CN106656714A - Communication protocol method and system based on EtherCAT bus - Google Patents
Communication protocol method and system based on EtherCAT bus Download PDFInfo
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- CN106656714A CN106656714A CN201710073747.3A CN201710073747A CN106656714A CN 106656714 A CN106656714 A CN 106656714A CN 201710073747 A CN201710073747 A CN 201710073747A CN 106656714 A CN106656714 A CN 106656714A
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- frame
- slave station
- data
- mac address
- ethercat
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/403—Bus networks with centralised control, e.g. polling
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Data Exchanges In Wide-Area Networks (AREA)
Abstract
The embodiment of the invention discloses a communication protocol method and system based on an EtherCAT bus, which are used for solving the technical problems in the existing Ethernet communication protocol that the transmission mode of a slave station is generally a store-and-forward mode, when the data amount of message data packets is huge, the decoding and replication time required by the slave station is longer, so that the transmission time of the data packets is too long to cause greater delay. The method of the embodiment of the invention comprises the following steps: acquiring a data frame sent by a master station by the slave station, and judging an MAC address of the data frame and the data type of the data frame; and if the MAC address of the data frame is an MAC address of the slave station and the data frame is the EtherCAT data type, receiving the data frame and analyzing the data frame, otherwise, not receiving the data frame.
Description
Technical field
The present invention relates to communication protocol field, more particularly to a kind of communication protocol method based on EtherCAT buses and it is
System.
Background technology
In existing ethernet communication protocol, the transmission means of slave station typically adopts the pattern of storage forwarding, when main website is sent out
Deliver newspaper text, packet when, receive Ethernet data bag in each slave station (tie point), then decoded and copied as number of passes
According to, and carry out being forwarded to next slave station so that message is down to transmit one by one during transmission.However, this kind of transmission
Mode is when message data bag data amount is huge, and the decoding doubling time needed for slave station is longer, and packet can be caused to transmit
Overlong time, cause larger delay.
The content of the invention
A kind of communication protocol method based on EtherCAT buses and system are embodiments provided, is solved existing
Ethernet communication protocol in, the transmission means of slave station is huge in message data bag data amount typically using the pattern of storage forwarding
When big, the decoding doubling time needed for slave station is longer, the overlong time that packet can be caused to transmit, and causes larger delay
Technical problem.
A kind of communication protocol method based on EtherCAT buses provided in an embodiment of the present invention, including：
Main website and slave station；
Method and step includes：Slave station gets the Frame sent by main website, and to the MAC Address and Frame of Frame
Data type judged, if the MAC Address of Frame for slave station MAC Address and Frame be EtherCAT data types
When, receiving data frame and analyze data frame, otherwise not receiving data frame.
Alternatively, slave station gets and also include before the Frame sent by main website：
Main website is stored in the Frame to be sent for getting in RAM, and will when Frame sends instruction getting
The Frame being stored in RAM reads and sends to slave station.
Alternatively, Frame includes ethernet frame head, EtherCAT data and FCS.
Alternatively, slave station gets the Frame sent by main website, and the data of the MAC Address to Frame and Frame
Type is judged, if the MAC Address of Frame is EtherCAT data types for the MAC Address and Frame of slave station, is connect
Receive also includes after Frame and analyze data frame：
If analyze the address command section of Frame is slave station when write operation order is increased, in slave station is saved in Frame
In depositing space.
Alternatively, slave station gets the Frame sent by main website, and the data of the MAC Address to Frame and Frame
Type is judged, if the MAC Address of Frame is EtherCAT data types for the MAC Address and Frame of slave station, is connect
Receive also includes after Frame and analyze data frame：
If analyze Frame address command section be write operation order when, slave station by memory headroom data write
To Frame.
Alternatively, slave station preserves Frame using register.
A kind of communication protocol system based on EtherCAT buses provided in an embodiment of the present invention, including：
Main website and slave station；
Slave station includes obtaining judge module, for getting the Frame sent by main website, and to the MAC Address of Frame
And the data type of Frame is judged, if the MAC Address of Frame is EtherCAT for the MAC Address and Frame of slave station
During data type, receiving data frame and analyze data frame, otherwise not receiving data frame.
