WO2020250728A1 - Dispositif de communication, système de communication, procédé de communication, et programme - Google Patents

Dispositif de communication, système de communication, procédé de communication, et programme Download PDF

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Publication number
WO2020250728A1
WO2020250728A1 PCT/JP2020/021548 JP2020021548W WO2020250728A1 WO 2020250728 A1 WO2020250728 A1 WO 2020250728A1 JP 2020021548 W JP2020021548 W JP 2020021548W WO 2020250728 A1 WO2020250728 A1 WO 2020250728A1
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data
area
frame
communication device
communication
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PCT/JP2020/021548
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English (en)
Japanese (ja)
Inventor
哲哉 田渕
泰 福永
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日本電産株式会社
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Priority to JP2020571869A priority Critical patent/JPWO2020250728A1/ja
Priority to CN202080042323.0A priority patent/CN113966598B/zh
Publication of WO2020250728A1 publication Critical patent/WO2020250728A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W8/00—Network data management
    • H04W8/26—Network addressing or numbering for mobility support

Definitions

  • the present invention relates to communication devices, communication systems, communication methods, and programs.
  • each terminal In a communication system that communicates with each other between a plurality of terminals, for example, IPv6 or the like, the terminals divide the information to be transmitted into a plurality of frames and transmit the information.
  • each terminal is associated with a predetermined unique identifier.
  • the unique identifier is, for example, a terminal ID (Identifier) or an IP (Internet Protocol) address.
  • the unique identifier is generally fixed-length data whose length is predetermined according to the scale of the communication protocol or communication system, for example, the IPv6 address has a fixed length of 128 bits (for example,). See Patent Document 1 and Patent Document 2).
  • the number of terminals may increase significantly as compared with the initial construction of the communication system due to the addition of terminals or the like. In this case, a new number of unique identifiers corresponding to the increased number of terminals is required.
  • unique identifiers since unique identifiers generally have a fixed length, the number of unique identifiers is finite. As a result, there is a problem that it is difficult to connect a number of terminals having a fixed length unique identifier exceeding the number that can be supported to the communication system.
  • the present invention has been made in view of the above technical background, and can arbitrarily increase the number of unique identifiers that can be used without deteriorating communication efficiency, a communication device, a communication system, and communication.
  • the purpose is to provide methods and programs.
  • the present invention has been made to solve the above problems, and one aspect of the present invention is the communication device in a communication system in which communication devices provided in a plurality of terminals communicate with each other via a communication network.
  • a receiving unit that receives a frame transmitted from another terminal and a data processing unit that processes data included in the frame received by the receiving unit are provided, and the data processing unit is included in the frame.
  • the included terminal identifier information a first data area having a predetermined length located at a predetermined position in the identifier storage area for storing the terminal identifier information is read out, and the area expansion information included in the first data area is used. Based on this, it is a communication device that determines whether or not to include the second data area of the predetermined length located immediately after the first data area in the identifier storage area.
  • the number of usable unique identifiers can be arbitrarily increased without lowering the communication efficiency.
  • the multi-motor system has a plurality of motor units (terminals) having a communication function and a communication network for connecting the plurality of motor units to each other.
  • one motor unit sends a command to another motor unit.
  • it is not necessary to provide a host terminal involved in all communication between the motor units.
  • FIG. 1 shows an example of a product equipped with a plurality of motor units.
  • FIG. 1 shows the appearance of the communication robot 30.
  • Motor units are mounted on the communication robot 30 at the locations indicated by the arrows in FIG. 1 (for example, the joint mechanism of the communication robot 30).
  • the communication robot 30 can perform complicated operations.
  • a plurality of motor units operate autonomously and cooperatively while communicating with each other.
  • FIG. 2 is a schematic view of a multi-motor system 103 in which a plurality of motor units 32a to 32e communicate with each other.
  • the motor units 32a to 32e include a motor and various circuit elements.
  • the motor unit 32a when the motor unit 32a detects that it has failed, it transmits a failure notification command indicating the failure to the other motor units 32b and 32e. Upon receiving the failure notification command, the motor unit 32b and / or 32e transmits (replies) a reception response command indicating that the command has been received to the motor unit 32a. Then, the motor unit 32b and / or 32e operates so as to replace the operation of the failed motor unit 32a.
