CN114513284B - 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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- CN114513284B CN114513284B CN202210069617.3A CN202210069617A CN114513284B CN 114513284 B CN114513284 B CN 114513284B CN 202210069617 A CN202210069617 A CN 202210069617A CN 114513284 B CN114513284 B CN 114513284B
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- H—ELECTRICITY
- 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
- H04L1/004—Arrangements for detecting or preventing errors in the information received by using forward error control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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Abstract
The invention discloses a data transmission method and a system of a networked servo system communication protocol, wherein the method comprises the steps of obtaining a data transmission mode between two network nodes of the networked servo system, wherein the transmission mode is divided into a non-real-time data transmission mode and a real-time data transmission mode; setting three rounds of check in a non-real-time data transmission mode, and for the real-time data transmission mode, the network node I transmits data forming a data frame to the network node II; and the network node II de-frames the data frames and stores the data frames into a corresponding data structure. The invention realizes modularization and standardization of the communication protocol, has strong expansibility and wide transplanting range.
Description
Technical Field
The invention relates to the technical field of data transmission, in particular to a data transmission method and system of a networked servo system communication protocol.
Background
In case of the interconnection of things being the trend of technological development nowadays, the key ring of the interconnection is data transmission, and no reliable data transmission exists, so that the interconnection equipment cannot perform good cooperative work. Meanwhile, with the continuous development of modern industry, more and more social production tends to be integrated and automated, and industrial Internet should be transported. While the formation of the industrial internet requires various standards. In the fields of high-grade numerical control machine tools and robots, the standardization and modularization development of equipment are required to be promoted in the application fields of industrial equipment such as automobiles, machinery, electronic light industry and the like and service robots such as medical health, household service and the like, and servo systems are involved in the fields and products, and the core effect is played.
At present, a unified standard and regulation are not available for a communication protocol and a data transmission method of a networked servo system, each manufacturer makes according to own thought at will, so that the protocols are incompatible, meanwhile, some protocols cannot guarantee the reliability of data transmission, the servo system cannot work normally, and serious problems occur in subsequent products, so that a reliable communication protocol and a data transmission method can bring a lot of convenience to product development.
Disclosure of Invention
In order to overcome the defects and shortcomings in the prior art, the invention provides a data transmission method and a data transmission system of a networked servo system communication protocol.
The invention adopts the following technical scheme:
a data transmission method of a networked servo system communication protocol includes:
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, the following steps are executed:
firstly, the network node I stores the data checksum to the local, and then sends the data framing to the network node II;
after receiving the data framing, the network node II carries out frame de-framing, and temporarily stores the obtained data into a buffer area;
the network node II obtains a checksum on the data in the buffer area, and frames the checksum into a check frame to be sent to the network node I;
the network node I carries out frame decoding on the received check frame to obtain a check sum of the network node II;
judging whether the local checksum is equal to the network node II checksum or not;
if the two frames are equal, the network node I sends an acknowledgement frame;
after receiving the confirmation frame, the network node II carries out frame de-framing, sets corresponding flag bits, stores the data of the buffer area into a corresponding data structure, and empties the buffer area;
if the transmission mode is a real-time data transmission mode, executing the following steps:
the network node I sends the data framing to the network node II;
the network node II deframes the data frames and stores the data frames in a corresponding data structure.
Further, the non-real-time data transmission mode is data transmission with unlimited requirements for time periods, including 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. The strong real-time data must use a real-time data transmission mode; for weak real-time data, a real-time data transmission mode or a non-real-time data transmission mode is selected according to specific working condition requirements and control requirements.
Further, whether the local checksum is equal to the network node II checksum or not is judged, if so, the fact that the transmitted data frame has no data abnormality is indicated, and a confirmation frame is sent; if not, the data transmission is wrong, and the network node I retransmits the data frame.
Further, the data framing format 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.
Further, 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.
Further, the network node I and the network node II are any network node with a communication function of the 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 initializing module is used for initializing the network node serial number, and the network node internal address and data;
the instruction generation module is used for generating data to be transmitted in the running process of the network servo system;
the framing transmitting module is used for transmitting the relevant data after framing and transmitting the relevant data to another servo network node;
the frame-decoding receiving module is used for frame-decoding the received data frames and receiving non-real-time data into the data buffer area;
and the data structure body modules are used for storing corresponding data of the buffer area after confirmation in the non-real-time transmission process and data obtained by frame decoding 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 having stored thereon a computer program which when executed by a processor implements the described data transmission method.
The invention has the beneficial effects that:
(1) The invention improves the reliability and accuracy of data transmission by classifying the data transmission model.
(2) In the non-real-time data transmission mode, three rounds of verification are set, and the accuracy of the non-real-time data is ensured.
