CN115933546A - Communication system and robot - Google Patents

Abstract

The invention provides a robot capable of avoiding errors caused by interference in identification code giving processing without storing complicated temporary ID numbers in a plurality of lower control parts (71-75). A control system (70) performs communication between a main control unit (50) and a plurality of lower control units (71-75) which are connected to each other by a daisy chain via a cable, and includes the main control unit (50) which is a device positioned at the top among the plurality of control units in the order of arrangement, and the plurality of lower control units (71-75) which are devices not positioned at the top in the order of arrangement, wherein the control system (70) executes an identification code giving process of giving and storing unique identification codes different from each other to each of the plurality of lower control units according to a predetermined rule, starts the identification code giving process at a predetermined timing, and gives and stores the identification codes after supplying power to the lower control units positioned at the top among the plurality of lower control units in the order of arrangement.

Description

Communication system and robot

Technical Field

The present invention relates to a communication system and a robot including the same.

Background

Conventionally, a communication system is known which performs communication between a plurality of devices connected to each other by a daisy chain, and includes the uppermost device, which is the device positioned the highest in the order of arrangement, and a plurality of lower devices, which are the devices not positioned the highest in the order of arrangement, among the plurality of devices.

For example, an intercom system as a communication system described in patent document 1 includes a master unit as the top-level device and a plurality of slave master units as the lower-level devices, and executes a process of assigning and storing unique ID numbers different from each other to the plurality of slave master units according to a predetermined rule. The details of this processing are as follows. That is, the plurality of slave masters store mutually unique temporary ID numbers, and transmit signals of the temporary ID numbers to the master. When the master unit that has received the signal of the temporary ID number receives the signal of the temporary ID number transmitted from the slave master unit, the slave master unit is given an ID number as an identification code according to a predetermined rule and transmits the signal associated with the temporary ID to the slave master unit. The slave parent device that has received the ID number and the temporary ID number stores the ID number when the temporary ID number is its own temporary ID number.

According to patent document 1, in the intercom system having this configuration, the plurality of slave/master units are automatically given unique ID numbers, whereby workability can be improved.

[ Prior art documents ]

[ patent document ]

Patent document 1: japanese patent No. 4122574

Disclosure of Invention

Technical problem to be solved by the invention

However, in this intercom system, there are the following problems: in this case, the master and slave units are each subjected to a process of storing a complicated temporary ID number such as a manufacturing serial number in advance, which results in a reduction in productivity. Further, there are also problems as follows: if a plurality of slave units simultaneously transmit the temporary ID numbers to the master unit, respectively, an error occurs due to interference, and the ID number assignment process cannot be normally executed.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a communication system as described below, and a robot including the communication system. That is, it is possible to provide unique identification codes to each of the plurality of lower-level devices without storing complicated temporary ID numbers, and to avoid the occurrence of errors due to interference in the identification code providing process.

Means for solving the problems

In order to achieve the above object, one aspect of the present invention is a communication system for performing communication between a plurality of devices connected to each other by a daisy chain via a cable, including: a topmost device, which is a device positioned topmost in the arrangement order among the plurality of devices; and a plurality of lower-level devices that are not positioned at the top in the order of arrangement, wherein the communication system executes an identification code assigning process of assigning unique identification codes different from each other to the plurality of lower-level devices according to a predetermined rule and storing the unique identification codes, and wherein the communication system is characterized in that the communication system includes a plurality of lower-level devices that are not positioned at the top in the order of arrangement,

the identification code assigning process is started at a predetermined timing, and in the identification code assigning process, after power is supplied sequentially from a lower device located higher in the order of arrangement from among the plurality of lower devices, the identification code is assigned and stored.

Effects of the invention

According to the present invention, the following excellent effects are obtained: the unique identification code is assigned to each of the plurality of lower devices without storing a complicated temporary ID number, and the occurrence of an error due to interference can be avoided in the identification code assignment process.

Drawings

Fig. 1 is a diagram showing a configuration of a robot according to an embodiment.

Fig. 2 is an electrical block diagram showing a control system, a monitoring signal generation unit, each drive unit, and five a/D converters mounted on the robot.

Fig. 3 is an electrical block diagram showing a main control unit, a first lower-level control unit, a second lower-level control unit, a third lower-level control unit, a fourth lower-level control unit, and a fifth lower-level control unit in the control system of the robot.

