 114513284 A CN114513284 A CN 114513284A
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
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- H—ELECTRICITY
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Abstract
The invention discloses a data transmission method and a system of a communication protocol of a networked servo system, wherein the method comprises the steps of acquiring a data transmission mode between two network nodes of the networked servo system, wherein the data transmission mode is divided into a non-real-time data transmission mode and a real-time data transmission mode; setting three rounds of itinerant verification in a non-real-time data transmission mode, and forming a data frame by the network node I and sending the data frame to the network node II for the real-time data transmission mode; and the network node II deframes the data frame and stores the data frame into a corresponding data structure. The invention realizes the modularization and standardization of the communication protocol, and has strong expansibility and wide transplantation range.
Description
Technical Field
The invention relates to the technical field of data transmission, in particular to a data transmission method and a data transmission system of a networked servo system communication protocol.
Background
The interconnection of everything is the trend of technological development nowadays, and the key ring of interconnection is the transmission of data, does not have reliable data transmission, and interconnection equipment just has no way to carry out good collaborative work. Meanwhile, with the continuous development of modern industry, more and more social production tends to be integrated and automated, and industrial internet also needs to be transported. And the formation of the industrial internet requires various standards. In the fields of high-grade numerical control machines and robots, the equipment standardization and modularization development is required to be promoted in the application fields of industrial equipment such as automobiles, machinery and light electronic industry and service robots such as medical health and family service, and servo systems participate in the fields and products and play a core role.
At present, a unified standard and a unified regulation do not exist for a communication protocol and a data transmission method of a networked servo system, all manufacturers make the communication protocol and the data transmission method at will according to own ideas, so that the protocols are incompatible, meanwhile, some protocols cannot ensure the reliability of data transmission, so that the servo system cannot work normally, and serious problems occur in subsequent products.
Disclosure of Invention
In order to overcome the defects and shortcomings of the prior art, the invention provides a data transmission method and system of a communication protocol of a networked servo system.
The invention adopts the following technical scheme:
a data transmission method of a networked servo system communication protocol comprises the following steps:
acquiring a data transmission mode between two network nodes in a network servo system;
if the transmission mode is a non-real-time data transmission mode, executing the following steps:
the network node I stores the data checksum to the local, and then frames the data to the network node II;
the network node II receives the data framing and then carries out de-framing, and temporarily stores the obtained data into a buffer area;
the network node II calculates a check sum of the data in the cache region, frames the check sum into a check frame and sends the check frame to the network node I;
the network node I decodes the received check frame to obtain the check sum of the network node II;
judging whether the local checksum is equal to the checksum of the network node II or not;
if the two are equal, the network node I sends a confirmation frame;
after receiving the confirmation frame, the network node II carries out deframing, sets the corresponding flag bit, stores the data of the cache region into the corresponding data structure, and clears the cache region;
if the transmission mode is a real-time data transmission mode, executing the following steps:
the network node I frames the data to a network node II;
and the network node II unframes the data frame and stores the data frame into a corresponding data structure.
Further, the non-real-time data transmission mode is data transmission with no requirement on a time period, and comprises network node parameter configuration data, network node instruction given data and network node function initialization data.
Further, the real-time data transmission refers to data transmission with a limitation requirement on a time period, and is divided into strong real-time data and weak real-time data according to the time period. Strong real-time data must use a real-time data transmission mode; and selecting a real-time data transmission mode or a non-real-time data transmission mode for weak real-time data according to specific working condition requirements and control requirements.
Further, judging whether the local checksum and the network node II checksum are equal, if so, indicating that the transmitted data frame has no data abnormality, and sending a confirmation frame; if not, the data transmission is wrong, and the network node I sends the data frame again.
Further, the format of the data framing is as follows:
frame header 1-frame header 2-frame data length-source timestamp-source node number-source address-destination node number-destination address-frame function code-data 1-data 2-data n-check bit.
Further, the format of the check frame is as follows:
frame header 1-frame header 2-frame data length-source timestamp-source node number-source address-destination node number-destination address-frame function code-checksum-check bit.
Further, the network node I and the network node II are any network nodes with communication functions of a networked servo system.
A data transmission system comprising:
the user-defined preset module is used for writing user-defined preset sending data by a user;
the network node initialization module is used for initializing a network node serial number, a network node internal address and data;
the instruction generating module is used for generating data to be sent in the running process of the network servo system;
the framing sending module is used for framing the related data, then transmitting the data and sending the data to another servo network node;
the de-framing receiving module is used for de-framing the received data frame and receiving the non-real-time data into the data cache region;
and each data structure body is provided with an address number and is used for storing corresponding data of the cache region after confirmation in the non-real-time transmission process and data obtained by deframing in the real-time transmission process.
