CN106054819A - Method for setting server preset disconnection ID in server control system - Google Patents

Abstract

The method aims to solve the problem that in the preset disconnection ID setting process, when the original ID in the server is the preset disconnection ID, the ID in the subsequent server cannot be modified into the preset disconnection ID. The invention provides a method for setting a preset disconnection ID of a server in a server control system. Before setting the preset disconnection ID, the original IDs of all the servers are set as the non-preset disconnection IDs different from the preset disconnection ID, and then the non-preset disconnection IDs are all replaced by the preset disconnection ID. Thus, it can modify any original ID of each server to a non-preset disconnection ID. The problem that when the original ID is the preset disconnection ID, the ID in the subsequent server cannot be modified into the preset disconnection ID, and the server in the server control system cannot complete the setting of all the IDs according to the set logic is effectively solved.

Description

Method for setting server preset disconnection ID in server control system

technical field

The invention relates to the field of server control systems, in particular to a server and a main controller for controlling the server.

Background technique

At present, robots have been more and more used in daily life and entertainment, which generally include a main controller and several servos (or called servo motors or steering gears). The movement of each joint of the robot is realized by each servo. At present, several servers are generally controlled by a master controller.

Each servo motor is connected in series or in parallel to several interfaces of the main controller through the bus; the main controller sends control signals to the servo through the bus. Each servo motor and the main controller are connected to the main controller through a set of wires (including power wires (VDD), ground wires (GND) and signal wires). The signal line is also connected inside the main controller, inside the server, and between the main controller and the server, so as to realize the communication between the main controller and the server.

Currently, as a better way, the signal line is a multiple servo motor control bus (English full name: MultipleServo Motor Control Bus, English abbreviation: MSMCB). The main controller communicates with the server through MSMCB. The main controller sends commands to the server, and the server can also send the signal back to the main controller. The main controller can know the status of the server, including the position, whether it is over-current, etc. .

At present, through the MSMCB, multiple servers can be connected to one interface of the main controller. Since each server shares the MSMCB, each server needs to set an ID (identification number or account number or the abbreviation of the unique code) ), it can be used to identify the target server to be communicated when the main controller sends commands. The server is provided with a memory (such as EEPROM (English full name: Electrically Erasable Programmable Read-Only Memory, Chinese full name: Electrically Erasable Programmable Read-Only Memory)) to store the ID of each server.

At present, the existing servers are generally equipped with 2 ports, one of which is an input port and the other is an output port. The input port of each server is connected to the main controller or the output port of the previous server through the bus. superior. In this way, the purpose of connecting each server in series to one interface of the main controller is realized. Since there are multiple servers, it is necessary to prevent the duplication of server IDs. The previous method is to pre-set the ID of each server before assembly, and set each server according to the correct position. , replacing any server, or making the ID of any server deviate, will make the entire robot unable to act according to the correct set logic.

In order to solve the above-mentioned technical problems, existing solutions have improved the server by adding a switch to the MSMCB between the two ports inside the server. Through the on-off control of the switch, each switch can be preset as off-circuit when starting up, and then set the ID of the first server connected to it through the main controller. After completing the ID setting of the first server, That is, the switch in the first server is turned on, so that the next server connected in series (the second server) can receive the signal from the master controller. Then the ID setting of the second server is completed, that is, the switch is turned on, and the above steps are repeated to complete the ID setting of each server in sequence. It can automatically complete the ID setting of each server when it is turned on, eliminating the trouble of artificially setting IDs during assembly and maintenance.

However, although this method can automatically change the ID of the server, it is still troublesome when assembling the server. It is necessary to find out the input port and output port on the server in advance to prevent them from being reversed. Otherwise, there may be logic errors, which will cause the server to fail to automatically change the ID, and the server still cannot operate according to the correct set logic.

Contents of the invention

For this reason, the applicant has improved the server control system and the server ID setting method in the server control system to address the above defects. Wherein, the improved server control system includes a main controller and several servers; the main controller includes a main control MCU and several interfaces, and the interfaces are connected to the main control MCU through a bus; at least one of the interfaces The server is connected in series through the bus;

The server includes a steering gear MCU, a first port, and a second port; the first port and the second port are connected through a bus, and the bus is simultaneously connected to the steering gear MCU;

Wherein, the bus between the first port and the second port is provided with the first steering gear switch and the second steering gear switch; the first steering gear switch is connected to the first port and the Between the steering gear MCU, the first steering gear switch controls the on-off of the first port; the second steering gear switch is connected between the second port and the steering gear MCU, and the second steering gear switch The switch controls the on-off of the second port;

A first insertion line is provided between the first steering gear switch and the first port to connect to the steering gear MCU, and a second insertion line is provided between the second steering gear switch and the second opening to connect to the Servo MCU.

Its server automatically sets the ID through the following ID setting method, so as to save the trouble of manually setting the ID during assembly and maintenance.

The ID setting method of the server specifically includes the following steps: the master controller broadcasts and sends a message to all servers on the bus to change the original ID of the server to a preset disconnection ID; each server according to the received message , to set the IDs of all servers to a preset disconnection ID; when the ID in the server is the default disconnection ID, the servo switch on the bus in the input port of the server is turned on, And the servo switch on the bus in the output port in the server is disconnected. When the ID in the server is different from the preset disconnection ID, the two servo switches on the bus in the server are turned on.

The main controller then broadcasts and sends a message to the bus to replace the target ID with the preset disconnection ID; each server accesses the network sequentially, and replaces the server ID with the target ID when the server is connected to the network, and in the setting After the server ID, turn on all the servo switches in the server; then repeat this step until all servers complete the ID setting.