Fig. 4 is a flowchart showing the steps of the process immediately after startup executed by the control system.

Fig. 5 is a flowchart showing a process flow of the main control unit and a process flow of the lower control unit in the identification code assigning process executed by the control system of the robot according to embodiment 1.

Fig. 6 is a flowchart showing a process flow of the main control unit and a process flow of the lower control unit in the identification code assigning process executed by the control system of the robot according to embodiment 2.

Detailed Description

Hereinafter, an embodiment of a robot having a communication system according to an embodiment of the present invention mounted thereon will be described with reference to the drawings. In the drawings below, in order to facilitate understanding of the respective structures, the actual structures, the scales, the numbers, and the like of the respective structures may be different.

First, a basic configuration of the robot according to the embodiment will be described. Fig. 1 is a diagram showing a configuration of a robot 1 according to an embodiment. In the robot 1, a plurality of arms are combined and attached to a main body (base) 10, and desired operation is performed by controlling the operation of each arm. The common arm 11 is mounted on the main body 10. The arm 14 and the arm 15 are mounted on the common arm 11 via the connecting arm 12 and the connecting arm 13, respectively.

The common arm 11 held by the main body 10 is rotationally driven around a rotational axis A1. The arm 14 held by the connecting arm 12 is rotationally driven around the rotation axis A2. The arm 15 held by the connecting arm 13 is rotationally driven about the rotational axis A3.

The main body 10 is provided with a mechanical mechanism for driving the common arm 11. The rotation axis A1 is an axis of the robot 1 as a whole. Accordingly, all the components connected to the common arm 11 including the arm 14 and the arm 15 are driven, and thus a load particularly at the time of driving the common arm 11 is increased. In order to be able to bear this load, a first drive unit 21 and a second drive unit 22 are provided. The common arm 11 is driven about the pivot axis A1 by driving the pivot axis a11 by the first driving unit 21 and driving the pivot axis a12 by the second driving unit 22. The driving of the turning shaft a11 and the driving of the turning shaft a12 are converted into the driving of the turning shaft A1 by the third driving unit 23. That is, the rotation shaft A1 is directly driven by the third driving unit 23.

The coupling arm 12 holds the fourth driving portion 24. The fourth driving portion 24 includes a mechanical mechanism for driving the arm 14. In addition, the connecting arm 13 holds the fifth driving portion 25. The fifth driving unit 25 includes a mechanical mechanism for driving the arm 15. The fourth driving unit 24 and the fifth driving unit 25 each include a motor, a gear, a bearing, and the like. The first drive unit 21 and the second drive unit 22 also include motors, gears, bearings, and the like. The third driving unit 23 includes gears, bearings, and the like for converting the drive of the rotary shaft a11 and the drive of the rotary shaft a12 into the drive of the rotary shaft A1.

The robot 1 includes a control system 70, and the control system 70 controls the operations of the common arm 11, the arm 14, and the arm 15 by driving the first drive unit 21, the second drive unit 22, the third drive unit 23, the fourth drive unit, and the fifth drive unit 25, respectively. The control system 70 as a communication system includes a CPU and the like. In the example shown in fig. 1, the control system 70 is disposed in the main body (base) 10, but may be disposed separately from the robot 1, for example, at a position distant from the robot 1.

The main components of the robot 1 that cause wear, deterioration with age, and the like are the first drive unit 21, the second drive unit 22, the third drive unit 23, the fourth drive unit 24, and the fifth drive unit 25. The robot 1 includes five sensors 30, and the sensors 30 detect predetermined characteristics for predicting the failure of the driving units. Each sensor 30 is constituted by, for example, an acceleration sensor or the like for detecting vibration generated in the drive unit. The sensor 30 is fixed to a portion of the driving portion that detects the vibration. Since the size and weight of the sensor 30 are negligible compared to those of the above-described portion, the vibration (acceleration) detected by the sensor 30 is a value correlated with the acceleration applied to the above-described portion. A dc voltage having a value corresponding to the magnitude of the vibration is output from the sensor 30 as an analog signal.

