WO2005011201A1 - マスター・スレーブ同期通信方式 - Google Patents
マスター・スレーブ同期通信方式 Download PDFInfo
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- WO2005011201A1 WO2005011201A1 PCT/JP2004/008122 JP2004008122W WO2005011201A1 WO 2005011201 A1 WO2005011201 A1 WO 2005011201A1 JP 2004008122 W JP2004008122 W JP 2004008122W WO 2005011201 A1 WO2005011201 A1 WO 2005011201A1
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- WIPO (PCT)
- Prior art keywords
- cycle
- slave
- master
- synchronization point
- value
- Prior art date
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- 238000004891 communication Methods 0.000 title claims abstract description 82
- 238000000034 method Methods 0.000 title claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims description 25
- 238000007796 conventional method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007704 transition Effects 0.000 description 1
Classifications
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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
- H04L12/40052—High-speed IEEE 1394 serial bus
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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]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
- H04J3/0652—Synchronisation among time division multiple access [TDMA] nodes, e.g. time triggered protocol [TTP]
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/12—Arrangements for remote connection or disconnection of substations or of equipment thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/02—Details
- H04L12/16—Arrangements for providing special services to substations
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L7/00—Arrangements for synchronising receiver with transmitter
-
- 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
Definitions
- the present invention relates to a communication method of a real-time control system that performs master-slave synchronous communication using IEEE1394.
- the master broadcasts a data packet indicating the synchronization point of the communication cycle to all the slaves simultaneously, such as PROFIBUS-DP, and each slave determines the synchronization point at the reception timing. After detection, command data and response data are exchanged by polling (see Non-Patent Document 1, for example).
- the notification of the synchronization point is also the force S by simultaneous broadcast from the master, then command data is transmitted from the master to each slave, and furthermore, each slave is transmitted from the synchronization point.
- response data is transmitted after a predetermined time elapses or sequentially based on a predetermined transmission order (for example, see Non-Patent Document 2).
- a method of performing communication with synchronization between a master and a slave is a general communication method in a real-time control system.
- an IEEE1394-compliant network is a high-speed general-purpose network generally used in personal computers and AV equipment.
- the transmission speed is 100 Mbps-3.2 Gbps, and extremely high-speed communication is possible compared to the maximum speed of 12 Mbps for PROFIBUS-DP and 16 Mbps for SERCOS.
- all the nodes connected to the network support isochronous communication that operates synchronously at a specific period of 125 ⁇ s.
- Ethernet registered trademark
- It has no features and is expected to be applied to real-time control networks that perform master-slave synchronous communication as described above. (For example, see Patent Document 1)
- Fig. 12 shows a communication time chart of a general communication method such as PROFIBUS-DP.
- cl, c2, ⁇ represent the command data timings for slave # 1, slave # 2, and “”, respectively, and rl, r2, ⁇ represent slave # 1, slave # 2, ⁇ ⁇ ⁇ This indicates the timing of sending force response data.
- a synchronization packet is broadcast at the synchronization point at the beginning of the communication cycle, and when command data is subsequently transmitted to slave # 1, slave # 1 returns response data and then to slave # 2.
- the slave # 2 returns the response data, and the command data and the response data are exchanged by so-called polling.
- a communication method in which synchronous packets are broadcast simultaneously has been adopted.
- Fig. 13 shows a communication time chart of another communication method adopted in SERCOS or the like.
- the synchronization packet is broadcast simultaneously at the synchronization point, which is the beginning of the communication cycle, as in Fig. 12, and the command data cl, c2, ... They are transmitted from the master at a time, and they may be transmitted together in one packet.
- the response data (rl, r2, ...) is transmitted after the elapse of the predetermined timer value appropriately adjusted for each slave, and the synchronization point is reached again after the elapse of the communication cycle, and the synchronization packet is broadcast simultaneously. Communication method was taken.
- Patent Document 1 JP 2003-008579
- Non-patent document l PROFIBUS_DP Specification (IEC61158 Type 3)
- Non-Patent Document 2 SERCOS Specification (IEC61491)
- the IEEE 1394 isochronous communication is a simultaneous broadcasting method, in which it is difficult to adjust the data transmission timing to the transmission path and the transmission order cannot be guaranteed. Therefore, the conventional master-slave synchronous communication method is used. It was difficult to schedule polling and data transmission after a predetermined time from the synchronization point and in accordance with the data transmission order.