Alternatively, main website includes：
Storage module, for the Frame to be sent for getting to be stored in RAM, and sends Frame is got
During instruction the Frame being stored in RAM is read and sent to slave station.
Alternatively, slave station includes：
First analysis module, if for analyze Frame address command section be slave station from increase write operation order when, from
Stand and Frame is saved in memory headroom.
Alternatively, slave station also includes：
Second analysis module, if for analyze Frame address command section be write operation order when, slave station will be interior
The data deposited in space are written to Frame.
As can be seen from the above technical solutions, the embodiment of the present invention has advantages below：
A kind of communication protocol method based on EtherCAT buses and system are embodiments provided, including：Slave station
The Frame sent by main website is got, and the data type of the MAC Address to Frame and Frame judges, if data
When the MAC Address of frame is EtherCAT data types for the MAC Address and Frame of slave station, receiving data frame and analyze data
Frame, otherwise not receiving data frame, in the embodiment of the present invention by slave station in the transmitting procedure of Frame to the MAC ground of Frame
The data type of location and Frame judged, is for the MAC Address and Frame of slave station in the MAC Address of Frame
The Frame is just received during EtherCAT data types and is analyzed, otherwise directly by data frame transfer to next slave station,
The transmission delay of Frame is greatly reduced, in solving existing ethernet communication protocol, the transmission means of slave station is typically adopted
With the pattern of storage forwarding, when message data bag data amount is huge, the decoding doubling time needed for slave station is longer, can cause
The overlong time of packet transmission, causes the technical problem of larger delay.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is that a kind of flow process of communication protocol method based on EtherCAT buses provided in an embodiment of the present invention is illustrated
Figure；
Fig. 2 (a) is the schematic diagram of a frame data provided in an embodiment of the present invention；
Fig. 2 (b) is another schematic diagram of a frame data provided in an embodiment of the present invention；
Fig. 2 (c) is another schematic diagram of a frame data provided in an embodiment of the present invention；
Fig. 2 (d) is another schematic diagram of a frame data provided in an embodiment of the present invention；
Fig. 2 (e) is another schematic diagram of a frame data provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of pseudo- dual port RAM provided in an embodiment of the present invention；
Fig. 4 is that the Frame of slave station provided in an embodiment of the present invention judges schematic flow sheet；
Fig. 5 is a kind of communication protocol system based on EtherCAT buses provided in an embodiment of the present invention.
Specific embodiment
A kind of communication protocol method based on EtherCAT buses and system are embodiments provided, it is existing for solving
In some ethernet communication protocols, the transmission means of slave station is typically using the pattern of storage forwarding, and message data bag data amount is huge
When big, the decoding doubling time needed for slave station is longer, the overlong time that packet can be caused to transmit, and causes larger delay
Technical problem.
To enable goal of the invention, feature, the advantage of the present invention more obvious and understandable, below in conjunction with the present invention
Accompanying drawing in embodiment, is clearly and completely described, it is clear that disclosed below to the technical scheme in the embodiment of the present invention
Embodiment be only a part of embodiment of the invention, and not all embodiment.Based on the embodiment in the present invention, this area
All other embodiment that those of ordinary skill is obtained under the premise of creative work is not made, belongs to protection of the present invention
Scope.
Fig. 1 is referred to, a kind of communication protocol method based on EtherCAT buses provided in an embodiment of the present invention includes：
101st, main website is stored in the Frame to be sent for getting in RAM, and sends instruction Frame is got
When the Frame being stored in RAM is read and is sent to slave station.
First, a complete Frame for needing to send is stored into RAM by main website, and is sent out Frame is got
When sending instruction the Frame being stored in RAM is read and sent to slave station.Wherein, a complete Frame includes ether
Net frame head, EtherCAT data and FCS.Fig. 2 (a) to Fig. 2 (e) is referred to, is a frame according to defined in the form of protocol frame
Complete data：The address and the representative meaning preserved in RAM is included in, leading sequence, data and postamble is included, altogether
It is 71 data.Fig. 3 is referred to, main website is distributed in data storage using pseudo- dual port RAM to enter, and data first from the write of Data ends, are write
Enter in corresponding address, read data from RAM according to reading clock and reading address when to send data, Q is defeated from port
Go out.