However, when the applicant set the above preset disconnection IDs and replaced each preset disconnection ID with a different target ID one by one, he found that the original ID stored earliest in each server was changed to the default disconnection ID. Before the ID, if the original ID in several servers is the default disconnection ID, the server whose original ID is the default disconnection ID will be disconnected, so that the subsequent servers cannot receive the message broadcast by the master controller. message, causing the IDs in the subsequent servers to be unable to be modified to the default disconnected IDs, so that the servers in the server control system cannot complete the setting of all IDs according to the set logic.

Therefore, in order to solve the above-mentioned preset disconnection ID setting process, when the original ID in the server is the default disconnection ID, the server whose original ID is the default disconnection ID will be disconnected, resulting in Make the follow-up server unable to receive the message broadcast by the main controller, resulting in the inability of the ID in the follow-up server to be modified to the preset disconnection ID, so that the server in the server control system cannot complete all IDs according to the set logic set the question. The invention provides a server preset disconnection ID setting method in a server control system.

The present invention provides a server preset disconnection ID setting method in a server control system, wherein the server control system includes a main controller and several servers; the main controller includes a main control MCU and several an interface, the interface is connected to the main control MCU through a bus; at least one of the interfaces is serially connected to the server through a bus;

The server preset disconnection ID setting method includes the following steps:

The master controller broadcasts a message that sets the original ID of the server to a non-preset disconnection ID to all servers connected to its interface;

Each server replaces the original ID with a non-preset disconnection ID according to the received message;

The main controller broadcasts and sends a message of setting the non-preset disconnection ID as the default disconnection ID to all servers connected to its interface;

Each server replaces the non-preset disconnection ID with the preset disconnection ID according to the received broadcast message.

Further, the non-preset disconnection ID is any ID different from the preset disconnection ID.

Further, the step "the main controller broadcasts and sends a message that sets the original ID of the server to a non-preset disconnection ID to all servers connected to its interface" also includes the following steps: the main controller Read back whether there is a preset disconnection ID on the bus, and if there is a preset disconnection ID, continue broadcasting until the original IDs of all servers are set to non-default disconnection IDs.

Further, when the ID of the server is the preset disconnection ID, the connection between the server and the next adjacent server is disconnected.

Further, when the ID in the server is different from the preset disconnection ID, the connection between the server and the next adjacent server is turned on.

The server preset disconnection ID setting method provided by the present invention, before setting the default disconnection ID, the original ID of all servers is set to a non-preset disconnection that is different from the preset disconnection ID ID, and then replace all non-preset disconnection IDs with preset disconnection IDs. In this way, it can modify any original ID of each server to a non-preset disconnection ID, even if the original ID is a preset disconnection ID, it can be modified to a non-preset disconnection ID, that is, it realizes Replaces all arbitrary original IDs with the purpose of preset disconnect IDs. It effectively avoids that when the original ID is the default disconnection ID, the ID in the subsequent server cannot be modified to the default disconnection ID, so that the server in the server control system cannot complete the setting of all IDs according to the set logic. fixed question. On this basis, the default disconnection IDs of all servers can be modified to different target IDs. Finally, the purpose of automatically setting the ID by the server is realized. This method does not require complicated steps, and is simple and quick.

Description of drawings

Fig. 1 is a schematic diagram of the internal circuit principle of the server provided in the first embodiment of the specific embodiment of the present invention;

Fig. 2 is a schematic diagram of the internal circuit principle of a main controller provided in the second embodiment of the specific embodiment of the present invention;

Fig. 3 is a schematic diagram of the internal circuit principle of another main controller provided in the second embodiment of the specific embodiment of the present invention;

Fig. 4 is a schematic diagram of the principle of the server control system provided in the third embodiment of the present invention;

Fig. 5 is a flow chart of server ID setting provided in the fourth embodiment of the specific embodiment of the present invention;

Fig. 6 is a flow chart of server ID setting provided in the fifth embodiment of the specific embodiment of the present invention;

Fig. 7 is a flow chart of the specific steps of step S201 provided in the sixth embodiment of the specific embodiment of the present invention;

Fig. 8 is a flow chart of server ID setting provided in the seventh embodiment of the specific embodiment of the present invention;

Fig. 9 is a flow chart of broadcasting by the master controller in the eighth embodiment provided in the specific embodiments of the present invention;

Fig. 10 is a flow chart inside the server of the eighth embodiment provided in the specific implementation manner of the present invention.

Among them, 1. The server; 2. The main controller; 11. The first port; 12. The second port; 13. The steering gear MCU; 14. The first plug-in line; 15. The second plug-in line; k1, the first rudder k2, the second steering gear switch; 20, the main control MCU; 21, the first interface; 22, the second interface; 23, the third interface; 24, the fourth interface; 25, the fifth interface; 2a, the fifth interface 1 main control switch; 2b, second main control switch; 2c, third main control switch; 2d, fourth main control switch; 2e, fifth main control switch; 1a, first server; 1b, second server ; 1c, the third server; 1n, the nth server; L1, the bus;

detailed description

In order to make the technical problems, technical solutions and beneficial effects solved by the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

The server 1 disclosed in the present invention will be specifically explained below through the first embodiment. The servo 1 is also called a servo motor or a steering gear; the specific mechanical structure of the servo 1 is known to the public, and it includes a transmission gear set, a motor, a potentiometer, a control circuit, etc., and will not be repeated here. As shown in Figure 1, its server 1 includes an MCU (Chinese name: Micro Control Unit; English name: Micro Controller Unit) and two ports. In order to distinguish the MCU in the subsequent main controller 2, the MCU here is called the rudder. Machine MCU13. The two ports are connected through the bus L1 (the buses in each of Figures 1-4 are shown in bold lines), and are connected to the steering gear MCU13 at the same time. The bus L1 is a multiple servo motor control bus (English full name: Multiple Servo MotorControlBus, English abbreviation: MSMCB). At the same time, in addition to the above-mentioned MSMCB, there are two power lines (VDD) and ground lines (GND) between the ports. The above-mentioned MSMCB line can transmit signals according to I ² C (full name in English: Inter-Integrated Circuit), UART (full name in English: Universal Asynchronous Receiver and Transmitter, full name in Chinese: Universal Asynchronous Receiver and Transmitter), or a self-defined serial bus communication protocol. There can be one or more signal lines, one in this example.