  • the motor unit 32a when the motor unit 32a is a component for driving one joint mechanism of the above-mentioned communication robot 30, another motor unit may not be able to completely replace the function of the motor unit 32a. .. In such a case, the motor unit 32b and / or 32e may operate so as to substitute the function of the motor unit 32a within a predetermined range.
  • Information regarding the failure of the motor unit 32a may be further transmitted to the motor units 32c and 32d via the motor units 32b and 32e, respectively.
  • the motor units 32c and 32d may also operate so as to substitute the functions of the motor unit 32a within a predetermined range. Further, in some cases, the motor units 32c and 32d may notify the motor unit 32a of a notification command indicating that the assist cannot be performed (the function of the motor unit 32a cannot be replaced). ..
  • communicable motor units are connected by a line, and the described line and arrow are examples.
  • the motor units not connected by a line may be configured to be able to communicate with each other.
  • each motor unit grasps from which motor unit the command transmitted is received and to which motor unit the command should be transmitted. There is a need to. Therefore, the source device ID, the source IP address, or the like can be used as the data for identifying the source motor unit.
  • the source device ID or source IP address can also be used to specify a destination when sending a response to a received command.
  • FIG. 3 shows a configuration example of the multi-motor system 103 including a motor unit that rotates the joints of the communication robot 30 (FIG. 1) according to the present embodiment.
  • a motor unit that rotates the joints of the communication robot 30 FIG. 1
  • two motor units 106A and 106B are shown for convenience of description.
  • the multi-motor system 103 may have three or more motor units.
  • the multi-motor system 103 has motor units 106A and 106B.
  • the motor unit 106A includes a communication circuit 110A, a processor 112A, a memory 113A, a motor drive circuit 114A, a joint motor 116A, and a joint mechanism 104A.
  • the motor unit 106B also has the same configuration as the motor unit 106A, and includes a communication circuit 110B, a processor 112B, a memory 113B, a motor drive circuit 114B, a joint motor 116B, and a joint mechanism 104B.
  • the motor units 106A and 106B may be referred to as intelligent motors (registered trademarks).
  • the motor units 106A and 106B can directly transmit and receive data frames to and from each other via the communication network NW.
  • the motor units 106A and 106B may communicate via, for example, a higher-level device such as a relay device or a server, instead of directly communicating.
  • the communication circuits 110A and 110B have buffers 111A and 111B, respectively.
  • the buffers 111A and 111B store in advance identifiers for identifying the motor units 106A and 106B, respectively.
  • the identifier may be any character and / or number that can be uniquely identified within the communication network within the communicable range. For example, the above-mentioned ID (device ID) or IP address assigned to each device without duplication. Can be.
  • the communication circuits 110A and 110B process the physical layer and the data link layer, respectively, and the destination device ID of the data frame matches its own identifier stored in the buffers 111A and 111B, respectively. Judge whether or not. If they match, the communication circuits 110A and 110B continue processing the data frame, and if they do not match, the data frame is discarded.
  • the above-mentioned own identifier becomes an IP address.
  • the communication circuits 110A and 110B determine whether or not the destination IP address of the data frame matches the self-confident IP address. Subsequent processing is the same as the above processing.
  • the communication circuits 110A and 110B sequentially perform processing for each IP layer, transport layer, etc. in the OSI reference model on the data frame, and extract the common data structure 12 described later. To do.
  • the common data structure 12 includes an operation system command field 12b and the like, which will be described later.
  • the communication circuits 110A and 110B extract commands and transmit the extracted commands to processors 112A and 112B, respectively.
  • Both the processors 112A and 112B are signal processing processors in which semiconductors are integrated.
  • the processor is also called a "signal processing circuit" or “control circuit”.
  • Processors 112A and 112B generate signals to rotate the joint motors 116A and 116B at a specified rotational speed, respectively.
  • the signal is, for example, a Pulse Width Modulation (PWM) signal.
  • PWM Pulse Width Modulation
  • the processors 112A and 112B interpret the commands and data included in the common data structure 12 included in the data frame transmitted from the other motor unit, and perform processing according to the contents of the commands.
