CN109246086A - The transfer approach of director data packet - Google Patents
The transfer approach of director data packet Download PDFInfo
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- CN109246086A CN109246086A CN201810935300.7A CN201810935300A CN109246086A CN 109246086 A CN109246086 A CN 109246086A CN 201810935300 A CN201810935300 A CN 201810935300A CN 109246086 A CN109246086 A CN 109246086A
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- positional value
- instruction
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/03—Protocol definition or specification
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/06—Notations for structuring of protocol data, e.g. abstract syntax notation one [ASN.1]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/26—Special purpose or proprietary protocols or architectures
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- Computer Networks & Wireless Communication (AREA)
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- Computer Security & Cryptography (AREA)
- Computing Systems (AREA)
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Abstract
The invention discloses a kind of transfer approach of director data packet, the director data packet protocol for being related to a kind of multiple actuator modules between the same master device that connects by the same communication bus, it is including the relevant variable instruction of each ID relevant to actuator module and each ID from the bulk protocol that master device is transmitted to said one or multiple actuator modules, if above-mentioned variable instruction is positional value send instructions, after transmitting an absolute position values again to by the absolute position values transmitted based on positional value be transmitted when, only the variable quantity between a upper positional value is transmitted.The present invention can reduce the data volume of the agreement transmitted from a master device connecting by the same communication bus with multiple actuator modules to one or all actuator module.
Description
Technical field
The present invention relates to a kind of transfer approach of data packet, and in particular to a kind of transfer approach of director data packet
(COMMAND PACKET PROTOCOL AND METHOD) relates more specifically to a kind of reduce from by the same communication bus
The data of the agreement transmitted in a master device being connect with multiple actuator modules to one or all actuator module
The transfer approach of the director data packet of amount.
Background technique
In recent years along with the continuous development of robot engineering, the machine for being applied to specific industry purposes originally is artificial
Cheng Xue mechanism gradually integrates with the realization of other industrial fields.Therefore, such as household cleaning machine people, programming training robot
And the households such as toy robot, education use and entertain with etc. it is various difference purposes robot be mass produced.
It is in institute as above to the technology that the driving used in robot is controlled with motor, that is, actuator module
Fast-developing one of core technology is achieved in the robot field stated.Actuator module is by driving portion, sensor
Portion, Network Dept. and control unit are integrally formed in the same inside modules, and multiple actuator modules will be in a manner of multiple branch circuit
It connects and constitutes executing agency's network.Actuator module is controlled by master device, and master device passes through same logical
Letter bus is connect with actuator module.In order to realize effective network communication, need by being built in actuator module
In control table in data and actuator module is controlled.
It used by is so far designed between a master device of 1:1 (one-to-one) i.e. and an actuator module
Director data packet protocol and n director data packet association is sequentially transmitted in the presence of having total n actuator module
The mode of view.But the delay phenomenon of time can be led to because the number of protocols transmitted is more in these cases, and
The problem of being transmitted while instruction difficult to realize, also resulting in amount of communication data increase.
To solve the above-mentioned problems, go out 1:n (one-to-many) i.e. master device and multiple execution machines using Batch Design
Director data packet protocol between structure module and transmission single instruction number in the presence of having total n actuator module
According to the mode of packet protocol.But this is embedded in the protocol mode of 1:n communication structure by force based on being a kind of communication structure by 1:1.
That is, because being the agreement based on 1:1 communication structure, the packet in number (ID) and instruction (Command)
Contain without data in all senses, and in order parameter (CmdPara；CommandParameter additionally include in) and all hold
The relevant number information of row mechanism module and command information.
Therefore, when being applicable in 1:n communication structure on 1:1 communication structure, number and instruction project will become meaningless,
But it needs to explain using the additional command information being inserted into order parameter and command parameter information.