Fig. 2 is an electrical block diagram showing the control system 70, the monitoring signal generation unit 40, the drive units (21 to 25), and the five a/D converters 31 mounted on the robot 1. In the figure, the area of the dotted line corresponds to the inside of the robot 1.

The control system 70 includes a main control unit 50 as the uppermost device, a first lower control unit 71 as the lower device, a second lower control unit 72 as the lower device, a third lower control unit 73 as the lower device, a fourth lower control unit 74 as the lower device, and a fifth lower control unit 75 as the lower device. Hereinafter, the first lower control unit 71, the second lower control unit 72, the third lower control unit 73, the fourth lower control unit 74, and the fifth lower control unit 75 are collectively referred to as the respective lower control units.

The main control unit 50 and the respective subordinate control units are daisy-chained to each other via cables C1 to C5 to perform communication. The main control unit 50 is the highest-level device among the main control unit 50 and the lower-level control units, which is positioned at the highest level in the order of arrangement. Hereinafter, the positional relationship of each of the lower controllers is referred to as an upper position where the lower controller is closer to the main controller 50, and a position where the lower controller is farther from the main controller 50 as a lower position. The respective lower controllers are positioned at the upper level in the order of the first lower controller 71, the second lower controller 72, the third lower controller 73, the fourth lower controller 74, and the fifth lower controller 75.

The robot 1 includes five a/D converters 31. The a/D converters 31 are connected to different subordinate control units (71 to 75). The analog signal G1 output from the sensor 30 of the first driving unit 21 is converted into a vibration signal S1 made of a digital signal indicating the magnitude of vibration by the a/D converter 31, and then input to the first lower control unit 71. The analog signal G2 output from the sensor 30 of the second driving unit 22 is converted into the vibration signal S2 by the a/D converter 31, and then input to the second lower-level control unit 72. The analog signal G3 output from the sensor 30 of the third driving unit 23 is converted into the vibration signal S3 by the a/D converter 31, and then input to the third lower-level control unit 73. The analog signal G4 output from the sensor 30 of the fourth driving unit 24 is converted into the vibration signal S4 by the a/D converter 31, and then input to the fourth lower-level controller 74. The analog signal G5 output from the sensor 30 of the fifth driving unit 25 is converted into the vibration signal S5 by the a/D converter 31, and then input to the fifth subordinate control unit 75.

For example, a coaxial cable that easily suppresses noise mixing can be used for electrical connection between the sensor 30 and the a/D converter 31. If the a/D converter 31 is provided in the vicinity of the corresponding sensor 30, the length of the coaxial cable can be limited to a length that is negligible compared to the entire length of the robot 1.

The fifth lower control unit 75 transmits the vibration signal S5 to the main control unit 50 via the fourth lower control unit 74, the third lower control unit 73, the second lower control unit 72, and the first lower control unit 71. The fourth lower control unit 74 transmits the vibration signal S4 to the main control unit 50 via the third lower control unit 73, the second lower control unit 72, and the first lower control unit 71. The third lower-level control unit 73 transmits the vibration signal S3 to the main control unit 50 via the second lower-level control unit 72 and the first lower-level control unit 71. The second lower-level control unit 72 transmits the vibration signal S2 to the main control unit 50 via the first lower-level control unit 71. The first lower control unit 71 transmits the vibration signal S1 to the main control unit 50. The main control unit 50 transmits the vibration signals (S1 to S5) to the monitoring signal generation unit 40. The monitoring signal generation unit 40 divides each vibration signal (S1 to S5) into time-series signals, converts the time-series signals into serial data, and outputs the serial data as a monitoring signal S0 to the outside of the robot 1.

The monitoring apparatus 100 receives the monitoring signal S0 via the connectors CN1 (CN 11, CN 12) on the robot 1 side, the single external cable C, and the connectors CN2 (CN 21, CN 22) on the monitoring apparatus 100 side. The monitoring apparatus 100 can recognize and store the output values from the respective sensors 30 by the above-described reception.