Above-mentioned port comprises first port 11 and second port 12, does not have the restriction of input port and output port between this first port 11 and second port 12, and this first port 11 can be used as input port, then second port 12 serves as output port; conversely, the first port 11 can also be used as an output port, and the second port 12 can be used as an input port.

Among them, two steering gear switches for controlling the on-off of the two ports are arranged between the bus L1 of the two ports; the above two switches are respectively called the first steering gear switch k1 and the second steering gear switch k2; A first steering gear switch k1 is provided near the first port 11 between the two port buses L1, that is, the first steering gear switch k1 is connected between the first port 11 and the steering gear MCU13, and the first steering gear switch k1 controls the on-off of the first port 11, and a second steering gear switch k2 is provided between the two-port bus L1 near the second port 12, that is, the second steering gear switch k2 is connected to the second port 12 Between the steering gear MCU13, the second steering gear switch k2 controls the on-off of the second port 12; the control ends of the two steering gear switches are connected to the steering gear MCU13, and are controlled by the steering gear MCU13 control.

In this way, by connecting the bus L1 to the first port 11 and the second port 12, the electrical connection between the server 1 and the main controller 2, and between the server 1 and the server 1 is realized, and finally the main controller 2 is realized. The purpose of controlling each server 1 is through the bus L1.

At the same time, an insertion line is set between the steering gear switch and the port to connect to the steering gear MCU13. Specifically, a first plug-in line 14 is provided between the first steering gear switch k1 and the first port 11 to connect to the steering gear MCU13, and a connecting wire 14 is provided between the second steering gear switch k2 and the second port 12. The second plug-in wire 15 is connected to the steering gear MCU13. In this way, the servo MCU13 detects the access signal of the first port 11 through the first insertion line 14; detects the access signal of the second port 12 through the second insertion line 15; when the first steering gear switch k1 and the second When the second steering gear switch k2 is turned off, it can be detected which side port is the input port and which side port is the output port through the first plug-in line 14 and the second plug-in line 15 .

At the same time, the server 1 is also provided with a memory for storing the ID of the steering gear, and the memory may be only a buffer, or an EEPROM or FLASH.

In the server 1 provided in this example, two switches are added on the bus L1 between the ports, and an insertion line is set between the switches and the ports to connect to the servo MCU13. In this way, when the server 1 is assembled, there is no need to consider the input-output relationship of the two ports, and it can be assembled at will; after the assembly is completed, the signal is detected through the insertion line to distinguish which is the input port and which is the output port. According to needs, the server 1 can also control the on-off of the two switches, which can set the IDs of the servers 1 in sequence by connecting the servers 1 to the network one by one, so as to prevent duplicate IDs from appearing, so, It makes its assembly easier and saves the trouble of artificially setting the ID during assembly and maintenance. The server will not be unable to act according to the correct set logic due to reverse installation.

The main controller 2 (referred to as the main controller) disclosed in the present invention will be specifically explained below through the second embodiment. As shown in Fig. 2 and Fig. 3, the main controller 2 includes a main control MCU20 and several interfaces; It is serially connected or hybridly connected to the interface through the bus L1; it may also include more than one interface, and each interface is connected with several servers 1 in series through the bus L1 as required. For example, in this example, there are 5 interfaces named respectively as the first interface 21, the second interface 22, the third interface 23, the fourth interface 24 and the fifth interface 25; specifically, as shown in Figure 2, several The interfaces can be respectively connected to several pins of the main control MCU 20 through the bus L1, and a main control switch is arranged between each pin and the corresponding interface. This kind of connection scheme is called parallel connection. In this way, the same message can be broadcast to each interface at the same time, and different messages can also be broadcast to each interface. As shown in FIG. 3 , each interface can also be connected to the same pin of the main control MCU 20 , and a main control switch is respectively connected to the bus between the pin and each interface. This kind of way is called tandem, and this kind of way always broadcasts the same message to each server 1 at the same time.

Wherein, a main control switch is set on the internal bus L1 of each interface, and the control end of each main control switch is electrically connected to the main control MCU20; the main control MCU20 controls the on-off of each main control switch to control each Each server 1 connected to the interface communicates with the main controller 2; specifically, the internal bus L1 of the first interface 21 is provided with a first main control switch 2a; the internal bus L1 of the second interface 22 is provided with There is a second main control switch 2b; the internal bus L1 of the third interface 23 is provided with a third main control switch 2c; the internal bus L1 of the fourth interface 24 is provided with a fourth main control switch 2d; the interior of the fifth interface 25 A fifth main control switch 2e is provided on the bus L1. The control ends of each of the first main control switch 2 a , the second main control switch 2 b , the third main control switch 2 c , the fourth main control switch 2 d and the fifth main control switch 2 e are electrically connected to the main control MCU 20 .

The main controller 2 provided in this example is provided with a main control switch on the internal bus L1 of each interface, and the control end of each main control switch is electrically connected to the main control MCU20; the main control MCU20 controls each main control switch. Control the on-off of the switch to control the on-off of the communication between each server 1 and the main controller 2 connected on each interface. In this way, it can selectively turn on each main control switch to connect or disconnect the communication between the main controller 2 and each server 1 on the corresponding interface. It can effectively avoid the occurrence of repeated IDs when the main controller 2 broadcasts and sets the ID, so that the server 1 after the automatic setting of the ID can operate according to the correct setting logic.