- JP 2003-008579 cited as an embodiment, after a unique trigger packet (synchronous packet) is broadcast simultaneously by the asynchronous communication instead of the cycle start packet, the data communication of each slave is performed by the asynchronous communication. This is to secure a communication cycle that spans multiple isochronous cycles while making a transmission request to the master.In addition, the jitter of the communication cycle is further increased, and the use of isochronous communication and asynchronous communication is different. There was a problem that communication processing became complicated.
- the present invention has been made in view of such various problems, and uses IEEE1394 to set its natural cycle as a base cycle, and synchronizes all stations with a communication cycle that is an integral multiple of the base cycle. It is an object of the present invention to provide a master-slave synchronous communication system capable of easily scheduling transmission and reception of data while taking into account.
- the present invention provides a master configured by one master and one or more slaves based on IEEE 1394, according to the first invention described in claim 1.
- a communication cycle set to an integral multiple of the base cycle is used as a base cycle of a natural cycle of IEEE1394 communication
- the master and each slave have a synchronization point which is a start timing of the communication cycle.
- the master has detection means and a base cycle counter indicating the base cycle of the current cycle from the synchronization point, and the master determines in advance to which slave the command data is transmitted for each base cycle counter value. It has an assigned transmission management table, and sends command data to each slave each time the base cycle counter is updated based on the transmission management table ,
- Each slave is characterized in that for transmitting the response data to the master Once turned previously allocated values of basal cycle counter.
- the data of the base station is synchronized based on the base cycle counter synchronized by all stations. Transmission and reception can be performed, and synchronous communication scheduled in base cycle units can be performed in a communication cycle longer than the base cycle.
- the master sets an arbitrary base cycle as a synchronization point, transmits command data to each slave based on the base point cycle, and Each slave corrects the base cycle counter value at the time of receiving the command data and the base cycle counter value based on the base cycle counter value at the time of receiving the pre-allocated command data.
- the value reaches a predetermined value, it is detected as a synchronization point.
- the master sets an arbitrary base cycle as a synchronization point, and transmits command data to each slave based on the base point.
- the CYCLE_TIME register value to be the next synchronization point is written in the command data
- each slave receives the CYCLE-TIME register value to be the next synchronization point in the command data when the command data is received.
- the base station CYCLE Modifies the current value of the base cycle counter based on the TIME register value and detects when the count value reaches a predetermined value as a synchronization point.
- the master sets an arbitrary base cycle as a synchronization point and sets a base cycle counter value to a predetermined value.
- the base cycle counter value at that time is transmitted to each slave, and each slave sets the base cycle counter value in its own base cycle counter, and the count value is determined in advance.
- the value reaches the specified value, it is detected as a synchronization point.
- the master detects the synchronization point based on the value of the CYCLE TIME register, and at that time, the base server detects the synchronization point. Ital counter value is set to a predetermined value, and each slave detects a synchronization point based on the CYCLE-TIME register value by the same means as the master, and at that time, the base cycle counter value can be determined in advance. Set the value to As a result, with a method different from the second, third, and fourth inventions, all stations can maintain synchronization even if the communication cycle between the master and the slave is an integral multiple of the base cycle.
- the synchronization point is detected, and the transmission is executed in accordance with the transmission schedule registered in advance in the transmission management table in synchronization with the synchronization point. It is possible to perform transmission and reception while maintaining all-station synchronization even at integer multiples of.
- the invention's effect is possible to perform transmission and reception while maintaining all-station synchronization even at integer multiples of.
- a natural cycle is used as a base cycle, and a base cycle counter that counts the number of totals is synchronized by all stations, thereby realizing a communication cycle that is an integral multiple of the natural cycle. You can do it.
- the transmission timing of the command data from the master to the slave and the transmission timing of the response data from the slave to the master are scheduled, so that real-time control using IEEE 1394 can be performed.
- the transmission management table is configured to transmit and receive command data from the master to the slave and transmission timing of response data from the slave to the master in the same base cycle.
- the transmission timing information By setting the transmission timing information, the communication traffic in each base cycle in the communication cycle can be scheduled by the polling method equivalent to the conventional PROFIBUS-DP shown in FIG.
- transmission timing of response data from each slave to the master may be performed in another base cycle with a delay from reception of command data from the master to the slave.