  • the memories 113A and 113B previously hold a table in which another motor unit is associated with an identifier that identifies the other motor unit. That is, the identifier is preset in the communication circuit of each motor unit, and the identifier is held in the memory of the other motor unit.
  • the processors 112A and 112B can specify the identifier of the motor unit and give an instruction to the communication circuits 110A and 110B.
  • the motor drive circuits 114A and 114B pass current through the joint motors 116A and 116B, respectively, in a magnitude and direction corresponding to the PWM signal. As a result, the joint motors 116A and 116B rotate.
  • the rotation speed, time, and the like can be specified in the command by using the attribute command field 12c described later and the data field 12d described later.
  • the processors 112A and 112B may generate PWM signals so that the joint motors 116A and 116B rotate at a specified rotation speed and rotation time.
  • the communication protocol related to the commands sent and received by the multi-motor system will be described below.
  • FIG. 4 shows the structure of the data frame 1a used in the wired serial communication.
  • An example of serial communication assumes RS-485 standard communication.
  • the RS-485 standard establishes the electrical specifications of the physical layer in the OSI reference model.
  • the data frame 1a includes various types of data.
  • the top row of FIG. 4 shows the division of the OSI reference model for each layer. Further, at the bottom of FIG. 4, the data size of each data is shown in bytes. The leftmost column in FIG. 4 is a legend.
  • the data frame 1a includes, for example, a destination device ID 10, a source device ID 11, and a common data structure 12.
  • the destination device ID 10 is an identifier that identifies the destination device.
  • the source device ID 11 is an identifier that identifies the source device.
  • the destination device and the source device can be motor units having a communication function.
  • the identifier is, for example, an ID (device ID) or IP address assigned to each device without duplication.
  • the common data structure 12 is a data structure including commands 1 or 2 described later.
  • FIG. 5 shows the common data structure 12.
  • the common data structure 12 has a data length field 12a, an operation command field 12b, an attribute command field 12c, and a data field 12d.
  • the data length field 12a indicates the total number of bytes of the common data structure 12.
  • the operation system command field 12b indicates an operation system command for operating the motor.
  • the operation system command is described by a numerical value (binary notation) corresponding to the operation system command. Examples of operation commands are write data (Write Data), read data (Read Data), execution (Execution), and connection (Connect).
  • the attribute command field 12c indicates an attribute command related to the motor. Attribute commands are also described by numerical values (binary notation) corresponding to the commands. Examples of attribute commands are the current angle (Present Angle), target angle (Target Angle), angle limit (Angle Limit), and serial number (Serial). Number).
  • data for the attribute command field 12c is described.
  • An example of the data is an angle set value, a rotation speed set value, and a serial number value.
  • the common data structure described above has a relatively short data length, for example, which falls within the range of 3 to 7 bytes. Since EtherCAT (registered trademark), which is another communication protocol, has a size of 32 bytes, it is possible to eliminate mixing during communication and suppress line occupation. Furthermore, since the operation commands and the attribute commands are defined separately, it is easy for the user (programmer) to understand.
  • the motor unit 106A transmits "identifier of the motor unit 106A + request for the current rotation speed" to the motor unit 106B.
  • the identifier of the motor unit 106A is described in the source device ID 11 (FIG. 4) indicating the motor unit 106A.
  • FIG. 6 shows an example of a data frame 2a during communication of the RS-485 standard.
  • the data frame 2a corresponds to the data frame 1a of FIG.
  • a 1-byte value "0x01” corresponding to the "Read Data” command indicating data reading is described as the operation system command field 12b.
  • a 2-byte value "0x00, 0x21" corresponding to "Present Speed” indicating the current rotation speed is described.
  • Other data fields are not specifically relevant to this disclosure. Therefore, the description of other data fields will be omitted.
  • the motor unit 106B receives, for example, a data frame 2a including a command addressed to itself.
  • the processor 112B of the motor unit 106B refers to the table stored in the memory 113B based on the identifier added as the source ID, and the motor unit that transmitted the data frame is, for example, the motor unit 106A. Identify that.
  • the motor unit 106B interprets the operation system command and the attribute system command included in the common data structure 12 of the data frame 2a, and reads, for example, the current rotation speed of the joint motor 116B. As a result, the motor unit 106B can transmit "source ID information (motor unit 106B) + current rotation speed information" to the motor unit 106A. The specific description of the data frame transmitted by the motor unit 106B will be omitted. Immediately after receiving the command, the motor unit 106B may transmit a reception response command indicating that the command has been received to the motor unit 106A.