(2) The system comprises a user-defined preset module, an instruction generation module, a framing transmission module, a frame-decoding 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 flow chart of the method of embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a data frame corresponding format in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of a format corresponding to an acknowledgement frame according to embodiment 1 of the present invention;
fig. 4 is a structural diagram of embodiment 2 of the present invention.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1, a data transmission method of a networked servo system communication protocol 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 firstly stores the data checksum to the local, and then sends the data framing to the network node II;
s113, after receiving the data framing, the network node II carries out frame de-framing, and temporarily stores the obtained data into a buffer area;
s114, the network node II obtains a checksum on the data in the buffer area, and frames the checksum into a check frame to be sent to the network node I;
s115, the network node I carries out frame de-framing on the received check frame to obtain a check sum of the network node II;
s116, judging whether the local checksum is equal to the network node II checksum or not;
s117, if the two frames are equal, the network node I sends an acknowledgement frame;
s118, after receiving the confirmation frame, the network node II carries out frame de-framing, sets corresponding flag bit, stores the data of the buffer area into a corresponding data structure, and empties the buffer area;
s121, if the transmission mode is the real-time data transmission mode, executing the following steps:
s122, the network node I sends the data framing to the network node II;
s123, the network node II de-frames the data frames and stores the data frames into a corresponding data structure.
Referring to fig. 2, the format of a data frame sent by a network node of a 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 motion instruction or the original data to the next network node by sending the data frame.
Referring to fig. 3, the servo network node i starts loading the buffer data by sending an acknowledgement frame to the servo network node ii, so that the servo network node ii is set to a corresponding flag bit.
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 after the frame head is removed;
the source time stamp is a source clock value of the frame when framing 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 the data in the data frame should be stored;
the frame function code is a specific function indicating the frame;
the transmission data is the transmission data from the source address to the destination address;
and the check bit is the checksum of the data frame excluding the frame header.
Further, the frame function code is 1 byte, see table 1 below, and table 1 is an example of the type of function code.
TABLE 1
Example 2
As shown in fig. 4, a data transmission system of a network servo system communication protocol includes any servo network node i and servo network node ii which are connected with each other in data, wherein 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 status, 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 initializing module is used for initializing the network node serial number, and the network node internal address and data;
the instruction generation module is used for generating data to be transmitted in the running process of the network servo system;
the framing transmitting module is used for transmitting the relevant data after framing and transmitting the relevant data to another servo network node;
the frame-decoding receiving module is used for frame-decoding the received data frames and receiving non-real-time data into the data buffer area;
and the data structure body modules are used for storing corresponding data of the buffer area after confirmation in the non-real-time transmission process and data obtained by frame decoding in the real-time transmission process.
Example 3
A data transmission apparatus comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the memory storing a computer program capable of being loaded by a computer upper computer and an embedded lower computer and executing the data transmission method of the servo system communication protocol of embodiment 1.
Example 4
A computer-readable storage medium storing a computer program capable of being loaded by a computer upper computer and an embedded lower computer and executing the data transmission method of the servo system communication protocol of embodiment 1.
In an embodiment of the present invention, the computer readable storage medium includes, for example: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In this context, unless otherwise specified, the term "/" generally indicates that the associated object is an "or" relationship.
The embodiments described above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the embodiments described above, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the present invention should be made in the equivalent manner, and are included in the scope of the present invention.
Claims (10)
1. The data transmission method of the networked servo system communication protocol is characterized by comprising the following steps of:
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, the following steps are executed:
firstly, the network node I stores the data checksum to the local, and then sends the data framing to the network node II;
after receiving the data framing, the network node II carries out frame de-framing, and temporarily stores the obtained data into a buffer area;
the network node II obtains a checksum on the data in the buffer area, and frames the checksum into a check frame to be sent to the network node I;
the network node I carries out frame decoding on the received check frame to obtain a check sum of the network node II;
judging whether the local checksum is equal to the network node II checksum or not;
if the two frames are equal, the network node I sends an acknowledgement frame;
after receiving the confirmation frame, the network node II carries out frame de-framing, sets corresponding flag bits, stores the data of the buffer area into a corresponding data structure, and empties the buffer area;
if the transmission mode is a real-time data transmission mode, executing the following steps:
the network node I sends the data framing to the network node II;
the network node II deframes the data frames and stores the data frames in a corresponding data structure.
2. The data transmission method according to claim 1, wherein the non-real-time data transmission mode is data transmission requiring no limitation of time period, including 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 refers to data transmission having a limitation requirement for 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 whether the local checksum and the network node ii checksum are equal, if so, indicates that no data anomaly has occurred in the transmitted data frame, and sends an acknowledgement frame; if not, the data transmission is wrong, and the network node I retransmits the data frame.
5. The method according to any one of claims 1-4, wherein the data burst is in the form of:
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 node having a communication function of a networked servo system.
8. A system for implementing the data transmission method of any one of claims 1-7, comprising:
the user-defined preset module is used for writing user-defined preset sending data by a user;
the network node initializing module is used for initializing the network node serial number, and the network node internal address and data;
the instruction generation module is used for generating data to be transmitted in the running process of the network servo system;
the framing transmitting module is used for transmitting the relevant data after framing and transmitting the relevant data to another servo network node;
the frame-decoding receiving module is used for frame-decoding the received data frames and receiving non-real-time data into the data buffer area;
and the data structure body modules are used for storing corresponding data of the buffer area after confirmation in the non-real-time transmission process and data obtained by frame decoding 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, wherein 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, characterized in that the computer program, when being executed by a processor, implements the data transmission method of any one of claims 1-7.
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| 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 |
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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 |
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| 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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