A data transmission device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the data transmission method when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out a data transmission method as set forth.
The invention has the beneficial effects that:
(1) the invention improves the reliability and accuracy of data transmission by classifying the data transmission models.
(2) In the non-real-time data transmission mode, the invention sets three rounds of itinerant verification to ensure the accuracy of the non-real-time data.
(2) The system comprises a user-defined preset module, an instruction generation module, a framing sending module, a deframing receiving module and a data structure module, so that the modularization of the system is realized, and the stability and the reliability of the system are improved.
Drawings
FIG. 1 is a flowchart of a method of example 1 of the present invention;
fig. 2 is a diagram illustrating a format of a data frame according to embodiment 1 of the present invention;
fig. 3 is a diagram illustrating an ack frame mapping format according to embodiment 1 of the present invention;
fig. 4 is a structural view of embodiment 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the mode of carrying out the invention is not limited thereto.
Example 1
As shown in fig. 1, a data transmission method of a communication protocol of a networked servo system includes:
s101, acquiring a data transmission mode between two network nodes in a network servo system;
s111 if the transmission mode is the non-real-time data transmission mode, executing the following steps:
s112, the network node I stores the data checksum to the local, and then frames the data to the network node II;
s113, after receiving the data framing, the network node II carries out de-framing, and temporarily stores the obtained data into a buffer area;
s114, the network node II calculates a check sum of the data in the cache region, frames the data into check frames and sends the check frames to the network node I;
s115, the network node I decodes the received check frame to obtain the check sum of the network node II;
s116, judging whether the local checksum is equal to the checksum of the network node II;
s117, if the data are equal, the network node I sends a confirmation frame;
s118, after receiving the confirmation frame, the network node II carries out de-framing, sets the corresponding flag bit, stores the data of the cache region into the corresponding data structure and empties the cache region;
s121, if the transmission mode is the real-time data transmission mode, executing the following steps:
s122, the network node I frames the data to a network node II;
and S123, the network node II deframes the data frame and stores the data frame into a corresponding data structure.
Referring to fig. 2, the format of the data frame sent by the network node of the servo system is: frame header 1-frame header 2-frame data length-source timestamp-source node number-source address-destination node number-destination address-frame function code-data 1-data 2-data n-check bit. And transmitting the data frame to the next network node motion instruction or original data.
Referring to fig. 3, the servo network node i makes the servo network node ii correspond to the flag bit by sending an acknowledgement frame to the servo network node ii, and starts to load the data in the buffer area.
Further, the data frame includes a frame header, a frame data length, a source timestamp, a source node number, a source address, a destination node number, a destination address, a frame function code, transmission data, and a check bit.
The frame data length is the data length of the frame without the frame header;
the source timestamp is a source clock value of the frame when the framing of the frame is started;
the source node number is a node ID number sent by the data frame;
the source address is a data structure address of a data source in the data frame;
the destination node number is a node ID number received by the data frame;
the destination address is a data structure address where data in the data frame should be stored;
the frame function code indicates the specific function of the frame;
the transmission data is transmission data from a source address to a destination address;
the check bit is the check sum of the data frame except the frame header.
Further, the frame function code is 1 byte, which is detailed in table 1 below, and table 1 is an example of the type of the function code.
TABLE 1
Example 2
As shown in fig. 4, a data transmission system of a network servo system communication protocol includes an arbitrary servo network node i and a servo network node ii which are in data connection with each other, where the servo network node may be a PLC, a PC, and a servo driver; the servo network node I and the servo network node II have the same position, and the servo network node comprises:
the user-defined preset module is used for writing user-defined preset sending data by a user;
the network node initialization module is used for initializing a network node serial number, a network node internal address and data;
the instruction generating module is used for generating data to be sent in the running process of the network servo system;
the framing sending module is used for framing the related data, then transmitting the data and sending the data to another servo network node;
the de-framing receiving module is used for de-framing the received data frame and receiving the non-real-time data into the data cache region;
and each data structure body is provided with an address number and is used for storing corresponding data of the cache region after confirmation in the non-real-time transmission process and data obtained by deframing in the real-time transmission process.