102nd, slave station gets the Frame sent by main website, and the data class of the MAC Address to Frame and Frame
Type is judged, if the MAC Address of Frame is EtherCAT data types for the MAC Address and Frame of slave station, is received
Frame and analyze data frame, otherwise not receiving data frame.
After slave station gets the Frame sent by main website, slave station first judges the destination address of this Frame, such as
Fruit is the MAC Address of slave station itself, and the type for just receiving and continuing to judge data is the type of EtherCAT, if just connecing
Receive the Frame and the Frame is analyzed, in deterministic process, if the MAC Address of receiving data is not slave station itself
MAC Address, or data type is not when being the type of EtherCAT, just terminate to judge and not receiving data.Refer to figure
4, it is that the Frame of slave station judges schematic flow sheet.The form of slave station adoption status machine during the entire process of being received is come real
It is existing.
If the 103rd, analyze Frame address command section be slave station from increase write operation order when, slave station preserves Frame
To in memory headroom.
Slave station analyze the address command section of Frame is slave station when write operation order is increased, the such as life at address 10
When to make section be 02, will the content of Frame sent of main website be saved in the memory headroom of slave station.
If the 104, analyzing to obtain the address command section of Frame when being write operation order, slave station is by the data in memory headroom
It is written to Frame.
Slave station analyze the address command section of Frame be write operation order when, such as the command frame command phase at address 10 is
When 01, slave station is written to the data in memory headroom in certain address of Frame.
It is more than retouching in detail to a kind of communication protocol method based on EtherCAT buses provided in an embodiment of the present invention
State, for ease of understanding, below the process that packet to slave station is sent to main website is carried out into simulation demo.
Emulation adopts Modlelsim simulation softwares, and from the clock of 100M, the sampling clock of data is also 100M to clock.
Data include the 0x " BC " of six bytes of leading sequence, the destination address and source address in MAC Address, and first EtherCAT number
According to message, the data of frame head and slave station 8 bytes to be received of EtherCAT messages are included：0x
“0203040506070809”.The data of second slave station do not have the information of MAC Address, only the in an EtherCAT system
One addressed slave station can be addressed with MAC Address, and other slave stations all do not have recognition capability for MAC data, such as
It is not will to cause broadcast storm used in EtherCAT systems that a really careless slave station is placed to, because it can be received
All of bag.Addressing will be realized by the addressing system inside slave station from second data start of heading, this emulation is simply right
In the process simulation of first slave station receiving data.
In the frame structure of data defined above, the number for defining the data that slave station will be received is 8 bytes
Data 0x " 0203040506070809 ".The slave station data to be received, finally will be saved in the register of slave station, post
Storage preserves data in the form of shift register.When not having receiving data, it always is in shift register
" 0 ", come to " 0 " of 8 bytes.First it is that data 0x " 02 " are protected when having data to be saved in register
The lowest order of register is stored to, followed by 0x " 03 " is saved to lowest order, while 0x " 02 " moves a byte to a high position,
The like, till data 0x " 09 " are saved to register.The last preservation in register data_slave_reg
Data are exactly 0x " 0203040506070809 ".So far data are saved in the process of slave station and just finish.It can also be seen that into
The delay in only 1.5 cycles, the i.e. delay of 15ns between data in slave station and the data that preserved by slave station register.It is whole
The process used time of individual data receiver is 80ns for 8 cycles.
State machine just carries out saltus step in data and counter when reaching the condition specified, when write state, from
Data in the data register stood are changed, and the data in Frame are written to slave station register, other states
When register be at " 0 " state, idle condition will be automatically jumped to after data have been deposited.
It is more than the detailed description that the process that the process that main website sends packet to slave station is emulated is carried out, below
A kind of communication protocol system based on EtherCAT buses provided in the embodiment of the present invention will be described in detail.
