CN115079643A - A field bus and industrial robot for multiaxis motion control system - Google Patents
A field bus and industrial robot for multiaxis motion control system Download PDFInfo
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- CN115079643A CN115079643A CN202110279202.4A CN202110279202A CN115079643A CN 115079643 A CN115079643 A CN 115079643A CN 202110279202 A CN202110279202 A CN 202110279202A CN 115079643 A CN115079643 A CN 115079643A
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- 238000000034 method Methods 0.000 claims abstract description 10
- 230000001934 delay Effects 0.000 claims abstract description 5
- 230000007175 bidirectional communication Effects 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 16
- 238000012544 monitoring process Methods 0.000 claims description 3
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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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/4186—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the network communication by protocol, e.g. MAP, TOP
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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
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
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Abstract
The invention relates to a field bus and an industrial robot for a multi-axis motion control system, the field bus comprising: the master controller and the slave controller establish communication based on an RS485 physical layer and carry out bidirectional communication transmission based on a UART protocol, wherein the communication speed of the RS485 communication layer is at least 10 Mbps; the method comprises the steps that a master controller sends a data frame to a slave controller at regular time, wherein the data frame comprises a sending end address and CRC check bits; the slave controller receives the data frame, processes the data frame to judge whether to respond, and delays a communication period after receiving the data frame to send an execution frame to the master controller if the data frame needs to respond; the communication of the master and slave controllers includes a cyclic redundancy check, CRC, and the cyclic redundancy check, CRC, is a 32-bit check. The invention has the beneficial effects that: the transmission speed of the field bus is high, the requirements of the safety bus are met, and the software processing real-time performance is good.
Description
Technical Field
The invention relates to the technical field of industrial control, in particular to a field bus and an industrial robot for a multi-axis motion control system, which are based on a high-speed RS485 physical layer and a UART data link layer, adopt 32-bit CRC for verification and are used for the industrial robot.
Background
Fieldbus is a communication network used in the fields of process automation, manufacturing automation, building automation, etc. to interconnect field intelligent devices. The fieldbus serves as the basis of the engineering digital communication network and communicates the relationship between the production process site and the control device and between the production process site and a higher control management level. Due to the special requirements for real-time and safety, fieldbus initially operates in industrial-specific lans, which enable data communication between devices and between devices and controllers with a defined address.
The multi-axis motion control system is widely applied to an industrial robot, and based on the specific structure of the industrial robot, the demands for a field bus are differentiated, such as convenience in wiring, high safety requirements and the like. At present, the conventional communication protocols in the prior art, such as Modbus and CAN bus, have the problems of less signal quantity, insufficient transmission speed, incapability of completely meeting the safety bus standard and the like.
Therefore, there is a need for a field bus and an industrial robot which have high transmission speed, good real-time performance and meet the safety bus standard and are applied to a multi-axis motion control system.
Disclosure of Invention
In view of this, an object of the present invention is to provide a fieldbus with high transmission speed and good real-time performance, which conforms to the safety bus standard, and an industrial robot using the fieldbus, so as to overcome the problems that the transmission speed is not fast, and only can meet the requirements of a common bus but cannot meet the requirements of a safety bus existing in several buses commonly used in the prior art.
The invention can adopt the following technical scheme: a fieldbus applicable to a multi-axis motion control system including a master controller and at least one slave controller, the fieldbus comprising: the master controller and the slave controller establish communication based on an RS485 physical layer and carry out bidirectional communication transmission based on a UART protocol, wherein the communication speed of the RS485 physical layer is at least 10 Mbps; the method comprises the steps that a master controller sends a data frame to a slave controller at regular time, wherein the data frame comprises a sending end address and CRC check bits; the slave controller receives the data frame, processes the data frame to judge whether to respond, and if the data frame needs to be responded, delays a communication period after receiving the data frame and sends an execution frame to the master controller; the communication of the master and slave controllers includes a cyclic redundancy check, CRC, and the cyclic redundancy check, CRC, is a 32-bit check.
Further, the CRC polynomial is 0x04C11DB7 or 0xEDB 88320.