Fig. 3 is an electrical block diagram showing the main control unit 50, the first lower control unit 71, the second lower control unit 72, the third lower control unit 73, the fourth lower control unit 74, and the fifth lower control unit 75 of the control system 70. The main control Unit 50 includes a CPU (Central Processing Unit) 51, a lower power switch 52, a communication driver 53, a lower power supply 54, and the like. The lower power supply 54 outputs power to be supplied to each lower control unit, and is connected to the lower power switch 52. The lower power switch 52 is a switch for turning on and off the power supply to the first lower control unit 71, and is turned off when the energization command signal output from the CPU51 is not received. The CPU51 outputs the energization command signal to the lower power switch 52, thereby turning the lower power switch 52 on and supplying power to the first lower control unit 71. The CPU51 of the main control unit 50 can communicate with the CPU71a of the first lower control unit 71 via the communication driver 53, a cable (C1 in fig. 2), and an upper communication driver 71C of the first lower control unit 71, which will be described later.

The first lower control unit 71 includes a CPU71a, a lower power switch 71b, an upper communication driver 71c, a lower communication driver 71d, and the like. The lower power switch 71b is a switch for turning on and off the power supply to the second lower control unit 72, and is turned off when the energization command signal output from the CPU71a is not received. The CPU71a outputs the energization command signal to the lower power switch 71b, thereby turning the lower power switch 71b to the on state and supplying power to the second lower control unit 72. The main control unit 50 controls the driving of the first driving unit (21 in fig. 2) via the first lower control unit 71. The CPU71a of the first lower controller 71 can communicate with the CPU72a of the second lower controller 72 via the lower communication driver 71d, a cable (C2 in fig. 2), and an upper communication driver 72C of the second lower controller 72, which will be described later.

The second lower control unit 72 includes a CPU72a, a lower power switch 72b, an upper communication driver 72c, a lower communication driver 72d, and the like. The lower power switch 72b is a switch for turning on and off the power supply to the third lower control unit 73, and is turned off when the energization command signal output from the CPU72a is not received. The CPU72a outputs the energization command signal to the lower power switch 72b, thereby turning the lower power switch 72b to the on state and supplying power to the third lower control unit 73. The main control unit 50 controls driving of the second driving unit (22 in fig. 2) via the first lower control unit 71 and the second lower control unit 72. The CPU72a of the second lower controller 72 can communicate with the CPU73a of the third lower controller 73 via the lower communication driver 72d, the cable (C3 in fig. 2), and an upper communication driver 73C of the third lower controller 73, which will be described later.

The third lower control unit 73 includes a CPU73a, a lower power switch 73b, an upper communication driver 73c, a lower communication driver 73d, and the like. The lower power switch 73b is a switch for turning on and off the power supply to the fourth lower control unit 74, and is turned off when the energization command signal output from the CPU73a is not received. The CPU73a outputs the energization command signal to the lower power switch 73b, thereby turning the lower power switch 73b to the on state and supplying power to the fourth lower control unit 74. The main control unit 50 controls the driving of the third driving unit (23 in fig. 2) via the first lower control unit 71, the second lower control unit 72, and the third lower control unit 73. The CPU73a of the third lower controller 73 can communicate with the CPU74a of the fourth lower controller 74 via the lower communication driver 73d, a cable (C4 in fig. 2), and an upper communication driver 74C of the fourth lower controller 74, which will be described later.

The fourth lower-level control unit 74 includes a CPU74a, a lower-level power switch 74b, an upper-level communication driver 74c, a lower-level communication driver 74d, and the like. The lower power switch 74b is a switch for turning on and off the power supply to the fifth lower control unit 75, and is turned off when the energization command signal output from the CPU74a is not received. The CPU74a outputs the energization command signal to the lower power switch 74b, thereby turning the lower power switch 74b to the on state and supplying power to the fifth lower control unit 75. The main control unit 50 controls driving of the fourth driving unit (24 in fig. 2) via the first lower control unit 71, the second lower control unit 72, the third lower control unit 73, and the fourth lower control unit 74. The CPU74a of the fourth lower controller 74 can communicate with the CPU75a of the fifth lower controller 75 via the lower communication driver 74d, a cable (C4 in fig. 2), and an upper communication driver 75C of the fifth lower controller 75, which will be described later.