The control system of the server 1 disclosed in the present invention will be explained in detail below through the third embodiment. As shown in FIG. 4 , the server control system includes a main controller 2 and several servers 1 . Wherein, the main controller 2 has been specifically explained in the second embodiment, and the server 1 has been specifically explained in the first embodiment.

Among them, all the servers 1 are divided into several strings, which are respectively serially connected to each interface of the main controller 2, that is, the servers 1 on each interface are in a series relationship, and the serial connection between each interface for a parallel relationship. All the servers 1 are divided into several strings, and there is no special limit on the specific number of servers 1 in each string. The advantage of mixing series and parallel is to make the wiring more simple and regular, and to optimize the control of the main controller 2 to each server 1 efficiency. For example, two servers 1 are connected in series on the first interface 21 , two servers 1 are connected in series on the second interface 22 ; three servers 1 are connected in series on the third interface 23 . There are n servers 1 connected in series on the fourth interface 24, respectively referred to as the first server 1a, the second server 1b, the third server 1c, and the nth server 1n; the fifth interface 25 is connected in series There are three servers 1; the number of servers 1 connected in series on each interface is set according to its specific needs.

Taking n servers connected in series on the fourth interface 24 as an example, the specific connection method is as follows: the fourth interface 24 of the main controller 2 is connected to any port of the first server 1a (such as the first port 11 through the bus L1) , the first port 11 is used as the input port) in series, and then at another port (corresponding to the second port 12, the second port 12 is used as the output port) through the bus L1 and any port of the second server 1b (such as the first A port 11, the first port 11 is used as an input port) for serial connection, so that the serial connection of each server 1 is realized in sequence.

After serial connection, the input port and output port are set in sequence. In this serial connection process, it is not mandatory to define which port is the input port and which port is the output port. You can judge which is the input port and which is the output port by inserting the wire. When it was setting the ID of each server 1, the steering gear MCU13 in the current server 1 can read the message on the bus L1, and set the ID of the current server 1 according to the message (will set ID replaces the original ID stored in memory). And after completing the operation of setting the ID, turn on the first switch and the second switch in the current server 1, so that the next server 1 is connected to the bus L1. At this time, the next server 1 can enter the Set the state of the ID, at this time, the input port and the output port can be respectively output on the next server 1 through the plug-in line. In such a cycle, the ID of each server 1 can be set sequentially.

Wherein, the above-mentioned main controller 2 and each server 1 can be regarded as separate nodes, that is, each node is connected in series through serial connection, the main controller 2 is equivalent to the master node, and the other servers 1 are slave nodes.

Take n servers 1 connected in series on the fourth interface 24 as an example for specific explanation. For the convenience of description, assume that the first port 11 of each server 1 is always used as the input port, and the second port 12 is an output port (actually not limited). The first port 11 of the first server 1a of the server 1 is connected to the fourth interface 24 of the main controller 2 through the bus L1; the second port 12 of the first server 1a is connected to the first port 11 of the second server 1b ; the second port 12 of the second server 1b is connected to the first port 11 of the third server 1c . . . and so on; finally connected in series to the nth server 1n.

When the fourth main control switch 2d on the bus L1 in the fourth interface 24 is turned off, the first server 1a, the second server 1b, the third server 1c... The nth server 1n is in a state of disconnecting from the main controller 2 and cannot receive messages broadcast by the main controller 2 . When the fourth main control switch 2d is turned on, each server 1 serially connected to the fourth interface 24 can communicate with the main controller 2 , and each server 1 can receive messages broadcast by the main controller 2 . However, if the servo switch connected to the input port in any one of the servers 1 is disconnected, it will cause itself and the subsequent servers 1 to disconnect from the main controller 2; if any one of the servers 1 When the steering gear switch connected to the bus L1 in the input port is turned on, and when the steering gear switch connected to the bus L1 in the output port is turned off, it will make itself conduct with the server 1 in front of it; and the subsequent servo 1 will be in the state of disconnecting communication with the main controller 2.

It can be understood in this way, assuming that a server 1 is the current server 1, only when all the servo switches in the server 1 before the current server 1 are in the on state, the current server 1 can control the internal two Turning on and off the steering gear switch connects itself and the follow-up server 1 to the network; or connects itself to the network and disconnects the follow-up server 1 .

For example, when the steering gear switches in the server 1 before the current server 1 are all on, and the first steering gear switch k1 and the second steering gear switch k2 in the current server 1 are both in the off state , neither the current server 1 nor the subsequent server 1 can be connected to the bus L1 before the current server 1, that is, neither the current server 1 nor the subsequent server 1 can communicate with the main controller 2. At this point, it can judge which of the corresponding first port 11 and second port 12 is an input port and which one is an output port by detecting the signals of the first plug-in line 14 and the second plug-in line 15; When the server 1 is also connected to the network, the steering gear MCU13 in the current server 1 sends a command to the steering gear switch connected to the bus L1 in the input port to make it conductive, so that the current server 1 can be connected to the network middle. When the steering gear MCU13 also sends a command to the steering gear switch connected to the bus L1 in the output port to make it conduct, the follow-up server 1 will also have the basis for accessing the network. If the servo switch of the current server 1 connected to the internal bus L1 of the output port is turned off, no matter how the servo switch in the subsequent server 1 operates, it will not be able to access the network.

