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A startup method of canopen slave station and its overall manager

A technology of CAN bus and master station, which is applied in the field of CANopen slave station startup method and its overall manager, slave station startup method and its manager field, which can solve the problem of reducing the flexibility of equipment connection and unfavorable smooth operation of distributed system tasks and other issues to achieve the effect of improving connection flexibility, improving dynamics and reliability

Active Publication Date: 2021-03-23
合肥保得工业自动化有限公司 +2
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] There are multiple devices in a CAN bus-based network, and the slave stations may have different roles in the distributed system. Such differences require differentiated startup and control, and a single unified processing will reduce the difference between devices. The flexibility of inter-connections is not conducive to the smooth operation of the entire distributed system task

Method used

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  • A startup method of canopen slave station and its overall manager
  • A startup method of canopen slave station and its overall manager
  • A startup method of canopen slave station and its overall manager

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0072] see figure 1 , figure 2 as well as image 3 , this embodiment provides a method for starting a CANopen slave station, which is applied to multiple devices on the CAN bus, and one of the devices is a master station, and the other devices are slave stations.

[0073] Among them, the start method includes:

[0074] Step S10: Determine whether the node numbers of all slave stations are in the network list one by one.

[0075] When the node number of the slave station is in the network list, execute step S20: judge whether the slave station is allowed to start.

[0076] Startup is terminated with an error code A if the node number of the slave is not in the network list.

[0077] When the slave station is allowed to start, step S30 is executed: judging whether the information of the slave station is consistent with the corresponding elements in the master station.

[0078] Step S31: judging whether the slave station is an active node.

[0079] When the slave station i...

Embodiment 2

[0097] This embodiment provides an overall manager, which is used to manage multiple modules set in multiple devices on the CAN bus. When the overall management manager manages multiple modules, the steps of the method for starting the CANopen master station in Embodiment 1 are realized.

Embodiment 3

[0099] see Figure 4 , Figure 5 as well as Figure 6 , this embodiment provides an overall manager, which runs the steps of the method for starting the CANopen master station in Embodiment 1.

[0100] In order to realize the modularization and configurability of the equipment, different functions need to be modularized, and the modularization process includes single-file and configurable single modules. In the following description, the CopMgr is used to represent the coordinator manager, and co-ordinates and manages all the modules.

[0101] At the bottom is the communication object table (COB), which is mainly related to the upper structure of the underlying CAN driver.

[0102] Above the COB are various modules, and PDO is a data synchronization module responsible for data synchronization.

[0103] SDOS and SDOC are the server and client of the service communication object respectively. They are mainly used to transmit the SDO message to read and write the object dicti...

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Abstract

The invention discloses a starting method for a CANopen slave station and an overall manager thereof. The starting method comprises the following steps: judging whether all the node numbers of a slavestation are in a network list or not one by one; when the node numbers of the slave station are in the network list, judging whether the slave station is allowed to be started or not; if all node numbers of the slave station are not in the network list, ending the starting and generating an error identifier A; when the slave station is allowed to be started, implementing a step S30, and judging whether information of the slave station is consistent with corresponding elements in a master station or not; when the salve station is not allowed to be started, implementing a step S40, starting anerror control service, judging whether the starting of the slave station is successful or not, if so, ending the starting and generating a success identifier, otherwise, resetting the slave station inorder that the slave station skips to a starting wait state; and S50, judging whether the configuration of the slave station is correct or, if so, implementing the step S40, otherwise, finishing thestarting. Through adoption of the starting method, slave equipment can be managed conveniently; the flexibility in connecting different types of salve equipment is improved; and the dynamics and reliability of the whole system are improved.

Description

technical field [0001] The invention relates to a method for starting a slave station and a manager thereof in the technical field of communication, in particular to a method for starting a CANopen slave station and a manager thereof. Background technique [0002] CAN is the abbreviation of Controller Area Network, which is an ISO international standardized serial communication protocol. CAN belongs to the category of field bus, which is a serial communication network that effectively supports distributed control or real-time control. At the same time, the high performance and reliability of CAN have been widely recognized and widely used in industrial automation, ships, medical equipment, industrial equipment and so on. [0003] There are multiple devices in a CAN bus-based network, and the slave stations may have different roles in the distributed system. Such differences require differentiated startup and control, and a single unified processing will reduce the differenc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L12/403
CPCH04L12/403H04L2012/40215
Inventor 文长明文可卢昌虎
Owner 合肥保得工业自动化有限公司