  • a method for storing an identifier in a data area of a destination device ID 10 and a source device ID 11 (hereinafter, these may be collectively referred to simply as “device ID”) of the data frame 1a according to the present embodiment.
  • the size of the area of the destination device ID 10 and the size of the area of the source device ID 11 are 1 to m bytes (arbitrary size), respectively.
  • the length of the storage area of the device ID in the data frame 1a can be extended to a desired length.
  • FIG. 7 is a schematic diagram showing a method of storing the device ID in the data frame 1a.
  • the method for storing the identifier described below describes a case where the length of the device ID is expanded by 7 bits, but the present invention is not limited to this.
  • the device ID storage area (hereinafter, referred to as “identifier storage area”) has a length of 1 to m bytes (arbitrary length) as described above.
  • identifier storage area a value indicating area expansion information is stored in the first bit.
  • the area expansion information is information indicating whether or not the data area immediately after the data area in which the area expansion information is stored is also a data area constituting the same identifier storage area.
  • the position of the area in which the area expansion information is stored in the 1-byte data area is not limited to the first bit, but is a predetermined other position (any of the 2nd to 8th bits). May be good.
  • the value of the area expansion information when the value of the area expansion information is "1", it means that the data area immediately after is also the same identifier storage area, and when the value of the area expansion information is "0". It is assumed that the data area immediately after is not the same identifier storage area.
  • the length of the device ID that can be stored in the 1-byte data area is up to 7 bits. Therefore, when the size of the device ID is 7 bits or less, all the device IDs can be stored in one data area, so that the value of "0" is stored in the first bit in which the area expansion information is stored. Will be done.
  • the terminal side that receives the data frame 1a recognizes that the data area immediately after the data area is not the same identifier storage area because "0" is stored in the first bit of the data area of the identifier storage area. can do.
  • the size of the device ID is 8 bits or more, it is not possible to store all of the device IDs in one data area. Therefore, a plurality of data areas are used as the same identifier storage area, and one device ID is divided and stored in each of the plurality of data areas.
  • the device ID is "11010101011100"
  • the device ID is divided and stored in each of the two data areas because the size is 14 bits.
  • "1” is stored in the first bit of the first data area. This indicates that the second data area immediately after is also the same identifier storage area.
  • "1101010” which is the value of the 1st to 7th bits of the device ID, is stored in the 2nd to 8th bits of the first data area.
  • the device ID is "010111000110100101101"
  • the device ID is divided and stored in each of the three data areas.
  • "1” is stored in the first bit of the first data area. This indicates that the second data area immediately after is also the same identifier storage area.
  • "0101110” which is the value of the 1st to 7th bits of the device ID, is stored in the 2nd to 8th bits of the first data area.
  • the area expansion information indicating whether or not the data area immediately after is the same identifier storage area is stored in each data area constituting the identifier storage area.
  • FIG. 8 is a block diagram showing a functional configuration of the processor 112A.
  • the processor 112A includes a transmission / reception unit 121, a data processing unit 122, and a motor control unit 123.
  • the transmission / reception unit 121 receives the data frame 1a transmitted from another terminal (for example, the motor unit 106B) connected to the communication network NW via the communication circuit 110A. Further, the transmission / reception unit 121 transmits the data frame 1a generated by the data processing unit 122 to another terminal (for example, the motor unit 106B) connected to the communication network NW via the communication circuit 110A.
  • the data processing unit 122 processes the data included in the data frame 1a received by the transmission / reception unit 121. Further, the data processing unit 122 includes a data frame 1a transmitted by the transmission / reception unit 121, and a data generation unit (not shown) that generates data included in the data frame 1a.
  • the data processing unit 122 outputs a command based on the data of the above-mentioned common data structure 12 included in the data frame 1a received by the transmission / reception unit 121 to the motor control unit 123. Further, the data processing unit 122 acquires, for example, information about the joint motor 116A output from the motor control unit 123. The data processing unit 122 generates data to be included in the data frame 1a based on the acquired information.