As described above, being set because different with Protocol Design form in the case where 1:n the 1:1 the case where in agreement
It will lead to the loss of logical consistency in the position of meter person.In addition, because actuator module needs to lose logical consistency
The agreement realization that explains, therefore will lead to program become increasingly complex.In addition, because adding letter in order parameter
Breath, therefore inevitably result in the increase of the data volume of agreement.
Therefore, it is necessary to design one kind to be suitable for 1:1 and 1:n communication structure simultaneously, and it is able to maintain one
Cause property, additionally it is possible to reduce the innovative agreement of data volume.
Citation
Patent document
(patent document 1) Republic of Korea registered patent the 10-0846177th
(patent document 2) Republic of Korea registered patent the 10-1300174th
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of transfer approach of director data packet, it can not only be applicable in
In the communication structure of one-to-one (1:1), additionally it is possible to be suitable for the communication structure of one-to-many (1:n), and there is logical consistency.
Another technical problem to be solved by this invention is to provide a kind of transfer approach of director data packet, it can pass through
Director data packet is designed based on one-to-many communication structure, to reduce the data volume of order parameter.
Another technical problem to be solved by this invention is to provide a kind of transfer approach of director data packet, it is in above-mentioned change
In the case that amount instruction is positional value send instructions, again to the absolute position to be transmitted after transmitting an absolute position values
When positional value based on value is transmitted, only the variable quantity between a upper positional value is transmitted.
In order to solve the above technical problems, the technical solution of the transfer approach of director data packet of the present invention are as follows:
It is related to a kind of multiple actuator modules between the same master device that connects by the same communication bus
Director data packet protocol is including and is holding from the bulk protocol that master device is transmitted to said one or multiple actuator modules
The relevant variable instruction of row mechanism module relevant each ID and each ID, if the instruction of above-mentioned variable is that positional value transmission refers to
Enable, after transmitting an absolute position values again to by the absolute position values transmitted based on positional value be transmitted when,
Only the variable quantity between a upper positional value is transmitted.
Preferably, the order parameter of the data packet of above-mentioned actuator module is transmitted to from above-mentioned master device
(CommandParameter), again to absolute with what is transmitted after transmitting absolute position values relevant to actuator module
When positional value based on positional value is transmitted, in the state of only embodying the variable quantity between a upper positional value into
Row transmission.
In another embodiment, it is wrapped when from the bulk protocol that above-mentioned master device is transmitted to above-mentioned multiple actuator modules
When including each ID relevant to above-mentioned actuator module and each ID relevant variable instruction, if the instruction of above-mentioned variable is position
Set value send instructions, after transmitting an absolute position values again to by the absolute position values transmitted based on positional value into
When row transmission, only the variable quantity between a upper positional value is transmitted.
Preferably, the packet in the number (ID) for being transmitted to the director data packet of above-mentioned actuator module from above-mentioned master device
Include starting id information and whole actuator module quantity information, and order parameter (CommandParameter) transmission with
Again to the position based on the absolute position values transmitted after the relevant absolute position values of above-mentioned whole actuator module
When value is transmitted, the variable quantity between a upper positional value relevant to above-mentioned whole actuator module is only being embodied
It is transmitted under state.
It is highly preferred that including sequence number, instruction index (CommandIndex in instruction header (CommandHeader)；
CmdIndex), the quantity of ID and actuator module is originated, and above-metioned instruction report can be utilized by formula as described below
Head information predicts the length of data packet:
" length=c × n+5 of data packet "
C: " instruction index (CmdIndex) " in instruction index (CmdIndex) table
N: the quantity of actuator module.
In another embodiment, the sequence number of header (CommandHeader) is instructed to be defaulted as " 0xFF ", to upper rheme
When setting value variable quantity and being transmitted, successively increase by one repeatedly according to the sequence of " 0x00 "~" 0x07 ".
In another embodiment, above-mentioned actuator module, comprising: driving portion, for being driven to motor；Sensor
Portion is made of at least one sensor being monitored for the working condition to actuator module；Control unit passes through connection
The work of driving portion and sensor portion identify/control to above-mentioned driving portion and sensor portion；And network
Portion, for providing the interface with above-mentioned control unit and master device.