- Setting the transmission management table and the transmission timing information has the effect that the communication traffic in each base cycle in the communication cycle can be scheduled according to SERCOS as shown in FIG.
- the transmission management table on the master side and the transmission timing information on the slave side are set in accordance with the desired transmission / reception timing, the desired master-slave synchronous communication can be easily performed. It is possible to realize.
- FIG. 1 A system configuration diagram to which IEEE1394 according to a fourth embodiment is applied
- FIG. 2 is a diagram showing an implementation example of a master transmission management table and slave transmission timing information in an embodiment of the present invention.
- FIG. 3 is a communication timing chart according to an embodiment of the second invention.
- FIG. 4 is a communication timing chart according to an embodiment of the third invention.
- FIG. 6 is a flowchart of a master command transmission process according to an embodiment of the first invention.
- FIG. 7 is a flowchart of a slave response transmission process according to an embodiment of the first invention.
- FIG. 8 is a flowchart of a synchronous point detecting means of the slave according to the embodiment of the second invention.
- FIG. 9 is a flowchart of a synchronization point detecting means of a slave according to an embodiment of the third invention.
- FIG. 10 is a flowchart of a synchronous point detecting means of a slave according to an embodiment of the fourth invention.
- FIG. 11 is a flowchart of a master and slave synchronization point detecting means according to an embodiment of the fifth invention.
- FIG. 12 Communication timing chart showing one example of a conventional method
- FIG. 13 is a communication timing chart showing an example of another conventional method.
- i l, 2, '-'n (n is an integer of 1 or more)
- the CYCLE_TIME register includes a cycle_offset section, a cycle_count section, and a second_count section as shown in FIG.
- the cycle_offset part counts the clock of 24.576MHz of each station, and when 3072 is reached, it outputs a carry every 125 ⁇ s of the natural period.
- cycle_count counts the carry from cycle_offset, and when it reaches 8000, that is, it issues a carry every Is.
- Cycle_synch is a synchronization signal transmitted every natural cycle.
- FIG. 1 shows a specific embodiment of the first invention.
- Forces S, 1 are masters
- 3 is an IEEE1394 transmission path.
- the base cycle counter 13 ⁇ 4 is counting up.
- Cycle—Synchllj is also the execution timing of the synchronization point detecting means 14j.
- the synchronization point detection means 14j detects a synchronization point every time the base cycle counter counts up, and operates to reset the base cycle counter value to 0 if the synchronization point.
- the values of the base cycle counters of all stations on the field network system can be counted up synchronously.
- the master 1 has a transmission management table 130, and the command transmission processing 150 transmits a command based on the information, while each slave i has transmission timing information 23i, and each slave i has the transmission timing information 23i.
- Response transmission processing 25i is transmitting response data based on the response data.
- FIG. 2 shows an embodiment of the transmission management table 130 on the master side and each transmission timing information 23i on the slave side.
- the transmission management table of the master stores the destination slave to which the command is to be transmitted for each base cycle value.
- a base cycle value at which a command should be received from the master and a response should be returned to the master is stored.
- FIG. 6 shows a processing flow of the command transmission processing 150 on the master side in FIG. 1 showing the embodiment of the first invention
- FIG. 7 shows a processing flow of the response transmission processing 25i on the slave side.
- the master command transmission process 150 is started by Cycle_synchlO for each natural cycle, and first reads the value of the base cycle counter 120 in S1000 and sets it in a variable p.
- the process proceeds to S1004r / rape processing of S1004r, and in S1003, notification data is transmitted to the slave S [k]. In this way, every time the value of the base cycle counter 120 is updated, the operation can be performed such that the command data is transmitted to all the slaves 2i scheduled to be transmitted in the cycle.
- the process is started at Cycle_synch for each eigencycle according to the flow of FIG. 7, and first, at S2000, the base cycle counter 13 ⁇ 4 is read and set to a variable p. Next, in S2001, the response cycle value in the transmission timing information 23i is compared with the variable p, and if they match, the response cycle is at that point in time, so the response data is transmitted. If it does not match, otherwise it is not a response cycle, so do not send response data. In this way, it is possible to operate so that response data is transmitted each time the value of the base cycle counter 13 ⁇ 4 which has been preliminarily scheduled is reached.
- the master 1 and the slave 2i can communicate synchronously at the respective scheduled timings.