The fifth lower-level controller 75 includes a CPU75a, a lower-level power switch 75b, an upper-level communication driver 75c, a lower-level communication driver 75d, and the like. The lower power switch 75b is a switch for turning on and off the power supply to a lower control unit located lower than the fifth lower control unit 75, and is turned to an "off" state when the energization command signal output from the CPU75a is not received. The CPU75a outputs the power-on command signal to the lower power switch 75b to turn the lower power switch 75b to the on state, thereby supplying power to the lower control unit located below the fifth lower control unit 75. However, in the illustrated example, the lower-level controller is not disposed at the lower level than the fifth lower-level controller 75. The main control unit 50 controls driving of the fifth driving unit (25 in fig. 2) via the first lower control unit 71, the second lower control unit 72, the third lower control unit 73, the fourth lower control unit 74, and the fifth lower control unit 75.

Next, a characteristic configuration of the robot 1 of the present embodiment will be described.

Fig. 4 is a flowchart showing steps of the process immediately after startup, which is performed by the control system 70 as a communication system. The process immediately after the start is performed immediately after the power supply to the main control section 50 of the control system 70 is started.

When the process immediately after the start is started, the control system 70 executes the identification code giving process and then ends the process immediately after the start. That is, the control system 70 executes the identification code providing process with the timing of starting the power supply to the main control section 50 as the origin as the predetermined timing.

In the identification code assigning process, the control system 70 sequentially supplies power to the lower control units (71 to 75) located at the upper level in the order of arrangement, and then assigns and stores the identification code. The identification code is a code in which at least one of a plurality of upper case letters, lower case letters, and numbers is arranged. The identification code may comprise a slash, a hyphen, etc. The identification code is given according to a predetermined rule such as adding "1" to the last two digits in order from the initial value 0.

As described above, the robot 1 sequentially supplies power and assigns an identification code from the lower-level control unit located at the upper level in the order of arrangement. In this configuration, the lower-level control units (71 to 75) can determine the identification code received immediately after receiving the power supply as the own identification code. Therefore, the lower control units (71-75) can determine whether or not the identification code received individually is the own identification code without receiving the combination of the temporary ID number and the identification code. The plurality of lower controllers (71 to 75) do not simultaneously transmit the temporary ID numbers to the main controller 50. Therefore, the plurality of lower control units (71-75) can be assigned unique identification codes without storing complicated temporary ID numbers, and errors caused by interference in the identification code assignment process can be avoided.

Further, although the example in which the timing to start supplying power to the main control unit 50 is adopted as the predetermined timing has been described, other timings such as the timing to press an assignment start button provided in the main control unit 50 may be adopted.

Next, each example in which a more characteristic configuration is added to the robot 1 of the embodiment will be described. The robot 1 of each embodiment has the same configuration as that of the embodiment unless otherwise described below.

[ example 1]

Fig. 5 is a flowchart showing a process flow of the main control unit 50 and a process flow of the lower control units (71 to 75) in the identification code assignment process executed by the control system 70 of the robot 1 according to embodiment 1.

In the identification code assignment process, the main control unit 50 first turns on the lower power switch (52 in fig. 3) (step 1: hereinafter, step s). Thereby, power is supplied to the first lower control unit (71 in fig. 3). Next, the main control section 50 updates the identification code according to a predetermined rule, and then transmits the updated identification code to the lower side (s 2). The identification code is used by the first subordinate control unit (71 in fig. 3) at the time of initial issuance, and is used by the second, third, fourth, and fifth subordinate control units (72, 73, 74, and 75) at the time of second, third, fourth, and fifth issuance. Further, as a predetermined rule for updating the identification code, for example, the following rules can be cited: the last 3 bits of the identification code are numbers, and the 3-bit numbers are added with 1 in sequence from default '000'.

When the lower-level control unit to which power is supplied (for example, the first lower-level control unit 71 when the lower-level power switch of the main control unit 50 is turned on) receives the identification code transmitted from the main control unit 50 (yes in s 5), the lower-level control unit stores the identification code in its own memory circuit (s 6), and then transmits a storage completion signal (s 7). The storing completion signal is transmitted in combination with an identification code attached to the lower control unit.

Upon receiving the storage completion signal transmitted from the lower control unit (yes in s 3), the main control unit 50 loops the processing flow to s2, and renews and transmits the identification code. Thus, for example, when only the identification code has been given to the first lower control unit 71, the identification code for the second lower control unit 72 is retransmitted.