Preferably, it is received again after above-mentioned actuator module receives above-mentioned absolute position values with above-mentioned absolute position values
Based on variable quantity relevant positional value when, above-mentioned absolute position values are added to the result of the relevant positional value of above-mentioned variable quantity
It is identified as new absolute position values.
What the present invention can achieve has the technical effect that
Firstly, because being to be designed based on the communication structure of 1:n (one-to-many) to agreement, therefore in order parameter
In only can include parameter information, so that its data volume can be reduced than existing.
In addition, because data volume can be reduced to one in the case where only embodying the relevant variable quantity of positional value in order parameter
Half, therefore the total amount of data of agreement can be further reduced.
In addition, the communication of 1:1 can be equally applicable to because being designed based on the communication structure of 1:n
Structure, thus the logical consistency when being able to maintain that Protocol Design in the position of designer.
Furthermore it is possible to use by sequence number, instruction index (CommandIndex；CmdIndex), ID and execution are originated
Instruction header (CommandHeader) information that the quantity of mechanism module is constituted, to the whole size of director data packet protocol into
Row prediction.
In addition, communication speed can be improved because the data volume of order parameter can be reduced than existing
And the instruction execution delay time between actuator module when executing read/write instruction is minimized.
Detailed description of the invention
It should be understood by those skilled in the art that following explanation is only schematically to illustrate the principle of the present invention, the principle
It can apply in many ways, to realize many different alternative embodiments.These explanations are only used for showing religion of the invention
Lead the General Principle of content, it is not intended to which limitation is conceived in this disclosed invention.
It is incorporated in the present specification and forms part of this specification that accompanying drawing shows embodiment of the present invention, and
And the principle for explaining the present invention together with the detailed description of general description and following drawings above.
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
Fig. 1 is the signal illustrated to the embodiment for being applicable in the agreement for only embodying change in location magnitude of the invention
Figure.
Specific embodiment
Next, applicable a part of the embodiments of the present invention will be described in detail in conjunction with attached drawing.It should be noted that
It is, when for constituent element assigned references symbol in each attached drawing, for identical constituent element, even being marked on not
It is also assigned with identical reference symbol as much as possible on same attached drawing.In addition, being illustrated to applicable the embodiment of the present invention
During, if it is decided that it is relevant it is known composition or function illustrate might have for fear of understand be applicable in it is of the invention
Embodiment will then omit relative detailed description.
In addition, may be used such as during being illustrated to the constituent element being applicable in the embodiment of the present invention
1st, the 2nd, A, B, (a), the terms such as (b).Term as described above is only intended to a constituent element and other constituent elements
It is distinguished, essence, order or sequence of related constituent element etc. can't be limited because of above-mentioned term.When being recorded as
When some constituent element is with other constituent element " connections ", " in conjunction with " or " contact ", above-mentioned constituent element can with it is above-mentioned other
Constituent element is directly connected to or releases, additionally it is possible to be interpreted as between each constituent element also other constituent elements by " even
Connect ", " in conjunction with " or " contact ".
Firstly, the present invention relates to a kind of are transmitted to be consecutively connected in the same master device by the same communication bus
The transfer approach of director data packet in multiple network-type actuator modules.
Director data packet refers to the instruction being transmitted in actuator module from master device.Director data packet includes header
(Header) information, number (ID) information, instruction (Command) information and verification and (CheckSum) information.Director data
Packet is transmitted by agreement, this is referred to as director data packet protocol.
It is sequentially transmitted from a master device to each actuator module for controlling an actuator module
A director data packet protocol mode be defined as 1:1 it is (one-to-one) communication.In addition, from a master device to multiple execution
The mode that mechanism module transmits a director data packet protocol for being controlled multiple actuator modules simultaneously is determined
Justice is (one-to-many) communication of 1:n.