- FIG. 3 is a communication timing chart when the transmission and reception management table and the transmission timing information are scheduled so that transmission and reception are completed within the same base cycle.
- FIG. 4 is a communication timing chart when scheduling is performed such that a response is transmitted after a certain base cycle in the transmission / reception management table and transmission timing information.
- the synchronization point detecting means 14j which synchronizes the updating of the base cycle counter 13 ⁇ 4, is executed.
- An example will be described.
- the synchronization point itself is detected individually for each master 1 and each slave 2i, and the result is reflected in the base cycle counter value 13 ⁇ 4 of each station. In the cycle, the same discrimination result must be obtained for all stations.
- the base cycle counter 13 ⁇ 4 value becomes 0 at this synchronization point, and thereafter, every time the base cycle elapses, that is, every time a Cycle_synch event l lj occurs, the base cycle counter 13 ⁇ 4 value is counted up, and after a predetermined communication cycle elapses At the next synchronization point, the base cycle counter 1 ⁇ is explained as returning the value to 0 again.
- the transition of the base cycle counter 1 3 ⁇ 4 value is not limited to this. Not even. Further, the base cycle counter value at the synchronization point does not necessarily need to be 0 as long as it is a predetermined value.
- the synchronization point detection means is a force activated by the cycle_synch event l lj for each natural period.
- each slave 2i will be described with reference to FIG. 8.
- S3000 it is determined whether or not command data has been received from the master 1 during the previous base station. If so, it is known that the last base cycle was the command cycle in the transmission timing information 23i, so the value of the command cycle value + 1 is set as the base cycle counter value this time. If there is no reception, the base cycle counter 12j is simply counted up in S3005. Next, if the base cycle counter value updated for wraparound determination in S3002 is equal to or greater than the total number of cycles in the transmission timing information 23i, the count value is reset to 0 in S3003, and then the synchronization point is reached. The processing at the synchronization point detection required in S3004 can be performed.
- a third invention which is another method of the synchronization point detection processing 14j will be described.
- the synchronization point detection means is activated for each cycle-synch event l lj for each natural period, and the base cycle counter 120 counts up and determines whether the value is simply 0. Just fine.
- the command data transmitted from the master to the slave according to the transmission management table includes the master's CYCLE TIME register value at the next synchronization point. So that
- each slave 2i it is determined whether or not command data has been received from the master 1 during the previous base cycle. If there is, take out the CYCLE_TIME register value to be the next synchronization point in the command data received in S4001.
- the difference between the current cycle_count value of the CYCLE_TIME register and the cycle_count value of the next synchronization point CYCLE_TIME register in the command data is calculated.
- the remainder of the result obtained by dividing ⁇ (the total number of cycles in the slave transmission timing information 23i) -1 (the difference) ⁇ by (the total number of cycles in the slave transmission timing information 23i) is obtained.
- a fourth invention which is another method of the synchronization point detection processing 14j will be described.
- the synchronization point detection means is activated for each Cycle_synch event l lj for each specific period, and the base cycle counter 120 counts up and it is sufficient to determine whether the value is simply 0. .
- the command data transmitted from the master to the slave in accordance with the transmission management table includes the base cycle counter value of the master at that time.
- each slave 2i it is determined whether or not command data has been received from the master 1 during the previous base cycle. If there is, the base cycle value + 1 included in the command data is set in the base cycle counter of the slave. If there is no reception, the base cycle counter 1 ⁇ ⁇ ⁇ ⁇ is simply counted up in S5005. Next, if the base cycle counter value updated for wrap-around determination in S5002 is equal to or greater than the total number of cycles in the transmission timing information 23i, the counter is counted in S5003 After resetting the default value to 0, since it is a synchronization point, the necessary processing at synchronization point detection in S5004 can be performed.
- a fifth invention which is another method of the synchronization point detection processing 14j will be described with reference to FIG.
- the synchronization point detection processing 140 of the master 1 is based on the fact that the synchronization point detection means is activated at each cycle of the Cycle_synch event l lj First, in S6000, the CYCLE_TIME register
- the cycle_count value is divisible by the total number of base cycles required for the communication cycle. If it is divisible, it is determined to be a synchronization point, the base cycle counter value is set to 0 in S6001, and the necessary synchronization point detection processing is performed in S6002. If it is not divisible, it is determined that it is not a synchronization point, and the base cycle counter is counted up in S6003. Instead of counting up the base cycle, a remainder obtained by dividing the cycle_count value of the CYCLE-TIME register by the total number of base cycles required for the communication cycle may be set in the base cycle counter.