On the other hand, the lower control unit (s 7) that has transmitted the storage completion signal of the identification code turns on its own lower power switch (s 8). Thereby, the power is supplied to the lower-level control unit adjacent to the lower-level control unit on the downstream side again. For example, when the lower power switch of the first lower control unit 71 is turned on, the second lower control unit 72 is supplied with power again. The lower control unit immediately after the power supply is supplied stores the identification code issued for itself and transmits the storage completion signal by executing the above-described steps s5 to s 8.

On the other hand, when the storage completion signal transmitted from the lower control unit is not received although the identification code is transmitted (s 2) (no in s 3), the main control unit 50 sets the identification codes to all the lower control units, transmits the completion signal, and completes the series of steps (s 4). The lower control unit (yes in s 9) that has received the end signal also ends the series of steps.

The steps s5 to s9 shown in fig. 5 are common to all the lower controllers (71 to 75). Each subordinate control unit determines the identification code received immediately after power supply as its own identification code and stores it (yes in S5, S6). After that, the lower control unit in the lower side than the self transmits the identification code, but at this time, the lower control unit which has already stored the identification code is in a state of waiting for reception of the end signal, and therefore the identification code is not erroneously stored as the self identification code.

[ example 2]

In the robot 1 according to embodiment 2, the main control unit (50 in fig. 3) does not assign unique identification codes to all the lower-level control units, and the main control unit assigns the identification codes only to the first lower-level control unit (71 in fig. 3). The identification code is given to each of the other lower controllers by the one lower controller located at the upper level.

Fig. 6 is a flowchart showing a process flow of the main control unit 50 and a process flow of the lower control unit in the identification code assigning process executed by the control system 70 of the robot 1 according to embodiment 2.

In the identification code assignment process in the robot 1 according to embodiment 2, first, the main control unit (50 in fig. 3) turns on (turns on) its lower power switch (52 in fig. 3) (s 1), and then transmits a predetermined identification code to the lower side (s 2). This identification code is a unique identification code for the first lower control unit 71. Thereafter, the main control unit 50 waits for reception of the storage completion signal transmitted from the lower node (s 3).

On the other hand, upon receiving the power supply, the lower-level control unit stores the identification code as its own identification code in its own storage circuit (s 6) when receiving the identification code (yes in s 5). Next, after transmitting the storage completion signal (s 7), the lower control unit turns on the lower power switch and supplies power to the lower control unit adjacent to itself on the downstream side (s 8). Further, the lower control unit turns on its own temporary transmission switch (s 9). The temporary transmission switch is a switch for short-circuiting or disconnecting the transmission terminal Tx and the reception terminal Rx of the switch, and is turned on to short-circuit the transmission terminal Tx and the reception terminal Rx. In this state, the lower control unit issues and transmits a new identification code according to a predetermined rule based on its own identification code (s 10). For example, a value obtained by adding "1" to the last 3-bit numerical value of the own identification code is transmitted as a new identification code. The transmitted identification code is transmitted to the lower control unit on the lower bit side via the reception line.

The lower control unit that has transmitted the identification code waits for the reception end signal after turning off the temporary transmission switch (S12). On the other hand, if the storage completion signal is not received even after the predetermined time has elapsed (no in s 3), the main control unit 50 sets all the lower control units to the state of being given the identification codes, and transmits the end signal to end the series of steps (s 4). The lower control unit (yes in s 12) that has received the end signal also ends the series of steps.

While the preferred embodiments and examples of the present invention have been described above, the present invention is not limited to the embodiments and examples, and various modifications and changes can be made within the scope of the present invention. The embodiments and examples are included in the scope and gist of the invention, and are included in the invention described in the claims and the equivalent scope thereof.

The present invention exhibits specific effects in the following modes.

[ first mode ]

A first aspect is a communication system (for example, a control system 70) for performing communication between a plurality of devices connected to each other by a daisy chain via cables (for example, cables C1 to C5), including a highest-order device (for example, a main control unit 50) which is a device located at the highest order among the plurality of devices and a plurality of lower-order devices (for example, first to fifth lower-order control units 71 to 75) which are devices not located at the highest order among the plurality of devices, and performing an identification code assignment process of assigning and storing unique identification codes different from each other to each of the plurality of lower-order devices according to a predetermined rule, wherein the identification code assignment process is started at a predetermined timing, and in the identification code assignment process, power is sequentially supplied from a device located at a higher order among the plurality of lower-order devices and the identification codes are assigned and stored.