In addition, the actuator module suitable for the present invention, comprising: driving portion, for being driven to motor；Sensing
Device portion is made of at least one sensor being monitored for the working condition to actuator module；Control unit passes through company
It is connected to above-mentioned driving portion and sensor portion and the work of driving portion and sensor portion identify/control；And network
Portion, for providing the interface with above-mentioned control unit and master device.
Be applicable in director data packet protocol of the invention by 1:n communicate based on be designed, but 1:1 can be suitable for simultaneously
Communication.
In the case where being suitable for 1:1 communication, director data packet from master device to some actuator module that transmitted from
In include ID relevant with corresponding actuator module and variable relevant with ID instruction.When variable instruction is that positional value passes
When sending instruction, after transmitting an absolute position values again to by the absolute position values transmitted based on positional value pass
When sending, only the variable quantity between a upper positional value is transmitted.
At this point, the order parameter (CommandParameter) of the data packet of actuator module is transmitted to from master device,
After transmitting relevant to actuator module absolute position values again to by the absolute position values transmitted based on position
It only include the variable quantity between a upper positional value when value is transmitted.
Absolute position values usually require to be indicated with 2 bytes, but the relevant variable quantity of positional value can utilize 1
Byte is indicated, therefore relative to the existing way being transmitted to absolute position values, can be reduced and be constituted director data packet
Order parameter data volume.
Moreover, providing information (1 with ID is only required for it because being designed based on 1:n communication mode
Byte) 1:1 communication mode when being compared, require to provide starting id information (1 byte) as id information and execute machine
Quantity (servomechanism quantity) information (1 byte) of structure module, although as a result, being carried out based on will be communicated by 1:n
Data volume when the director data packet protocol of design is adapted to 1:1 communication is identical, but having can will be using 1:n communication as base
The director data packet protocol of plinth is directly adapted to the advantage in 1:1 communication.
It, can be aobvious according to the quantity of actuator module but when the actuator module controlled is more than two
It writes and reduces its data volume.
When suitable for 1:n communication, from the batch director data packet that master device is transmitted to multiple actuator modules
The relevant variable instruction of each ID and each ID including multiple actuator modules.When variable instruction is positional value send instructions
When, after transmitting an absolute position values again to by the absolute position values transmitted based on positional value be transmitted when,
It only include the variable quantity between a upper positional value.
At this point, being transmitted in number (ID) information of the director data packet of actuator module from master device includes starting ID
The quantity information of information and whole actuator modules.Order parameter (CommandParameter) is in transmission and all execution
When being transmitted again to the positional value based on the absolute position values transmitted after the relevant absolute position values of mechanism module,
It only include the variable quantity between a upper positional value relevant to whole actuator modules.
Because when director data packet protocol of the invention will be applicable in suitable for 1:n communication mode, in order parameter only
Including positional value variable quantity relevant to each actuator module of major part, therefore when the quantity of actuator module is more
When, data volume will become fewer.
In addition, variable quantity based on being received again after actuator module receives absolute position values by absolute position values
When relevant positional value, above-mentioned absolute position values are identified as plus the result of the relevant positional value of above-mentioned variable quantity new absolute
Positional value simultaneously works.That is, when absolute position values be " 10 " and after received variable quantity positional value be " 3 " the case where
Under, absolute position values will be identified as plus the result " 13 " of variable quantity positional value and worked.
Next, subordinate list will be combined to carry out specifically the protocol data amount under 1:n communication mode and 1:1 communication mode
Explanation.
Table 1, which is shown as being applicable in 1:n communication mode of the invention, only carries out variable quantity relevant to positional value in variable
Agreement total bytes in the case where transmission；
Table 1
What table 2 was shown as only being transmitted variable quantity relevant to positional value in variable in existing 1:1 communication mode
In the case of agreement total bytes；
Table 2
It is described in detail compared with table 2 followed by table 1.
In actuator module control, most frequently the variable instruction of Reusability is positional value send instructions.Therefore,
How to promote efficiency relevant to the instruction is particularly important.