The server control system provided in this example, because it improves the server 1, adds two steering gear switches on the bus L1 between the ports of the server 1, and inserts between the steering gear switches and the ports. The wire is connected to the servo MCU13. In this way, when connecting the server 1 to the main controller 2 to form the control system of the server 1, there is no need to consider the input and output relationship of the two ports, and it can be assembled at will; is the input port and which is the output port. According to needs, the server 1 can also control the on-off of the two switches, which can set the IDs of the servers 1 in sequence by connecting the servers 1 to the network one by one, so as to prevent duplicate IDs from appearing, so, It makes its assembly easier and saves the trouble of artificially setting the ID during assembly and maintenance. The server will not be unable to act according to the correct set logic due to reverse installation.

The method for setting the server ID in the server control system disclosed in the third embodiment of the present invention will be specifically explained below through the fourth embodiment.

Select one in turn to connect to the interface on the main controller, and repeat the following steps to set the ID of the server connected to the interface of the main controller: the flow chart shown in Figure 5, the server ID setting method includes the following step:

S101, the step of disconnecting the server: making each server 1 serially connected to the interface of the main controller 2 be disconnected in advance; in this way, each server 1 is disconnected from the network, and in this state, The message broadcast by the main controller 2 will not be transmitted later.

S102, the server ID setting step: the main controller 2 broadcasts, and sends a message to replace the original server ID with the target ID to the bus L1 of the main controller currently connected to the interface; corresponding to the steering gear in each server 1 on the interface MCU13 always detects the first plug-in line 14 and the second plug-in line 15 in the servo 1; The port at the plug-in line is the input port, and the port at the plug-in line that does not receive the signal is the output port; then turn on the servo switch on the bus L1 in the input port, connect the server 1 to the network, and each server 1 When connecting to the network, receive the message broadcast by the master control, replace the original server ID with the target ID according to the message, complete the server ID setting, and turn on the two servos in the server 1 after setting the server ID Switch: After completing the setting of the server ID, the purpose of turning on the two servo switches in the server 1 is to make the next server 1 also receive the message broadcast by the master controller 2. Repeat this step until all server 1 ID settings are completed. The modified target IDs are different from each other to ensure that IDs with the same name will not appear.

Step S102 specifically includes the following steps: the main controller 2 broadcasts, and sends a message to the bus L1 to replace the original server ID with the target ID; make each server 1 connected in series repeat the following steps in order: by detecting the first plug-in line 14 and the state of the second plug-in line 15, judge the input port and output port of the server 1, then turn on the servo switch connected to the bus L1 in the input port in the server 1, so that the server 1 is connected to the network; Then the server 1 receives the message broadcast by the main controller 2, stores the target ID in the memory, and replaces the original ID; then, after setting the ID, or at the same time, turn on the two servo switches in the server 1. For example, the modified ID of the first server 1 is 1#; the second server 1 is 2#, the third server 1 is 3#, and so on until the ID setting of all server 1 is completed .

The ID setting method provided in this example can turn on the servers 1 that are in the disconnected state sequentially through the periodic broadcast of the main controller 2, and change the ID of each server 1 to the target ID in sequence. In this way, through the ID setting method provided in this example, the server 1 does not need to manually set a non-repeated ID before reassembly, and there is no need to consider whether the ports are reversed during the process of connecting the server 1 and the main controller 2 to form a control system For the problem, it can automatically complete the ID setting of the server 1 after the server control system is connected through the preset program.

In the above-mentioned fourth embodiment, a relatively complicated software control process is required to realize the solution. The fourth embodiment is further improved through the specific fifth embodiment below, so that the server ID setting method is simpler .

Wherein, similarly, the main controller 2 can broadcast and send messages to each interface; at the same time, the steering gear MCU13 in the server 1 can control the on-off of the first steering gear switch k1 and the second steering gear switch k2; each server 1 can The input port and the output port are judged by detecting the first insertion line 14 and the second insertion line 15 . When the ID of the server 1 is a preset disconnection ID, the steering gear MCU13 controls the steering gear switch on the bus L1 in the input port to be turned on, and disconnects the steering gear switch on the bus L1 in the output port, and the servo The server 1 is connected to the front bus L1, and the subsequent server 1 of the server 1 is disconnected. When the ID of server 1 is different from the preset disconnection ID, the servo MCU13 will control the two servo switches to be turned on; server 1 can receive the message sent from the input port, and take out the ID data in the message , and replace the original ID in memory.

Select one of the interfaces on the main controller in turn, and repeat the following steps to set the ID of the server connected to the interface of the main controller: Specifically, as shown in the flow chart in Figure 6, the server ID setting The determination method includes the following steps:

S201, preset disconnection ID setting steps: the main controller 2 broadcasts and sends a message to all servers 1 on the bus L1 to change the original ID of the server 1 to a preset disconnection ID; each server 1 according to In the received message, replace the original ID with the preset disconnection ID (that is, store the preset disconnection ID in the memory to replace the original ID in the memory); to set the IDs of all servers 1 to a certain preset Disconnect ID. The above-mentioned preset disconnection ID is used as the judgment condition for the on-off of the first steering gear switch k1 and the second steering gear switch k2 in the server 1. When the ID in the server 1 is the preset disconnection ID, the The steering gear switch on the bus L1 of the input port in the server 1 is turned on, and the steering gear switch on the bus L1 of the output port of the server 1 is turned off. That is, each server 1 is in a disconnected state in advance. When the ID in the server 1 is different from the preset off ID, the two servo switches on the bus L1 in the server 1 are turned on. The default disconnection ID is an arbitrary value set manually, for example, it is set to 0xFF in this example.

S202: The target ID replaces the preset disconnection ID Step: the main controller 2 broadcasts and sends a message to the bus L1 to replace the target ID with the preset disconnection ID; each server 1 accesses the network in sequence, and connects to the server 1 When networking, replace the server ID with the target ID, and turn on all the servo switches in server 1 after setting the server ID; then repeat this step until all server 1 complete the ID setting. The target ID is different from the aforementioned preset disconnection ID, and the target IDs of the servers 1 are different from each other.