Further, the data frame of the master controller comprises a serial number with an initial value, and the serial number is updated according to a preset encoding rule after the communication between the master controller and the slave controller is completed each time; the processing of the data frame by the slave controller to determine whether to respond comprises: and judging whether the serial number of the main controller is correct or not to determine whether to respond or not.
Further, determining whether the serial number of the master controller is correct includes: the slave controller judges whether the serial number received in the current communication period and the serial number received in the last communication period are continuous serial numbers so as to judge whether the current serial number is correct or not; and/or the slave controller calculates an expected serial number according to a preset encoding rule, and judges whether the current serial number is consistent with the expected serial number so as to judge whether the serial number is correct.
Further, the field bus includes: one transmitting end address is defined to correspond to only one slave controller.
Further, the processing the data frame to determine whether to respond includes: and judging whether the cyclic redundancy check CRC is correct or not to judge whether a response is made or not.
Further, the slave controller can receive and respond to data frames from different addresses of the master controller in one communication cycle.
Further, the data frame is used for transmitting at least part of the motion command, the parameter setting and the upgrading program, and the execution frame correspondingly sends at least part of the motion state, the operation parameter and the program information to the main controller.
Further, processing the data frame to judge whether to respond or not comprises a synchronous mark, and when the slave controller judges that the Cyclic Redundancy Check (CRC) is correct, whether to respond or not is synchronized according to the time of receiving the data frame;
the invention is also intended to provide an industrial robot comprising a robot motion control system for performing robot motion monitoring and control, said robot motion control system comprising a master controller and at least one slave controller, said master and slave controllers communicating via a fieldbus as described in any of the above, said slave controller comprising a hardware CRC module.
Compared with the prior art, the specific implementation mode of the invention has the beneficial effects that: the field bus is based on the communication of high-speed RS485 physical layer and UART protocol, and compared with the traditional bus communication, the field bus has the advantages of large quantity of transmission signals, high speed and capability of being developed and operated based on a general processor, meanwhile, the 32-bit CRC can meet the check reliability requirement of the highest-level safety bus, can quickly judge whether the communication data is correct or incorrect, provides possibility for a software real-time processing protocol, and has good software processing real-time performance.
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The above objects, technical solutions and advantageous effects of the present invention can be achieved by the following drawings:
FIG. 1 is a communication flow diagram of a field bus according to an embodiment of the present invention
FIG. 2 is a process flow diagram of a slave controller according to an embodiment of the present invention
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be described in detail and fully with reference to the accompanying drawings in the following embodiments of the present invention, and it is obvious that the described embodiments are some but not all embodiments of the present 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 invention protects a field bus, which is applied to a multi-axis motion control system comprising a master controller and at least one slave controller, wherein the master controller CAN be in two-way communication with the at least one slave controller, the field bus comprises that the master controller and the slave controller establish communication based on an RS485 physical layer, the multi-axis control system is a control system applied to the field of multi-axis robots, the master controller and the slave controller are established in communication based on the RS485 communication layer, only one pair of differential signal lines are needed to connect the master controller and the slave controller, for an industrial robot, the adoption of a hollow joint wiring mode is facilitated, meanwhile, the communication speed of the RS485 physical layer is at least 10Mbps, while the traditional CAN bus is adopted by numerous robot manufacturers, but the communication speed is only 1Mbps, and high-speed transmission cannot be ensured.
The field bus protected by the invention carries out bidirectional communication transmission between the main controller and the secondary controller based on the UART protocol, almost all processors cover the UART in the industrial field environment, and the UART protocol is adopted for carrying out communication transmission, so that common UART interface chips, single-chip microcomputers and other general processors can be butted without special processing chips, the application is easier, and complicated hardware reconstruction is not needed.
