Robot protocol implementation method based on Ethernet

Abstract

The invention discloses a robot protocol implementation method based on Ethernet. The method includes definition of a frame header and domain data. The frame header comprises frame information, instruction codes, frame length and a bitmap, the frame information includes an instruction index number, frame types and frame domain numbers, the index number occupies two bytes and used for representing positions of instructions in an index table, and the frame types occupy one byte and include request frames, response frames, broadcast frames, large file request frames and large file request frames. The protocol data format employs a transmission mode that single domains or multiple domains are selectively combined, so that data transmission can be more flexible, and data transmission efficiency is improved. The robot protocol implementation method has a transmission control function to guarantee safety and accuracy in control of a robot remote control device. By the robot protocol implementation method which is high in timeliness and utilization value, robot remote control can be realized, and flexibility of the remote control device can be greatly improved.

Description

technical field [0001] The invention relates to the field of industrial control, in particular to an Ethernet-based robot protocol realization method. Background technique [0002] Industrial robots are a very effective means to improve the automation of the production process, improve the working environment, and improve product quality and production efficiency. The scope of application of robots has been continuously expanding throughout industry, national defense, space, emergency rescue and relief, medical rehabilitation, and even into all aspects of human life. There are also more and more remote connection devices for robots, such as teaching devices, robot vision devices, and offline devices. Now there is no unified interface that can be connected to all devices. For the safe operation of robots, remote control also puts forward new requirements: high speed, real-time, and high reliability. Some teaching devices use serial ports, and CAN is connected to the control...

AI Technical Summary

Problems solved by technology

Some teaching devices use serial ports, and CAN is connected to the control system. The transmission speed of the serial port is generally 115200bps, and the maximum transmission speed of CAN is only 1Mbps. The transmission speed cannot meet the requirements of control speed and large data transmission. CAN can not achieve remote control

In addition, some remote control devices use the transmission mode of Ethernet TCP / IP protocol to control real-time performance, which also cannot meet the requirements.

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