The specific method is as follows: first set the IDs of all servers 1 as the default disconnection IDs, and when the IDs in the server 1 are the default disconnection IDs, then make the input port of the server 1 on the bus L1 The steering gear switch of the server 1 is turned on, and the steering gear switch on the bus L1 in the output port of the server 1 is turned off. Then the main controller 2 broadcasts and sends a message to the bus L1 including replacing the target ID with the preset disconnection ID. Each server 1 receives the messages broadcast by the main controller 2 one by one in order, and replaces the preset disconnection ID of each server 1 one by one. The opening ID is changed to a target ID that is different from each other. Since the target ID is not the same as the preset disconnection ID, the servo switch in the modified server 1 is turned on; thus, the server 1 immediately behind can receive the message from the master controller 2 . In other words, any server 1 cannot connect to the network before its previous server 1 sets the ID, and it cannot receive the message broadcast by the master controller 2 . Only after the ID setting of the previous server 1 is completed, the server 1 can be connected to the network.

Specifically, in the initial state, only the servo switch on the bus L1 in the input port of the first server 1 is turned on, the first server 1 can be connected to the main controller 2, and the main controller can receive 2 broadcast message, because the servo switch on the bus L1 in the output port of the first server 1 is disconnected, the second server 1 and all subsequent servers 1 are in the disconnected state, at this time the first According to the message broadcast by the main controller 2, the first server 1 replaces the target ID with the preset disconnection ID, completes the ID setting of the first server 1, and then switches the two steering gears in the first server 1 Both are on. In this way, the second server 1 can also repeat the above steps to complete the ID setting and conduction, so that the ID setting of all servers 1 is completed in sequence.

The above-mentioned ID setting method provided in this example does not require complicated steps. It only broadcasts through the simple main controller 2, and each server 1 replaces the preset disconnection ID with a different target one by one according to the received message. ID can quickly complete the ID setting of each server 1 one by one, and the method is simple and quick.

When the applicant set the above preset disconnection IDs and replaced each preset disconnection ID with a different target ID one by one, he found that the core logic was that when the ID in the server 1 was the default disconnection ID , the steering gear switch on the bus L1 of the input port in the server 1 is turned on, and the steering gear switch on the bus L1 of the output port of the server 1 is turned off at the same time. When the ID in the server 1 is a non-default disconnection ID, both the steering gear switches on the bus L1 in the server 1 are turned on. In this way, the current server 1 can complete the ID setting, and turn on the current server 1 after the ID setting, so that the next server 1 can access the network and repeat the above process, and finally complete the ID setting of all servers 1. Certainly. However, before modifying the earliest stored original ID in each server 1 to the preset disconnection ID, if the original IDs in several servers 1 are the preset disconnection IDs, then when the original ID is the preset disconnection ID The server 1 will be disconnected, resulting in that the ID in the subsequent server 1 cannot be modified to the default disconnected ID, and eventually all ID settings cannot be completed according to the set logic. Therefore, as an improvement, in this example, the scheme described in the following sixth embodiment is adopted to prevent the occurrence of the above-mentioned errors.

The following introduces a further improved preset disconnection ID setting method through the sixth embodiment, as shown in the flow chart in Figure 7, which specifically includes the following steps:

S2011. Non-preset disconnection ID setting step: the master controller 2 broadcasts and sends a message to all servers 1 on the bus L1 to set the original ID of the server 1 as a non-preset disconnection ID; The controller 1 replaces the original ID with the non-preset disconnection ID according to the received message; and the main controller 2 reads back whether there is a preset disconnection ID on the bus L1, that is, finds whether there is a server 1 with a preset disconnection ID , if there is a default disconnection ID, the main controller 2 continues to broadcast until the original IDs on the bus L1 of all servers 1 are set to non-default disconnection IDs; in this case, even if some servers The original ID of 1 is the default disconnection ID (at this time, the server 1 whose original ID is the default disconnection ID and the subsequent servers 1 are all disconnected and cannot receive the message broadcast by the main controller 2), the preset The disconnection ID can also be modified to a non-default disconnection ID, so that the server 1 and the subsequent server 1 can access the network, and the subsequent server 1 will change all the original IDs to non-default disconnection ID; the non-preset disconnection ID can be artificially set to any value different from the preset disconnection ID. For example, it is set to 0xFE in this example. Since the non-default disconnection ID is different from the default disconnection ID, the steering gear switches in each server 1 will be in a conducting state, that is, each server ID will be set to a non-default disconnection ID Afterwards, each server 1 is connected to the network, and each server 1 can receive the message broadcast by the main controller 2 .

S2022. The step of replacing the non-preset disconnection ID with the preset disconnection ID: the main controller 2 broadcasts and sends the message of setting the non-preset disconnection ID as the preset disconnection ID to all servers 1 on the bus L1 message; each server 1 replaces the non-preset disconnection ID with the preset disconnection ID according to the received message.

Using the default disconnection ID setting method provided in this example, before setting the default disconnection ID, the original IDs of all servers 1 are set to a non-preset that is different from the preset disconnection ID Disconnect ID, and then replace all non-preset disconnect IDs with preset disconnect IDs. In this way, the problem in the above-mentioned embodiment 5 is effectively avoided (that is, because the original ID of some servers 1 is the preset disconnection ID, the subsequent motors of the servo 1 whose original ID is the preset disconnection ID cannot be It is modified to the default disconnection ID, so that it is impossible to follow the program setting, the problem of turning on each server 1 one by one and setting the ID one by one). On this basis, the default disconnection IDs of all servers can be modified to different target IDs. Finally, the purpose of automatically setting the ID by the server is realized. This method does not require complicated steps, and is simple and quick.