  • the data processing unit 122 acquires the terminal identifier information (for example, device ID) included in the data frame 1a received by the transmission / reception unit 121, the data processing unit 122 sets a predetermined position (for example) of the identifier storage area for storing the terminal identifier information. For example, the first data area having a predetermined length located at the beginning) is read out. Then, the data processing unit 122 determines whether or not to include the second data area having a predetermined length located immediately after the first data area in the identifier storage area based on the area expansion information included in the first data area. To do.
  • the terminal identifier information for example, device ID
  • the data processing unit 122 sets a predetermined position (for example) of the identifier storage area for storing the terminal identifier information. For example, the first data area having a predetermined length located at the beginning) is read out. Then, the data processing unit 122 determines whether or not to include the second data area having a predetermined length located immediately after the first data area
  • the data processing unit 122 determines that the second data area is included in the identifier storage area, the data processing unit 122 reads out the second data area. Then, the data processing unit 122 determines whether or not to include the third data area located immediately after the second data area in the identifier storage area based on the area expansion information included in the second data area.
  • the data processing unit 122 stores the terminal identifier information (for example, device ID) in the identifier storage area included in the data frame 1a transmitted by the transmission / reception unit 121, the data processing unit 122 is based on the length of the terminal identifier information. Whether to include not only the first data area of a predetermined length located at a predetermined position (for example, the beginning) of the identifier storage area but also the second data area of a predetermined length located immediately after the first data area in the identifier storage area. To judge.
  • a predetermined position for example, the beginning
  • the data processing unit 122 determines that the second data area is included in the identifier storage area, the data processing unit 122 stores predetermined area expansion information (for example, a value of "1") in the first data area.
  • the data processing unit 122 determines that the second data area is not included in the identifier storage area, the data processing unit 122 stores predetermined other area expansion information (for example, a value of "0") in the first data area.
  • the data processing unit 122 determines that the second data area is included in the identifier storage area, and based on the length of the terminal identifier information, the third data area having a predetermined length located immediately after the second data area. Is included in the identifier storage area. Then, when the data processing unit 122 determines that the third data area is included in the identifier storage area, the data processing unit 122 stores predetermined area expansion information (for example, the value of "1") in the second data area.
  • predetermined area expansion information for example, the value of "1
  • the motor control unit 123 controls the operation of, for example, the joint motor 116A according to the command output from the data processing unit 122. Further, the motor control unit 123 acquires information about, for example, the joint motor 116A, and outputs the information to the data processing unit 122.
  • FIG. 9 is a flowchart showing an example of the operation of the processor 112A at the time of receiving the terminal identifier information. The process shown in the flowchart of FIG. 9 is started when the transmission / reception unit 121 of the processor 112A starts receiving data in the identifier storage area included in the data frame 1a.
  • the data processing unit 122 of the processor 112A reads out a data area (first data area) for one byte from the beginning of the data received by the transmission / reception unit 121 (step S01).
  • the data processing unit 122 temporarily stores the data of the 2nd to 8th bits in the read 1-byte data area in the memory 113A (step S02).
  • step S03 When the value of the first bit of the read 1-byte data area (that is, the value of the area expansion information) is "1" (step S03 ⁇ Yes), the data processing unit 122 is located immediately after the data area. It is determined that the area (second data area) is also included in the identifier storage area. Then, the data processing unit 122 further reads out the 1-byte data area located immediately after the read-out data area (step S01).
  • the data processing unit 122 repeats the physical processing of steps S01 to S03 above until it detects a data area in which the value of the first bit of the read data area (that is, the value of the area expansion information) is "0".
  • step S03 / No When the value of the first bit of the read 1-byte data area (that is, the value of the area expansion information) is "0" (step S03 / No), the data processing unit 122 is located immediately after the data area. It is judged that the area is not included in the identifier storage area. Then, the data processing unit 122 specifies the data in which the data temporarily stored in the memory 113A is sequentially connected as the terminal identifier information (for example, device ID or the like) (step S04). This completes the operation of the processor 112A shown in the flowchart of FIG.
  • FIG. 10 is a flowchart showing an example of the operation of the processor 112A at the time of transmitting the terminal identifier information. The process shown in the flowchart of FIG. 10 is started when the data processing unit 122 of the processor 112A stores the terminal identifier information (for example, device ID) in the identifier storage area of the data frame 1a.