Example 3
A data transmission device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the memory is stored with the computer program which can be loaded by a computer upper computer and an embedded lower computer and can execute the data transmission method of the servo system communication protocol in embodiment 1.
Example 4
A computer-readable storage medium storing a computer program that can be loaded by a computer upper computer and an embedded lower computer and that executes the data transmission method of the servo system communication protocol in embodiment 1.
In an embodiment of the present invention, the computer-readable storage medium includes, for example: 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.
In addition, the term "and/or" herein is only one kind of association relationship describing an associated object, and means that there may be three kinds of relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates a relationship that front and rear associated objects are an "or" unless otherwise specified.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. A data transmission method of a networked servo system communication protocol is characterized by comprising the following steps:
acquiring a data transmission mode between two network nodes in a network servo system;
if the transmission mode is a non-real-time data transmission mode, executing the following steps:
the network node I stores the data checksum to the local, and then frames the data to the network node II;
the network node II receives the data framing and then carries out de-framing, and temporarily stores the obtained data into a buffer area;
the network node II calculates a check sum of the data in the cache region, frames the check sum into a check frame and sends the check frame to the network node I;
the network node I decodes the received check frame to obtain the check sum of the network node II;
judging whether the local checksum is equal to the checksum of the network node II or not;
if the two are equal, the network node I sends a confirmation frame;
after receiving the confirmation frame, the network node II carries out de-framing, sets the corresponding flag bit, stores the data of the cache region into the corresponding data structure and empties the cache region;
if the transmission mode is a real-time data transmission mode, executing the following steps:
the network node I frames the data to a network node II;
and the network node II unframes the data frame and stores the data frame into a corresponding data structure.
2. The data transmission method according to claim 1, wherein the non-real-time data transmission mode is data transmission with unlimited time period requirements, and comprises network node parameter configuration data, network node instruction given data and network node function initialization data.
3. The data transmission method according to claim 1, wherein the real-time data transmission is data transmission having a limitation requirement on a time period, and is divided into strong real-time data and weak real-time data according to the time period.
4. The data transmission method according to claim 1, wherein the determining step determines whether the local checksum and the network node ii checksum are equal, and if so, it indicates that the transmitted data frame has no data abnormality, and then sends an acknowledgement frame; if not, the data transmission is wrong, and the network node I sends the data frame again.
5. The data transmission method according to any one of claims 1 to 4, wherein the format of the data framing is:
frame header 1-frame header 2-frame data length-source timestamp-source node number-source address-destination node number-destination address-frame function code-data 1-data 2-data n-check bit.
6. The data transmission method according to any one of claims 1 to 4, wherein the format of the check frame is:
frame header 1-frame header 2-frame data length-source timestamp-source node number-source address-destination node number-destination address-frame function code-checksum-check bit.
7. The data transmission method according to claim 1, wherein the network node i and the network node ii are any network nodes with communication function of a networked servo system.
8. A system for implementing the data transmission method of any one of claims 1 to 7, comprising:
the user-defined preset module is used for writing user-defined preset sending data by a user;
the network node initialization module is used for initializing a network node serial number, a network node internal address and data;
the instruction generating module is used for generating data to be sent in the running process of the network servo system;
the framing sending module is used for framing the related data, then transmitting the data and sending the data to another servo network node;
the de-framing receiving module is used for de-framing the received data frame and receiving the non-real-time data into the data cache region;
and each data structure body is provided with an address number and is used for storing corresponding data of the cache region after confirmation in the non-real-time transmission process and data obtained by deframing in the real-time transmission process.
9. A data transmission device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the data transmission method according to any of claims 1-7 when executing the computer program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the data transmission method according to any one of claims 1 to 7.
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| CN108650312A (en) * | 2018-05-03 | 2018-10-12 | 西安电子科技大学 | The MAC IP kernels device and data transmission method for supporting real time data to seize |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101141451A (en) * | 2007-10-26 | 2008-03-12 | 华中科技大学 | Numerical control system communication interface, numerical control system and data receiving and sending method |
| CN105629902A (en) * | 2014-10-31 | 2016-06-01 | 北京精密机电控制设备研究所 | CAN bus accurate timing and assembly line testing communication system and method |
| CN105120003A (en) * | 2015-09-10 | 2015-12-02 | 浪潮(北京)电子信息产业有限公司 | Method for realizing data backup in cloud environment |
| CN108650312A (en) * | 2018-05-03 | 2018-10-12 | 西安电子科技大学 | The MAC IP kernels device and data transmission method for supporting real time data to seize |
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