Refer to Fig. 5, a kind of communication protocol system based on EtherCAT buses provided in an embodiment of the present invention, including：
Main website and slave station；
Slave station includes obtaining judge module, for getting the Frame sent by main website, and to the MAC Address of Frame
And the data type of Frame is judged, if the MAC Address of Frame is EtherCAT for the MAC Address and Frame of slave station
During data type, receiving data frame and analyze data frame, otherwise not receiving data frame.
Main website includes：
Storage module, for the Frame to be sent for getting to be stored in RAM, and sends Frame is got
During instruction the Frame being stored in RAM is read and sent to slave station.
Slave station also includes：
First analysis module, if for analyze Frame address command section be slave station from increase write operation order when, from
Stand and Frame is saved in memory headroom.
Second analysis module, if for analyze Frame address command section be write operation order when, slave station will be interior
The data deposited in space are written to Frame.
Those skilled in the art can be understood that, for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, may be referred to the corresponding process in preceding method embodiment, will not be described here.
In several embodiments provided herein, it should be understood that disclosed system, apparatus and method can be with
Realize by another way.For example, device embodiment described above is only schematic, for example, the unit
Divide, only a kind of division of logic function can have other dividing mode, such as multiple units or component when actually realizing
Can with reference to or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or
The coupling each other for discussing or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit as separating component explanation can be or may not be it is physically separate, it is aobvious as unit
The part for showing can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can according to the actual needs be selected to realize the mesh of this embodiment scheme
's.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing unit, it is also possible to
It is that unit is individually physically present, it is also possible to which two or more units are integrated in a unit.Above-mentioned integrated list
Unit both can be realized in the form of hardware, it would however also be possible to employ the form of SFU software functional unit is realized.
If the integrated unit is realized using in the form of SFU software functional unit and as independent production marketing or used
When, during a computer read/write memory medium can be stored in.Based on such understanding, technical scheme is substantially
The part for contributing to prior art in other words or all or part of the technical scheme can be in the form of software products
Embody, the computer software product is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server, or network equipment etc.) performs the complete of each embodiment methods described of the invention
Portion or part steps.And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, RandomAccess Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above, above example only to illustrate technical scheme, rather than a limitation；Although with reference to front
State embodiment to be described in detail the present invention, it will be understood by those within the art that：It still can be to front
State the technical scheme described in each embodiment to modify, or equivalent is carried out to which part technical characteristic；And these
Modification is replaced, and does not make the spirit and scope of the essence disengaging various embodiments of the present invention technical scheme of appropriate technical solution.
Claims (10)
1. a kind of communication protocol method based on EtherCAT buses, it is characterised in that include：
Main website and slave station；
Method and step includes：The slave station gets the Frame sent by the main website, and to the MAC Address of the Frame
And the data type of the Frame is judged, if the MAC Address of the Frame is the MAC Address of the slave station and described
When Frame is EtherCAT data types, receives the Frame and analyze the Frame, otherwise do not receive the data
Frame.
2. the communication protocol method based on EtherCAT buses according to claim 1, it is characterised in that the slave station is obtained
Get and also include before the Frame sent by the main website：
The main website is stored in the Frame to be sent for getting in RAM, and will when Frame sends instruction getting
The Frame being stored in the RAM reads and sends to the slave station.
3. the communication protocol method based on EtherCAT buses according to claim 2, it is characterised in that the Frame
Including Ethernet frame head, EtherCAT data and FCS.
4. the communication protocol method based on EtherCAT buses according to claim 1, it is characterised in that the slave station is obtained
The Frame sent by the main website is got, and the data type of the MAC Address to the Frame and the Frame is carried out
Judge, if the MAC Address of the Frame is the MAC Address of the slave station and the Frame is EtherCAT data types
When, receiving the Frame and analyzing also includes after the Frame：
If analyze the address command section of the Frame is slave station when write operation order is increased, the slave station is by the Frame
In being saved in memory headroom.
5. the communication protocol method based on EtherCAT buses according to claim 1, it is characterised in that the slave station is obtained
The Frame sent by the main website is got, and the data type of the MAC Address to the Frame and the Frame is carried out
Judge, if the MAC Address of the Frame is the MAC Address of the slave station and the Frame is EtherCAT data types
When, receiving the Frame and analyzing also includes after the Frame：
If analyzing to obtain the address command section of Frame when being write operation order, the slave station is by the data in memory headroom
It is written to the Frame.
