Method and apparatus for sending data frame of nonstandard Canopen slave node

A data frame, non-standard technology, applied in the direction of data exchange network, digital transmission system, electrical components, etc., can solve the problems of complex implementation and long slave node cycle, and achieve the effect of shortening cycle and reducing complexity

Active Publication Date: 2014-01-15
SINOVEL WIND GRP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention provides a data frame sending method and device of a non-standard Canopen slave node, which is used to solve the problem that the slave node developed based on the Canopen protocol has a long cycle and relatively complicated implementation in the prior art

Method used

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  • Method and apparatus for sending data frame of nonstandard Canopen slave node
  • Method and apparatus for sending data frame of nonstandard Canopen slave node
  • Method and apparatus for sending data frame of nonstandard Canopen slave node

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Embodiment 1

[0026] This embodiment is a method that only supports Can2.0A equipment as a Canopen network slave node to realize its communication with the Canopen network master node. Among them, Can2.0A is represented and controlled by four different frame types, namely, data frame, remote frame, error frame, and overload frame. In this embodiment, only the data frame related to the PDO communication function is focused on and implemented. The bit field composition of the data frame is as attached figure 1 As shown, it consists of frame start, arbitration field, control field, data field, CRC check field, response field, and frame end. In this embodiment, we focus on the arbitration field and the data field. The composition of the arbitration court is as attached figure 2 As shown, the arbitration field is composed of an identifier and a remote transmission request bit, and the data field is composed of 8 bytes.

[0027] image 3 It is a flow chart of a data frame sending method of a...

Embodiment 2

[0036] Figure 4 It is a flow chart of a data frame sending method of a non-standard Canopen slave node according to Embodiment 2 of the present invention, such as Figure 4 As shown, the method includes the following steps:

[0037] Step 401: fill the function code and communication object identifier of the process data object PDO in the Canopen network with the identifier bit of the data frame arbitration field in the slave node device, and fill the data to be sent in the data field to obtain the first data frame;

[0038] Step 402: mark the first data frame to obtain the mark of the current data frame;

[0039] Step 403: Verifying the data to be sent and generating a verification result;

[0040] Step 404: Fill the first data frame with the mark and the verification result, obtain the second data frame, and send the second data frame to the master node device of the Canopen network.

[0041] In this embodiment, in order to enable the master node of the Canopen network to...

Embodiment 3

[0044] The method of implementing communication in the Canopen network for devices that only support Can2.0A includes the following two parts:

[0045] The first part: realize the message similar to PDO communication, fill the PDO function code and COB-ID in the Canopen communication model in the identifier bit of the arbitration field. The COB-ID in different devices may change due to configuration changes. Here, the commonly used Canopen predefined master-slave peer objects are used for illustration. According to the NodeID to be allocated to the slave node in the master node, the corresponding predefined COB-ID, combined with the corresponding function code, can determine the required identifier bit in the arbitration field; fill the corresponding "dominant" and "recessive" bits in the remote transmission request bit of the arbitration field. Since what is sent is a data frame, it is sufficient to fill in the "dominant" bit at the remote sending request bit. Fill the 8 byt...

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Abstract

The invention discloses a method and apparatus for sending a data frame of a nonstandard Canopen slave node so as to solve the problems that in the prior art, the slave node developed based on a Canopen protocol is time-consuming and labor-consuming and is complex to realize. The method comprises: filling an identifier bit of a data frame arbitration field in slave node equipment with a function code and a communication object identifier of a process data object PDO in a Canopen network and filling the data field with data to be sent, and thus a first data frame is obtained; verifying the data to be sent and generating verification results; and adding the verification results to the first data frame and thus a second data frame is obtained; and sending the second data frame to master node equipment in the Canopen network. The communication function of the Canopen network slave node only supporting a Can 2.0 equipment with the Canopen network master node is realized, thereby reducing the period of developing the slave node based on the Canopen protocol and reducing the complexity degree of operation.

Description

technical field [0001] The invention relates to the field of Canopen network communication, in particular to a data frame sending method and device of a non-standard Canopen slave node. Background technique [0002] With the increasing integration and intelligence of the wind turbine system, the main control system of the wind turbine needs to deliver relevant control information to the core components of each subsystem, and at the same time, the core components of each subsystem also need to transmit relevant status information to the main control system of the wind turbine. Can (Control Area Network, control area network) network is widely used in fieldbus due to its flexible node expansion, less communication delay, and perfect error detection mechanism. [0003] The Canopen protocol is developed on the basis of CAL (CAN Application Layer, CAN application layer), uses the CAL communication and service protocol subset, and provides a realization scheme of the distributed c...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04L1/00H04L12/955H04L47/431
Inventor 卫浩苏丽营陈曦李磊辛理夫
Owner SINOVEL WIND GRP
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