  • the terminal identifier information for example, device ID
  • the data processing unit 122 reads out the terminal identifier information to be stored in the identifier storage area of the data frame 1a (step S11). When the data length of the read terminal identifier information is longer than 7 bits (step S12 ⁇ Yes), the data processing unit 122 determines that it is not possible to store all of the terminal identifier information in one data area of 1 byte. , The data of the first 7 bits of the terminal identifier information is cut out (step S13).
  • the data processing unit 122 stores the value of "1" in the first bit (that is, the storage area of the area expansion information) (step S14), and stores the above-cut 7-bit data in the 2nd to 8th bits.
  • the stored (step S15) 1-byte data is output to the transmission / reception unit 121 (step S16).
  • the data processing unit 122 reads out the terminal identifier information after cutting out in the above (step S17). Then, the data processing unit 122 repeats the above steps S12 to S17 until the data length of the read terminal identifier information (that is, the remaining terminal identifier information after cutting out) is within 7 bits.
  • the data processing unit 122 can store all the remaining terminal identifier information in one data area of 1 byte. to decide.
  • the data processing unit 122 stores the value of "0" in the first bit (that is, the storage area of the area expansion information) (step S18), and stores the remaining terminal identifier information in the second and subsequent bits (that is, the storage area of the area expansion information).
  • Step S19) One byte of data is output to the transmission / reception unit 121 (step S20). This completes the operation of the processor 112A shown in the flowchart of FIG.
  • the communication function (hereinafter, referred to as “communication device”) possessed by the terminals (motor unit 106A and motor unit 106B) according to the embodiment of the present invention includes communication devices provided in each of the plurality of terminals. It is a communication device in a communication system (multi-motor system 103) that communicates with each other via a communication network.
  • the communication device includes a receiving unit (transmission / reception unit 121) that receives a frame (data frame 1a) transmitted from another terminal, a data processing unit 122 that processes data included in the frame received by the receiving unit, and a data processing unit 122. To be equipped.
  • the data processing unit 122 When the data processing unit 122 acquires the terminal identifier information (for example, device ID) included in the frame, the data processing unit 122 has a predetermined length located at a predetermined position (for example, the head) of the identifier storage area for storing the terminal identifier information. Whether or not to include the second data area of a predetermined length located immediately after the first data area in the identifier storage area based on the area expansion information included in the first data area. to decide.
  • a predetermined position for example, the head
  • the communication device included in the terminals is a transmission unit (transmission / reception unit) that transmits a frame (data frame 1a) to another terminal. 121) and a data processing unit 122 that generates data included in a frame transmitted by the transmission unit.
  • the data processing unit 122 stores the terminal identifier information (for example, device ID) in the identifier storage area included in the frame, the data processing unit 122 determines a predetermined position (for example, for example) of the identifier storage area based on the length of the terminal identifier information.
  • the data processing unit 122 determines whether or not to include not only the first data area of a predetermined length located at the head) but also the second data area of a predetermined length located immediately after the first data area in the identifier storage area. Then, when the data processing unit 122 determines that the second data area is to be included in the identifier storage area, the data processing unit 122 stores predetermined area expansion information (for example, the value of "1") in the first data area.
  • predetermined area expansion information for example, the value of "1
  • the communication device can appropriately set the length of the identifier storage area to a length that matches the length of the terminal identifier information.
  • the number of unique identifier information that can be used can be arbitrarily increased without lowering the communication efficiency.
  • the 2-byte compatible terminal transmits 2-byte data to the 1-byte compatible terminal, the 1-byte terminal cannot correctly recognize the contents of the received data. More generally, the 2-byte compatible terminal cannot recognize which terminal is the 1-byte compatible terminal.
  • a terminal capable of processing for each of a plurality of bytes can handle processing for each number of bytes smaller than that of the terminal. It is possible to check in advance the existence of terminals that are not available (for example, terminals that support 1 byte). Such a check process for non-compatible terminals will be described below. In the following example, a case where a 2-byte compatible terminal checks for the existence of a 1-byte compatible terminal will be described.