For this purpose, can be provided will require only when state passback instruction is state relevant to positional value revolution instruction
The state passback instruction of the change in location magnitude of multiple actuator modules is passed after being saved in director data packet protocol
It send.
That is, being saved in the state for requiring the relevant variable quantity of the positional value for providing the n-1 from ID 0 to ID is returned instruction
It is transmitted after in batch director data packet.Target location value usually requires to be indicated with 2 bytes, but variable quantity only leads to
It crosses 1 byte to be just sufficient for indicating, therefore its integrally transmission byte number can be reduced.
In addition, because sequence number can be continuously repeated using 0~99, it is carried out received actuator module because
For specific sequence number loss of data and in the case where can not being identified to its change in location magnitude, can be connect by the last time
The change in location magnitude of the sequence number received and the sequence number received next time carries out lost change in location magnitude
Compensation.For example, when the change in location magnitude of Serial No. 99 is lost, if the last Serial No. 99 received
Change in location magnitude is " 7 ", and the change in location magnitude of the Serial No. 99 received next time is " 9 ", then because " 7 " are added
Obtained value is " 8 " when the value " 16 " of " 9 " is divided by " 2 ", therefore can be " 8 " by lost change in location magnitude compensation.
In Tables 1 and 2, sequence number is defaulted as " 0xFF ", and " n " represents the quantity of actuator module.To position
When variable quantity is transmitted, successively increase by one repeatedly according to the sequence of " 0x00 "~" 0x07 ".Verify and be to include sequence number
All bytes inside carry out the result of exclusive or (Exclusive OR) operation.Why sequence number is made to increase by one every time, be for
Change in location magnitude as described above compensated.
It as shown in table 2, will be sequence number, instruction index in the target location value write operation of 1:1 communication mode
(CmdIndex), ID, the quantity (quantity of servomechanism) of actuator module and verification and each 1 byte of distribution are originated (altogether
Count 5 bytes).In addition, 2 bytes will be distributed for order parameter (CmdPara) value, and the quantity n of actuator module is 10.
Therefore, the integrated communication byte number of agreement are as follows:
(5+2) × 10 (n)=70 byte.
It unlike this, as shown in table 1, will be in an agreement in the target location value write operation of 1:n communication mode
Including all instructions parameter (CmdPara).For sequence number, instruction index (CmdIndex), the number for originating ID, actuator module
Amount and verification and each 1 byte of distribution (amounting to 5 bytes).In addition, will include and 10 in order parameter (CmdPara) value
The instruction of relevant each 2 bytes of a actuator module.Therefore, the integrated communication byte number of agreement are as follows:
2 × 10 (n)+5=25 bytes.
It can be found that total bytes have been reduced to about 36% when using above-mentioned 70 bytes as benchmark.
In addition, will be sequence number, refer in the target location value write operation of 1:n communication mode provided by the present invention
Index (CmdIndex), starting ID, the quantity of actuator module and verification and each 1 byte of distribution is enabled (to amount to 5 words
Section).In addition, in order parameter (CmdPara) value by include each 1 byte relevant to 10 actuator modules finger
It enables.Therefore, the integrated communication byte number of agreement are as follows:
10 (n)+5=15 bytes.
It can be found that total bytes have been reduced to about 21% when using above-mentioned 70 bytes as benchmark.
In addition, in the state position read operation of 1:1 communication mode, will for sequence number, instruction index (CmdIndex),
Originate ID, the quantity of actuator module and verification and each 1 byte of distribution (amounting to 5 bytes).To executing agency's mould
When the state of block is read out, 0 byte will be distributed for order parameter (CmdPara) value.Because of the quantity of actuator module
It is 10, therefore the integrated communication byte number of agreement are as follows:
5 × 10 (n)=50 bytes.
It include all instructions parameter in an agreement but in the state position read operation of 1:n communication mode
(CmdPara), but because it when the state to actuator module is read out can be the distribution of order parameter (CmdPara) value
0 byte, therefore only need for sequence number, instruction index (CmdIndex), starting ID, the quantity of actuator module and school
It tests and only needs to amount to 5 bytes with 1 byte of each distribution.It is therefore found that when using above-mentioned 50 bytes as benchmark, always
Byte number has been reduced to about 10%.