S11, the master controller sends a data frame to the slave controller at regular time, wherein the data frame comprises a sending end address and a CRC check bit, and can understand and also comprises necessary information such as a control instruction and the like; s12, receiving the data frame from the controller; and S13, the slave controller processes the data frame to judge whether to respond, if so, the S14 is executed, and the slave controller delays a communication period to send the data frame to the master controller after receiving the data frame. In one embodiment of the present invention, one communication period between the master controller and the slave controller is 1ms, the single communication process between the master controller and each slave controller is 50us, the time delay from the slave controller receiving the response is not more than 6us, and preferably, the time from the slave controller receiving the response is not more than 3 us. When the slave controller receives the data frame of the master controller, the slave controller delays for one period to respond, namely any execution frame sent aiming at the data frame is not made in the current communication interruption but is made in the next interruption, so that reply data can be organized in a background program.
The slave controller processing the data frame and determining whether to respond includes multiple layers of determination, and determining to respond only when each determination satisfies a condition, fig. 2 is a schematic diagram illustrating a processing flow of the slave controller according to an embodiment of the present invention, it should be noted that each processing sequence may be adjusted, and the processing content may be adjusted, and the slave controller processing the data frame and determining whether to respond includes: s21, saving TIM1 counter value and counting direction; s22, checking whether the DMA receiving length is correct; and S23, judging whether the cyclic redundancy check CRC is correct or not. The communication between the master controller and the slave controller comprises cyclic redundancy check CRC (cyclic redundancy check CRC) which is 32-bit check, preferably, the polynomial of the cyclic redundancy check CRC is 0x04C11DB7 or 0xEDB88320, the check reliability requirement of the highest-level safety bus CAN be met by adopting the 32-bit CRC, preferably, 32-bit CRC modules are integrated in the master controller and the slave controller, the calculation based on hardware hardly occupies CPU calculation resources and is high in speed, whether communication data are wrong or not CAN be rapidly judged, the software real-time processing protocol is possible, compared with the CAN, the CRC of the CAN is only 15 bits, the safety of the 15-bit CRC is much worse than that of the 32-bit CRC, the requirement of the safety bus cannot be met, only the general field bus requirement CAN be met, and the software calculation is time-consuming.
In one embodiment of the present invention, the slave controller processing the data frame and determining whether to respond comprises: s23, judging whether the sender is the main controller, and determining whether to respond according to the judgment; if the determination is correct, the synchronization flag of S24 is executed. In step S24, when the slave controller determines that the CRC is correct, whether or not a response is required, the slave controller performs synchronization according to the time of receiving the data frame, that is, if a response is required, the slave controller executes a response-related process after the synchronization is marked; if no response is required, the process related to the response is not executed after the synchronization mark.
In one embodiment of the present invention, the slave controller processing the data frame and determining whether to respond comprises: s25, judging whether the data frame is a data frame sent to the user; and S26, judging whether the serial number is correct. Specifically, the data frame of the master controller includes a serial number having an initial value, and the serial number is updated according to a preset encoding rule each time communication between the master controller and the slave controller is completed. For example, the initial value of the serial number is set to 0, and the serial number is incremented by 1 after each communication between the master controller and the slave controller is completed, or the serial number may be updated according to other preset encoding rules, for example, according to a gray code. Further, determining whether the serial number of the master controller is correct includes: the slave controller judges whether the serial number received in the current communication period and the serial number received in the previous period are continuous serial numbers so as to judge whether the serial numbers are correct or not; and/or the controller calculates the expected serial number according to a preset encoding rule, and judges whether the current serial number is consistent with the expected serial number so as to judge whether the serial number is correct. Further, when the serial number is judged to be wrong in the step S26, an alarm state and an alarm bit are set, and serial number error information is fed back to the main controller; when the step S26 determines that the sequence number is correct, it makes a receive flag, and executes S27 to update the sequence number and CRC of the data frame, and executes S28 to start DMA transmission.
A multi-axis motion control system generally includes a master controller and a plurality of slave controllers, and in one embodiment of the invention, the fieldbus includes: one sender address corresponds to only one slave controller. The slave controller can receive and respond to data frames from different addresses of the master controller in one communication period, so that the master controller and the slave controller can communicate for multiple times in one communication period, and the communication efficiency is improved.
The data frame is used for transmitting at least part of a motion command, parameter setting and upgrading program, and the execution frame correspondingly sends at least part of motion state, operation parameters and program information to the main controller.