  • FIG. 11 is a schematic diagram showing the flow of the check process of the non-compatible terminal. It is assumed that the device ID of the 2-byte compatible terminal that checks the non-compatible terminal is "11110000000111" (data length: 14 bits). Further, it is assumed that at least one 1-byte compatible terminal is connected to the communication network NW, and the device ID of one 1-byte compatible terminal is "000010" (data length: 7 bits).
  • the area size of the source device ID 11 of the data frame 1a shown in FIG. 4 is set to 2 bytes.
  • the 14-bit device ID of the 2-byte compatible terminal is stored by using the 2nd to 8th bits of the first byte and the 2nd to 8th bits of the second byte.
  • the 2-byte compatible terminal stores the test data for checking the existence of the non-compatible terminal in the area of the transmission destination device ID 10 of the data frame 1a shown in FIG. As shown in FIG. 11, the test data is assumed to be predetermined data such as "00000000000000000" (data length: 14 bits, values of all bits are "0").
  • the area size of the destination device ID 10 is set to 2 bytes. As shown in FIG. 11, in the data stored in the area of the destination device ID 10, "1" is stored in the first bit of the first byte and "0" is stored in the first bit of the second byte. .. Then, 14 bits of test data are stored by using the 2nd to 8th bits of the first byte and the 2nd to 8th bits of the second byte.
  • the 2-byte compatible terminal stores test data in the area of the destination device ID 10 and transfers the data frame 1a storing its own device ID in the area of the source device ID 11 to another terminal connected to the communication network NW. Broadcast (broadcast) is sent.
  • the other terminals connected to the communication network NW each receive the broadcast-transmitted data frame 1a.
  • the 2-byte compatible terminal has the test data stored in the area of the destination device ID 10 and the source stored in the area of the source device ID 11.
  • the device ID of the terminal can be correctly recognized.
  • the 1-byte compatible terminal stores the data for the first 1 byte of the data stored in the area of the destination device ID 10 and the area of the source device ID 11. Only the first byte of the data is recognized. Therefore, the 1-byte compatible terminal can correctly recognize that the test data is stored in the area of the destination device ID 10 and the device ID of the source terminal stored in the area of the source device ID 11. Can not.
  • the value of the first bit in the area of the destination device ID 10 is "1"
  • the value of the first bit in the area of the source device ID 11 is "1”. It is possible to recognize that data longer than a byte has been transmitted.
  • the 1-byte compatible terminal stores the value of "0" in the first bit of the area of the destination device ID 10 of the data frame 1a, and stores the test response data in the 2nd to 8th bits.
  • the test response data is data for notifying the transmission source terminal that its own terminal is a terminal that does not support 2-byte processing. As shown in FIG. 11, the test response data is assumed to be predetermined data such as "0000000" (data length: 7 bits, values of all bits are "0").
  • the 1-byte compatible terminal stores the value of "0" in the first bit of the area of the source device ID 11 of the data frame 1a, and stores the 7-bit own device ID "000010" in the 2nd to 8th bits. To do. Then, the 1-byte compatible terminal stores the test response data in the area of the destination device ID 10 and connects the data frame 1a storing its own device ID in the area of the source device ID 11 to the communication network NW. Broadcast (broadcast) to the terminal of. The reason for the broadcast transmission here is that the 1-byte compatible terminal cannot recognize the device ID of the terminal that has transmitted the test data and cannot specify the transmission destination.
  • the 2-byte compatible terminal that has transmitted the test data receives the data frame 1a transmitted from the 1-byte compatible terminal that has transmitted the test response data. Then, the 2-byte compatible terminal uses the test response data stored in the area of the destination device ID 10 and the device ID "000010" of the source 1-byte compatible terminal stored in the area of the source device ID 11, respectively. recognize. As a result, the 2-byte compatible terminal can recognize that the terminal having the device ID "000010" is a 1-byte compatible terminal (non-compatible terminal).
  • the 2-byte compatible terminal can acquire only the device ID of the 1-byte compatible terminal by the data frame 1a transmitted from the 1-byte compatible terminal.
  • the 2-byte compatible terminal can identify a non-compatible terminal (1-byte compatible terminal) that does not support 2-byte processing.
  • the communication system multi-motor system 103 according to the above-described embodiment has at least one terminal (motor unit) that performs arithmetic processing for each data piece having a first data length (for example, 2 bytes). ), And a second terminal provided with at least one terminal that performs arithmetic processing for each data piece having a second data length (for example, 1 byte) shorter than the first data length.