In addition, if considering the state reply data packet (status data transmitted from actuator module to master device simultaneously
Packet) byte number because can respectively distribute 1 in the agreement under 1:1 communication mode for id information, high-order information and low-order information
A byte, therefore as the quantity n=10 of actuator module, the total bytes of director data packet and status data packet protocol
It will be 80 bytes.
But 1 can be respectively distributed for id information, high-order information and low-order information in the agreement under 1:1 communication mode
Byte, therefore as the quantity n=10 of actuator module, the total bytes of director data packet and status data packet protocol will
For 35 bytes.It is therefore found that total bytes have been reduced to about 44% when using 80 bytes as benchmark.
In addition, as follows using the calculation method that instruction header (CmdHeader) information predicts the length of data packet
It states shown in formula:
c×n+5
Wherein, c represents instruction size table (CmdSizeTbl), can specifically index refering to instructing shown in table 3
(CmdIndex) in table " instruction index (CmdIndex), and n represents the quantity of actuator module.Whereby, it can utilize and refer to
Header (CmdHeader) is enabled to predict the size of agreement.
Table 3 is instruction concordance list of the invention:
Instruction index (CmdIndex)
Table 3
Next, being examined to the control frequency suitable for major instruction data packet, result such as following table 4 institute
Show.
Table 4
As shown in table 4, it can be found that being greater than the control under 1:1 communication mode in the control frequency under 1:n communication mode
Frequency, and the control frequency when only embodying change in location magnitude under 1:n communication mode is equally relatively larger than general
1:n communication mode under control frequency.Therefore, accurate control can be realized by means of higher control frequency through the invention
System.
In addition, the embodiment for the agreement for only embodying change in location magnitude as described above is as shown in Figure 1.In (a) of Fig. 1
The specific embodiment for being applicable in director data packet of the invention is shown, to being applicable in status number of the invention in (b) of Fig. 1
It is shown according to the specific embodiment of packet.
In addition, illustrated state data packets are and the director data packet pair of lower part 3 in Fig. 1 (a) in (b) of Fig. 1
The state data packets that should be generated.
In the above content, even will constitute be applicable in embodiments of the present invention all constituent elements be combined into one or
It is illustrated in a manner of combining work, the present invention is also not limited to embodiment as described above.As long as that is, being included in this
In the range of the mesh of invention, above-mentioned all constituent elements can selectively be combined into more than one and work.In addition, unless
Separately have it is specific opposite record, otherwise in the above content documented by the terms such as " comprising ", " composition " or " having " only indicate
It may include relevant constituent element, should not be construed as excluding other constituent elements, and make be construed to wrap
Include other constituent elements.It is defined unless otherwise specific, the meaning of all terms including technical or scientific terms,
It is identical as the personnel of the general knowledge with the technical field of the invention normally understood meaning of institute.It is fixed to make in dictionary
The essential terms such as term of justice should be interpreted that with the consistent meaning of the context of the relevant technologies, unless making in the present invention clear
Definition, otherwise should not be construed as excessively idealize or formalize meaning.
Above description content is the exemplary illustration carried out to technical idea of the invention, has technology belonging to the present invention
The personnel of the general knowledge in field can make various modifications and change in the range of not departing from essential characteristics of the invention
Shape.Therefore, the disclosed embodiments are only intended to be illustrated technical idea of the invention and non-limiting, sheet in the present invention
The range of the technical idea of invention is not limited to embodiment as described above.Protection scope of the present invention should pass through following rights
Claim is made explanations, and should be interpreted that with all technical ideas in its equivalents included in scope of the presently claimed invention
Within.