The beneficial effects of the above preferred embodiment are: the field bus based on the high-speed RS485 physical layer, the UART protocol and the 32-bit CRC provided by the invention solves the problems that the traditional field bus cannot meet the requirement of a safety bus, the transmission speed is not high, the real-time performance of software processing is not good and the like.
The invention is also used for providing an industrial robot, which comprises a robot motion control system for monitoring and controlling the robot motion, wherein the robot motion control system comprises a master controller and at least one slave controller, the master controller and the slave controller are communicated through the field bus of any one of the above, the slave controller comprises a CRC module, hardware calculation is carried out through the CRC module, the occupied CPU resource is less, the communication speed is high, and the correctness or the error of communication data can be quickly judged.
The industrial robots mentioned above include various types of industrial robots, including, for example, cooperative robots, or alternatively, three-axis, four-axis or six-axis robot arms.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A fieldbus applicable to a multi-axis motion control system including a master controller and at least one slave controller, the fieldbus comprising:
the master controller and the slave controller establish communication based on an RS485 physical layer and carry out bidirectional communication transmission based on a UART protocol, wherein the communication speed of the RS485 physical layer is at least 10 Mbps;
the method comprises the steps that a master controller sends a data frame to a slave controller at regular time, wherein the data frame comprises a sending end address and CRC check bits;
the slave controller receives the data frame, processes the data frame to judge whether to respond, and if the data frame needs to be responded, delays a communication period after receiving the data frame and sends an execution frame to the master controller; the communication of the master and slave controllers includes a cyclic redundancy check, CRC, and the cyclic redundancy check, CRC, is a 32-bit check.
2. The fieldbus of claim 1, wherein the CRC polynomial is 0x04C11DB7 or 0xEDB 88320.
3. The fieldbus of claim 1, wherein the data frame of the master controller includes a serial number provided with an initial value, the serial number being updated according to a preset encoding rule every time communication between the master controller and the slave controller is completed; the processing of the data frame by the slave controller to determine whether to respond comprises: and judging whether the serial number of the main controller is correct or not to determine whether to respond or not.
4. The fieldbus of claim 3, wherein determining whether the serial number of the master controller is correct comprises: the slave controller judges whether the serial number received in the current communication period and the serial number received in the last communication period are continuous serial numbers so as to judge whether the current serial number is correct or not; and/or the slave controller calculates an expected serial number according to a preset encoding rule, and judges whether the current serial number is consistent with the expected serial number so as to judge whether the serial number is correct.
5. The fieldbus of claim 1, wherein the fieldbus comprises: one transmitting end address is defined to correspond to only one slave controller.
6. The fieldbus of claim 1, wherein processing the data frame to determine whether to respond comprises: and judging whether the cyclic redundancy check CRC is correct or not to judge whether a response is made or not.
7. The fieldbus of claim 6 wherein the slave controllers are capable of receiving and responding to data frames from different addresses of the master controller in a single communication cycle.
8. The fieldbus of claim 1, wherein the data frame is used to transmit at least part of a motion command, parameter setting, and program upgrade, and the execution frame corresponds to issuing at least part of a motion status, operating parameters, and program information to the master controller.
9. The fieldbus of claim 1, wherein the processing of the data frame to determine whether a response is made includes a synchronization flag, and the slave controller, when determining that the cyclic redundancy check, CRC, is correct, synchronizes based on the time at which the data frame was received, whether a response is required.
10. An industrial robot comprising a robot motion control system for performing robot motion monitoring and control, said robot motion control system comprising a master controller and at least one slave controller, said master and slave controllers communicating via a fieldbus as claimed in any one of claims 1 to 9, said slave controller comprising a hardware CRC module.
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| CN202110279202.4A CN115079643A (en) | 2021-03-16 | 2021-03-16 | A field bus and industrial robot for multiaxis motion control system |
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| CN202110279202.4A CN115079643A (en) | 2021-03-16 | 2021-03-16 | A field bus and industrial robot for multiaxis motion control system |
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