6. the communication protocol method based on EtherCAT buses according to claim 4, it is characterised in that the slave station is adopted
The Frame is preserved with register.
7. a kind of communication protocol system based on EtherCAT buses, it is characterised in that include：
Main website and slave station；
The slave station includes obtaining judge module, for getting the Frame sent by the main website, and to the Frame
MAC Address and the data type of the Frame judged, if the MAC Address of the Frame is the MAC of the slave station
When address and the Frame are EtherCAT data types, receive the Frame and simultaneously analyze the Frame, otherwise do not connect
Receive the Frame.
8. the communication protocol system based on EtherCAT buses according to claim 7, it is characterised in that the main website bag
Include：
Storage module, for the Frame to be sent for getting to be stored in RAM, and sends instruction Frame is got
When the Frame being stored in the RAM is read and is sent to the slave station.
9. the communication protocol system based on EtherCAT buses according to claim 7, it is characterised in that the slave station bag
Include：
First analysis module, if for analyze the Frame address command section be slave station from increase write operation order when, institute
State slave station the Frame is saved in memory headroom.
10. the communication protocol system based on EtherCAT buses according to claim 7, it is characterised in that the slave station
Also include：
Second analysis module, if for analyze the Frame address command section be write operation order when, the slave station
Data in memory headroom are written into the Frame.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710073747.3A CN106656714A (en) | 2017-02-10 | 2017-02-10 | Communication protocol method and system based on EtherCAT bus |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073747.3A CN106656714A (en) | 2017-02-10 | 2017-02-10 | Communication protocol method and system based on EtherCAT bus |
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Family
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| CN201710073747.3A Pending CN106656714A (en) | 2017-02-10 | 2017-02-10 | Communication protocol method and system based on EtherCAT bus |
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| CN107682469A (en) * | 2017-10-12 | 2018-02-09 | 深圳市雷赛控制技术有限公司 | A kind of method and apparatus of control |
| CN109814900A (en) * | 2018-12-29 | 2019-05-28 | 深圳市越疆科技有限公司 | A kind of controller of firmware update, device and joint of robot |
| CN113519142A (en) * | 2019-03-01 | 2021-10-19 | 三菱电机株式会社 | Slave station device and slave station program |
| CN113746714A (en) * | 2021-11-05 | 2021-12-03 | 深圳艾灵网络有限公司 | Communication method, communication system and communication device based on master station and slave station |
| CN116319155A (en) * | 2022-09-20 | 2023-06-23 | 深圳市同芯智控技术有限公司 | Distributed control system based on EtherCAT bus protocol |
| CN116455833A (en) * | 2023-06-19 | 2023-07-18 | 杭州禾芯半导体有限公司 | EtherCAT network and link expansion method and device thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107682469A (en) * | 2017-10-12 | 2018-02-09 | 深圳市雷赛控制技术有限公司 | A kind of method and apparatus of control |
| CN107682469B (en) * | 2017-10-12 | 2021-05-14 | 深圳市雷赛控制技术有限公司 | Control method and device |
| CN109814900A (en) * | 2018-12-29 | 2019-05-28 | 深圳市越疆科技有限公司 | A kind of controller of firmware update, device and joint of robot |
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| CN113746714A (en) * | 2021-11-05 | 2021-12-03 | 深圳艾灵网络有限公司 | Communication method, communication system and communication device based on master station and slave station |
| CN116319155A (en) * | 2022-09-20 | 2023-06-23 | 深圳市同芯智控技术有限公司 | Distributed control system based on EtherCAT bus protocol |
| CN116319155B (en) * | 2022-09-20 | 2024-01-30 | 深圳市同芯智控技术有限公司 | Distributed control system based on EtherCAT bus protocol |
| CN116455833A (en) * | 2023-06-19 | 2023-07-18 | 杭州禾芯半导体有限公司 | EtherCAT network and link expansion method and device thereof |
| CN116455833B (en) * | 2023-06-19 | 2023-09-01 | 杭州禾芯半导体有限公司 | EtherCAT network and link expansion method and device thereof |
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Application publication date: 20170510 |