- a synchronization point can be detected by the same means as the master based on the CYCLE-TIME register value of each slave.
- a real-time control system in which the master 1 shown in Fig. 1 is the controller and the slave 2i is a device controlled by the controller at regular intervals, master-slave synchronization is performed using IEEE1394 for communication between the master and the slave. It is possible to build a real-time control system that can communicate.
- a master is a motion controller and a slave is a motor drive device such as a servo drive or an inverter drive.
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Abstract
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Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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US10/565,650 US20060251046A1 (en) | 2003-07-24 | 2004-06-10 | Master-slave synchronization communication method |
GB0601187A GB2419070B (en) | 2003-07-24 | 2004-06-10 | Master-slave synchronization communication method |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2003279358A JP4178552B2 (ja) | 2003-07-24 | 2003-07-24 | マスター・スレーブ同期通信方式 |
JP2003-279358 | 2003-07-24 |
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WO2005011201A1 true WO2005011201A1 (ja) | 2005-02-03 |
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PCT/JP2004/008122 WO2005011201A1 (ja) | 2003-07-24 | 2004-06-10 | マスター・スレーブ同期通信方式 |
Country Status (6)
Country | Link |
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US (1) | US20060251046A1 (ja) |
JP (1) | JP4178552B2 (ja) |
KR (1) | KR20060063902A (ja) |
CN (1) | CN100473034C (ja) |
GB (1) | GB2419070B (ja) |
WO (1) | WO2005011201A1 (ja) |
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US6128318A (en) * | 1998-01-23 | 2000-10-03 | Philips Electronics North America Corporation | Method for synchronizing a cycle master node to a cycle slave node using synchronization information from an external network or sub-network which is supplied to the cycle slave node |
US7065779B1 (en) * | 1999-10-13 | 2006-06-20 | Cisco Technology, Inc. | Technique for synchronizing multiple access controllers at the head end of an access network |
US7088795B1 (en) * | 1999-11-03 | 2006-08-08 | Pulse-Link, Inc. | Ultra wide band base band receiver |
JP3698074B2 (ja) * | 2001-06-15 | 2005-09-21 | 日本電気株式会社 | ネットワーク同期方法、lsi、バスブリッジ、ネットワーク機器、およびプログラム |
US7120092B2 (en) * | 2002-03-07 | 2006-10-10 | Koninklijke Philips Electronics N. V. | System and method for performing clock synchronization of nodes connected via a wireless local area network |
CH704101B1 (de) * | 2002-11-06 | 2012-05-31 | Barix Ag | Verfahren und Vorrichtung zur synchronisierten Wiedergabe von Datenströmen. |
-
2003
- 2003-07-24 JP JP2003279358A patent/JP4178552B2/ja not_active Expired - Fee Related
-
2004
- 2004-06-10 US US10/565,650 patent/US20060251046A1/en not_active Abandoned
- 2004-06-10 CN CNB2004800213731A patent/CN100473034C/zh not_active Expired - Fee Related
- 2004-06-10 GB GB0601187A patent/GB2419070B/en not_active Expired - Fee Related
- 2004-06-10 WO PCT/JP2004/008122 patent/WO2005011201A1/ja active Application Filing
- 2004-06-10 KR KR1020067001318A patent/KR20060063902A/ko not_active Application Discontinuation
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2001308868A (ja) * | 2000-04-18 | 2001-11-02 | Matsushita Electric Ind Co Ltd | Ieee1394バス接続装置、媒体及び情報集合体 |
JP2002319953A (ja) * | 2001-04-19 | 2002-10-31 | Matsushita Electric Ind Co Ltd | パケット送信装置 |
Also Published As
Publication number | Publication date |
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GB2419070B (en) | 2007-07-11 |
JP2005045672A (ja) | 2005-02-17 |
KR20060063902A (ko) | 2006-06-12 |
CN100473034C (zh) | 2009-03-25 |
GB2419070A (en) | 2006-04-12 |
GB0601187D0 (en) | 2006-03-01 |
US20060251046A1 (en) | 2006-11-09 |
JP4178552B2 (ja) | 2008-11-12 |
CN1826767A (zh) | 2006-08-30 |
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