Claims (10)
1. a kind of transfer approach of director data packet, it is characterised in that:
The instruction for being related to a kind of multiple actuator modules between the same master device that connects by the same communication bus
Data pack protocol,
Including from the agreement that the master device is transmitted to some actuator module and the actuator module
The relevant variable instruction of relevant ID and ID,
When variable instruction is positional value send instructions, again to exhausted with what is transmitted after transmitting an absolute position values
When being transmitted to the positional value based on positional value, only the variable quantity between a upper positional value is transmitted.
2. the transfer approach of director data packet according to claim 1, it is characterised in that: be transmitted to institute from the master device
The order parameter for stating the data packet of actuator module, it is right again after transmitting absolute position values relevant to actuator module
When positional value based on the absolute position values transmitted is transmitted, the change between a upper positional value is only being embodied
It is transmitted in the state of change amount.
3. the transfer approach of director data packet according to claim 1 or 2, it is characterised in that: the sequence of described instruction header
Row number is defaulted as " 0xFF ", when being transmitted to institute's location value variable quantity, according to " 0x00 "~" 0x07 " sequence successively
Increase by one repeatedly.
4. the transfer approach of director data packet according to claim 1 or 2, it is characterised in that: the actuator module,
Include:
Driving portion, for being driven to motor；
Sensor portion is made of at least one sensor being monitored for the working condition to actuator module；
Control unit knows the work of driving portion and sensor portion and being connected to the driving portion and sensor portion
Not/control；And
Network Dept., for providing the interface with the control unit and master device.
5. a kind of transfer approach of director data packet, it is characterised in that:
The instruction for being related to a kind of multiple actuator modules between the same master device that connects by the same communication bus
Data pack protocol,
Including from the bulk protocol that the master device is transmitted to the multiple actuator module and executing agency's mould
The relevant variable instruction of block relevant each ID and each ID,
When variable instruction is positional value send instructions, again to exhausted with what is transmitted after transmitting an absolute position values
When being transmitted to the positional value based on positional value, only the variable quantity between a upper positional value is transmitted.
6. the transfer approach of director data packet according to claim 5, it is characterised in that: be transmitted to institute from the master device
Stating includes the quantity for originating id information and whole actuator modules in the number ID of the director data packet of actuator module
Information,
Order parameter is after transmitting absolute position values relevant to the whole actuator module again to exhausted with what is transmitted
It only include a upper position relevant to the whole actuator module when being transmitted to the positional value based on positional value
Variable quantity between value.
7. the transfer approach of director data packet according to claim 5 or 6, it is characterised in that: wrapped in described instruction header
The quantity of sequence number, instruction index, starting ID and actuator module is included,
And it can be predicted by formula as described below using length of the described instruction header information to data packet:
" length=c × n+5 of data packet "
Wherein, c: " instruction index " in instruction concordance list,
N: the quantity of actuator module.
8. the transfer approach of director data packet according to claim 5 or 6, it is characterised in that: the sequence of described instruction header
Row number is defaulted as " 0xFF ", when being transmitted to institute's location value variable quantity, according to " 0x00 "~" 0x07 " sequence successively
Increase by one repeatedly.
9. the transfer approach of director data packet according to claim 5 or 6, it is characterised in that: the actuator module,
Include:
Driving portion, for being driven to motor；
Sensor portion is made of at least one sensor being monitored for the working condition to actuator module；
Control unit knows the work of driving portion and sensor portion and being connected to the driving portion and sensor portion
Not/control；And
Network Dept., for providing the interface with the control unit and master device.
10. the transfer approach of director data packet according to claim 9, it is characterised in that: in the actuator module
It receives when receiving the relevant positional value of variable quantity based on the absolute position values after the absolute position values again, by institute
The result that absolute position values are stated plus the relevant positional value of the variable quantity is identified as new absolute position values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935300.7A CN109246086A (en) | 2018-08-16 | 2018-08-16 | The transfer approach of director data packet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810935300.7A CN109246086A (en) | 2018-08-16 | 2018-08-16 | The transfer approach of director data packet |
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Application publication date: 20190118 |