On the basis of the fifth embodiment and the sixth embodiment, the improved server ID setting method is introduced below through the seventh embodiment. As shown in the flowchart of FIG. 8 , the server ID setting method is mainly the steps in the fifth embodiment, and the steps S2011 and S2012 in the sixth embodiment are replaced with the original step S201.

Using the server ID setting method provided in this example, it can modify any original ID of each server 1 to a non-default disconnection ID, and then modify the non-default disconnection IDs of all servers 1 to be different from each other The target ID for . Finally, the purpose of server 1 automatically setting ID is realized. The method does not need complicated steps, is simple and fast, and the modification result is more accurate and reliable.

The following further describes the further optimized server ID setting method through the eighth embodiment. According to the needs, one of the main control switches in the interface of the main controller 2 is selected in sequence, and then the following steps are repeated to connect the serially connected The main control switch corresponding to each server 1 on the interface carries out ID setting. The "choose one to turn on" mentioned here should be understood in conjunction with Fig. 2-Fig. 4, for example, when the first main control switch 2a in the first interface 21 is turned on, the main control switches in the other interfaces are all off ; Set the IDs of the servers connected to the first interface 21 ; Similarly, when the second main control switch 2b in the second interface 22 is turned on, the main control switches in the other interfaces are all turned off; the IDs of the servers connected to the second interface 22 are set. When the third main control switch 2c on the third interface 23 is turned on, the main control switches in the other interfaces are all turned off; the IDs of the servers connected to the third interface 23 are set. Similarly, when the fourth main control switch 2d in the fourth interface 24 is turned on, the main control switches in the other interfaces are all turned off; the IDs of the servers connected to the fourth interface 24 are set. Similarly, when the fifth main control switch 2e in the fifth interface 25 is turned on, the main control switches in the other interfaces are all turned off; the IDs of the servers connected to the fifth interface 25 are set. Wherein, sequentially does not mean that each interface can only be connected in order, that is, it does not necessarily have to be connected in sequence according to the first interface 21, the second interface 22, the third interface 23, the fourth interface 24 and the fifth interface 25, and also Connections may be made in other irregular orders, for example, the order of the first interface 21, the third interface 23, the fourth interface 24, the second interface 22, the fifth interface 25, etc. is also possible. In this way, it is possible to set IDs of all servers serially connected to the interface of the main controller 2 one by one; the specific method of setting the server ID on each interface of the main controller 2 includes the steps in the server 1 and Steps in main controller 2:

Wherein, the steps in the main controller 2 are as shown in Figure 9, specifically as follows:

Step S301, the main controller 2 broadcasts and sends a message to the bus L1 to set the original IDs of all servers 1 to a non-preset disconnection ID; specifically, the main controller 2 broadcasts the message and reads back the bus L1 Whether there is a preset disconnection ID on the network, if there is a preset disconnection ID, continue to repeat the broadcast until all the original IDs of the server 1 are set to non-default disconnection IDs, and then enter step S302, the non-default The disconnection ID can be any value set manually, such as 0xFE.

Step S302, the main controller 2 broadcasts and sends a message to the bus L1 to set the non-preset disconnection IDs of all servers 1 as the default disconnection ID; the preset disconnection ID can be any value set manually , and is different from non-preset disconnection ID, such as 0xFF.

Step S303, the main controller 2 broadcasts, and repeatedly sends to the bus L1 the message that the preset disconnection ID is set as a target ID different from each other; in this step, the main controller 2 repeatedly broadcasts messages containing different target IDs. Message, read back the message on the bus L1 every time it is broadcast, and judge whether the server 1 whose ID can receive the broadcast on the bus L1 is the preset disconnection ID has completed the setting of the target ID, if the setting of the target ID has been completed If set, enter the next broadcast and send to the bus L1 to set the preset disconnection ID to another target ID different from the last target ID. and so on. For example, the main controller 2 broadcasts the message of replacing the default disconnection ID (0xFF) of the server 1 with the target ID (0x01) for the first time. After the first server 1 on the bus L1 receives the message broadcast by the main controller 2, it replaces the original preset disconnection ID (0xFF) in the server 1 with the target ID (0x01) according to the message, And return the result to the bus L1. After the main controller 2 receives the return result, it will enter the next round of broadcasting, and send the preset disconnection ID to another target ID (such as 0x02) different from the last target ID (0x01) to the bus L1 again. ). Then the main controller 2 repeatedly broadcasts different target IDs, and receives the returned results on the bus L1. As a preference, the target IDs are always sequentially incremented or decremented. For example, the target ID increases sequentially from 0x01, 0x02, 0x03...0x0n. Or increase sequentially from 0x0n...0x03, 0x02, 0x01.

The steps in the server 1 are shown in Figure 10, specifically as follows:

S401, the steering gear MCU13 reads the steering gear ID stored in the memory;

S402, judging whether the steering gear ID is a preset disconnection ID, if the judgment result is no, enter step S403, if the judgment result is yes, then enter step S404;

Step S403, turning on both the first steering gear switch k1 and the second steering gear switch k2, even if the servo 1 is in the on state;

S404. Detect the first insertion line 14 and the second insertion line 15; then enter step S405 and step S406 respectively;

S405. Judging whether the first insertion line 14 has detected a signal, if the judgment result is no, proceed to step S406, and if the judgment result is yes, proceed to step S407;

S406. Turn off the first steering gear switch k1;

S407. Turn on the first steering gear switch k1;

S408, judging whether the second insertion line 15 detects a signal, if the judging result is yes, go to step S409, if the judging result is no, go to step S410;

S409. Turn on the second steering gear switch k2;

S410. Turn off the second steering gear switch k2.