In the first aspect, when the plurality of lower devices receive the identification code after receiving the supply of the power supply, the plurality of lower devices can determine that the identification code is the own identification code. Therefore, even if the lower device does not receive the combination of the temporary ID number and the identification code, it is possible to determine whether or not the identification code received alone is the own identification code. Also, the plurality of lower level devices do not simultaneously transmit the temporary ID numbers to the uppermost level device, respectively. Therefore, it is possible to assign unique identification codes to a plurality of lower-level devices without storing complicated temporary ID numbers, and to avoid the occurrence of errors due to interference in the identification code assignment process.

[ second mode ]

A second aspect is a communication system including the configuration of the first aspect, wherein in the identification code assignment process, the uppermost device executes a step of supplying power to a lower device positioned at the uppermost position among the plurality of lower devices (for example, s1 in fig. 5), and the lower device stores the identification code received first (for example, yes in s5 in fig. 5) as its own identification code after starting the supply of power (for example, s6 in fig. 5).

According to the second aspect, by storing the identification code received first after the power supply as the own identification code for each of the plurality of lower level devices, it is possible to prevent the identification code issued for the other lower level device from being erroneously stored as the own identification code.

[ third mode ]

A third aspect is a communication system including the configuration of the second aspect, wherein in the identification code assigning process, the lower device transmits a storage completion signal to an upper side after storing the identification code (for example, s7 in fig. 5).

According to the third aspect, the plurality of lower level devices can notify the highest level device of their own presence by transmitting the storage completion signal to each of the plurality of lower level devices.

[ fourth mode ]

A fourth aspect is a communication system according to the third aspect, wherein in the identification code assigning process, the lower device supplies power to a lower device adjacent to itself on the downstream side after transmitting the storage completion signal.

According to the fourth aspect, each of the plurality of lower apparatuses is capable of starting the storage of the identification code by supplying power to the lower apparatus adjacent to itself on the downstream side after storing its own identification code.

[ fifth mode ]

A fifth aspect is a robot including a communication system that performs communication between a plurality of devices connected to each other by a daisy chain of cables, the communication system being any one of the first to fourth aspects.

According to the fifth aspect, communication can be performed using a communication system that can assign unique identification codes to a plurality of lower apparatuses without storing complicated temporary ID numbers, respectively, and can avoid occurrence of errors due to interference in the identification code assignment process.

Description of the reference symbols

50% -8230, a main control part (the uppermost device) 71% -8230, a first lower control part (the lower device) 72% -8230, a second lower control part (the lower device) 73% -8230, a third lower control part (the lower device) 74% -8230, a fourth lower control part 75% -8230, a fifth lower control part (the lower device) C1-C5% -8230and cables.

Claims (5)

1. A communication system that communicates between a plurality of devices daisy-chained to each other by cables, comprising: a top-most device that is a device positioned at the top in the order of arrangement among the plurality of devices; and a plurality of lower-level devices that are not positioned at the top in the order of arrangement, wherein the communication system executes an identification code assigning process of assigning unique identification codes different from each other to the plurality of lower-level devices according to a predetermined rule and storing the unique identification codes, and wherein the communication system is characterized in that the communication system includes a plurality of lower-level devices that are not positioned at the top in the order of arrangement,

the identification code assigning process is started at a predetermined timing, and in the identification code assigning process, after power is supplied sequentially from a lower device located higher in the order of arrangement from among the plurality of lower devices, the identification code is assigned and stored.

2. The communication system of claim 1,

in the identification code giving process,

the uppermost device performs a process of supplying power to a lower device positioned at the uppermost position among the plurality of lower devices,

the lower device stores the identification code received first as its own identification code after the lower device starts the supply of power.

3. The communication system of claim 2,

in the identification code giving process,

and after storing the identification code, the lower device sends a storage completion signal to the upper side.

4. The communication system of claim 3,

in the process of giving the identification code,

the lower device supplies power to a lower device adjacent to itself on the downstream side after transmitting the storage completion signal.

5. A robot comprising a communication system that communicates between a plurality of devices that are daisy-chained to each other by cables, the robot being characterized in that,

the communication system according to any of claims 1 to 4.

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