  • a communication system that communicates with each other via a communication network NW.
  • the first communication device includes a first transmission / reception unit that transmits / receives a frame to / from another terminal, a first data generation unit that generates data included in a first frame that is a frame transmitted by the first transmission / reception unit, and a first unit.
  • the second frame which is a frame transmitted by the transmission / reception unit, includes a first data processing unit that processes data included in the second frame received by the first transmission / reception unit.
  • the first data generation unit stores the terminal identifier information that identifies the first communication device in the source identifier storage area included in the first frame, and is located at a predetermined position (for example, at the beginning) of the source identifier storage area.
  • the predetermined area expansion information is stored in the first data area having a predetermined length.
  • the second communication device includes a second transmission / reception unit that transmits / receives a frame to / from another terminal, a second data generation unit that generates data included in a second frame that is a frame transmitted by the second transmission / reception unit, and a second. It includes a first frame, which is a frame transmitted by the transmission / reception unit, and a second data processing unit that processes data included in the first frame received by the second transmission / reception unit.
  • the second data generation unit stores the terminal identifier information that identifies the second communication device in the source identifier storage area included in the second frame.
  • Predetermined test response data is stored in the destination identifier storage area included in the second frame.
  • the second communication device calculates for each data piece having the first data length. It is determined that the communication device cannot perform processing.
  • a terminal that can handle processing for each of multiple bytes is a terminal that supports processing for each number of bytes that is smaller than that of the terminal (for example, a terminal that supports 1 byte). You can check the existence of.
  • a part or all of the communication device provided in the terminals (motor unit 106A and motor unit 106B) in the above-described embodiment may be realized by a computer.
  • the program for realizing this control function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by the computer system and executed.
  • the "computer system” referred to here is a computer system built in a communication device, and includes hardware such as an OS and peripheral devices.
  • the "computer-readable recording medium” refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system.
  • a "computer-readable recording medium” is a medium that dynamically holds a program for a short period of time, such as a communication line when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.
  • a program may be held for a certain period of time, such as a volatile memory inside a computer system serving as a server or a client.
  • the above-mentioned program may be a program for realizing a part of the above-mentioned functions, and may be a program for realizing the above-mentioned functions in combination with a program already recorded in the computer system.
  • the communication device may be realized as an integrated circuit such as an LSI (Large Scale Integration).
  • LSI Large Scale Integration
  • Each functional block of the communication device may be made into a processor individually, or a part or all of them may be integrated into a processor.
  • the method of making an integrated circuit is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. Further, when an integrated circuit technology that replaces an LSI appears due to advances in semiconductor technology, an integrated circuit based on this technology may be used.
  • processor 113A ... memory, 113B ... memory, 114A ... Motor drive circuit, 114B ... Motor drive circuit, 116A ... Joint motor, 116B ... Joint motor, 121 ... Transmission / reception unit, 122 ... Data processing unit, 123 ... Motor control unit

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  • Engineering & Computer Science (AREA)
  • Databases & Information Systems (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)

Abstract

Selon un aspect de la présente invention, chacun de dispositifs de communication dans un système de communication dans lequel les dispositifs de communication sont fournis respectivement dans une pluralité de terminaux réalisent une communication l'un avec l'autre par l'intermédiaire d'un réseau de communication. Le dispositif de communication comprend : une unité de réception qui reçoit une trame transmise depuis un autre terminal ; et une unité de traitement de données qui traite des données incluses dans la trame reçue par l'unité de réception. Lors de l'acquisition d'informations d'identifiant de terminal incluses dans la trame, l'unité de traitement de données lit une première zone de données d'une longueur prescrite positionnée à une position prescrite dans une zone de stockage d'identifiant dans laquelle les informations d'identifiant de terminal doivent être stockées, et détermine, sur la base d'informations d'extension de zone incluses dans la première zone de données, s'il faut inclure, dans la zone de stockage d'identifiant, une seconde zone de données de la longueur prescrite positionnée immédiatement après la première zone de données.
PCT/JP2020/021548 2019-06-10 2020-06-01 Dispositif de communication, système de communication, procédé de communication, et programme WO2020250728A1 (fr)

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