A communication method based on pulse extension protocol

Abstract

A communication method based on the pulse extension protocol, the specific communication method is as follows: within one control cycle, the master station sends a plurality of master station data frames to the plurality of slave stations, and the master station data frames include pulse direction instruction, pulse number instruction, pulse emergency stop instruction and pulse readback instruction; the slave station receives the corresponding current master station data frame, and according to the instruction of the pulse emergency stop instruction, selectively executes the pulse direction instruction and The pulse readback instruction, and, after executing the pulse readback instruction, the slave station continues to receive the next master station data frame. A communication method based on the pulse extension protocol proposed by the present invention realizes the state interaction between the master station and the slave station, the error detection of the bus and the online monitoring function of the nodes with a small amount of bus data, and is high-speed, high-precision, A low-cost economical option is provided for multi-axis motion control occasions with linkage and interpolation requirements.

Description

technical field [0001] The invention relates to a communication protocol technology based on a CAN bus, in particular to a communication method based on a pulse extension protocol. Background technique [0002] In recent years, the rapid development of China's machine tool, textile, printing, packaging and electronics industries has strongly driven the market demand for motion controllers. As the core control device of the servo and stepping system, the general motion controller is constantly expanding its market size. According to different platforms, general-purpose motion controllers can generally be divided into three categories: PLC controllers, embedded motion controllers, and PC-Based motion controllers. [0003] Generally, a general motion controller is mainly composed of a main control unit and an expansion module. The main control unit completes the overall logic, calculation, communication and control functions, and the expansion module, as an appropriate supple...

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Problems solved by technology

[0009] However, the number of expandable modules is limited, and the interface type of the expansion module is determined by the type of interface available on the PC, which increases the difficulty of the development of the expansion module and increases the cost of the module; the high price and overall cost of the expansion module is not conducive to large-scale Promotion in some low-end industries; the overall programming and development difficulty of PC-Based motion controller has been greatly improved compared with PLC, which puts forward higher requirements for the professional skills of users, which is not conducive to large-scale promotion

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