The meaning of this step S403 is that if it is not the preset disconnection ID, it means that the server 1 will be connected, and the server 1 has the basis for receiving the information broadcast by the main controller 2 (whether it can receive the information from the main controller or not). 2 The broadcast message also depends on whether there is a server 1 whose ID is the default disconnection ID before the server 1. If there is a server 1 whose ID is the preset disconnection ID before the server 1, the server The server 1 is also in a state of being unable to receive the message broadcast by the main controller 2 because the previous server 1 is disconnected), and can complete corresponding actions according to the received message broadcast by the main controller 2.

The meaning of steps S404-S410 is that when the ID in the server 1 is the preset disconnection ID, the servo MCU 13 detects the signals in the first plug-in line 14 and the second plug-in line 15, and when any of the plug-in lines When a signal is detected, it means that the port connected to the plug-in line that detects the signal is an input port; otherwise, the port connected to the plug-in line that does not detect the signal is an output port (because each server 1 is connected in series) On the interface of the main controller 2, therefore, due to the one-way flow of the signal, the result can only be that when one plug-in line detects the signal, the other plug-in line must not detect the signal, so it can be judged who is the input port and output port); then, turn on the servo switch on the bus L1 in the input port, and turn off the steering gear switch on the bus L1 in the output port; in this way, the servo 1 can be connected to the front sequence In the bus L1 of the main controller 2, it can receive the message broadcast by the main controller 2, and complete the corresponding operation according to the message (such as modifying it to the target ID or preset disconnection ID, etc.). And the servo switch on the output port is turned off, so that the subsequent servers 1 of the server 1 can no longer receive the message broadcast by the main controller 2 . For example, when the first plug-in line 14 detects a signal, it means that the corresponding first port 11 is an input port, and the first servo switch k1 in the first port 11 is turned on; thus, the second plug-in line 15 will If no signal is detected, it means that the corresponding second port 12 is an output port, and the second steering gear switch k2 in the second port 12 is turned off.

In the ID setting method provided in this example, when the main controller 2 performs step S301, the server 1 connected to the corresponding interface of the main controller 2 will enter the judgment process of steps S401-S403, because in this process, In most cases, the original ID in server 1 is not the default disconnection ID (such as 0xFF), so that the servo switches in all server 1 will be turned on, and each server 1 will receive the master controller 2 broadcast message, set the original ID in the server 1 to a non-preset disconnection ID (such as 0xFE); even if some of the original IDs of the server 1 are preset disconnection IDs, it can also pass step S401 , S402, S404-S410 to modify the non-preset disconnection ID, and make it turn on the server 1 that has been modified to the non-preset disconnection ID in the next cycle, so that the subsequent server 1 can also receive The broadcast of the main controller 2 then enters the steps of S401-S303, so that the original IDs of all servers 1 are eventually modified to non-preset disconnection IDs.

Then the main controller 2 performs step S302. At this time, the main controller 2 broadcasts and sends a message that the non-preset disconnection IDs of all servers 1 are set to the preset disconnection IDs to the bus L1; After the controller 2 has gone through the above step S301 and each server 1 has gone through the steps S401-S410, the IDs of all the servers 1 have been changed to non-default disconnection IDs. At this time, each server 1 on the bus L1 receives the above The message of setting the non-default disconnection IDs of all servers 1 to the default disconnection IDs on the bus L1 is to perform the operation of replacing the original non-default disconnection IDs with the default disconnection IDs; each server 1 Execute steps S401-S403 to set all server IDs as default disconnection IDs. Once each server 1 completes the operation of setting the default disconnection ID; then in the next cycle, the server 1 repeats the steps of S401, S402, S404-S410; thus, each server 1 will maintain the input The steering gear switch on the bus L1 in the port is turned on, and the steering gear switch on the bus L1 in the output port of each server 1 is turned off. In this way, only the first server 1 serially connected to the interface of the main controller 2 can receive the message broadcast by the main controller 2, and the servers 1 after the first server 1 are all disconnected. state, the message broadcast by the main controller 2 cannot be received, and as a result, the IDs of all servers 1 are modified to the preset disconnection IDs and stored in the memory.

Then main controller 2 carries out step S303, at this moment, main controller 2 broadcasts, repeatedly sends to bus L1 the message that preset disconnection ID is set as mutually different target ID; When a target ID (such as 0x01) is replaced with the preset disconnection ID, only the first server 1 can receive the broadcast, and the first server 1 receives the signal, and executes steps S401, S402, S404-S410; In this way, replace the original preset disconnection ID with the target ID (such as 0x01) received by the first server 1; when the main controller 2 reads back the returned first server 1 on the bus L1 has completed the ID setting After the results are obtained, the main controller 2 enters the next round of broadcasting, and sends a message to the bus L1 to replace the preset ID with a target ID (such as 0x02) different from the previous broadcasting, and the first server 1 executes steps S401-S403, But it does not modify the ID (0x01) stored in its memory, the second server 1 executes S401, S402, S404-S410, and turns on the servo switch on the bus L1 in the input port of the second server 1, And the servo switch on the bus L1 in the output port of each server 1 is turned off. The second server 1 receives the message broadcast by the main controller 2, and replaces the default disconnection ID with the target ID (ie 0x02). When the main controller 2 reads back the result that the second server 1 has completed the ID setting returned on the bus L1, the main controller 2 enters the next round of broadcast, and sends to the bus L1 a target that will be different from the above two broadcasts ID (such as 0x03) replaces the preset ID message, the first and second servers 1 execute steps S401-S403, but they do not modify the ID stored in their memory, and the third server 1 executes S401, S402, S404-S410, turn on the steering gear switch on the bus L1 in the input port of the third server 1, and turn off the steering gear switch on the bus L1 in the output port of each server 1. The third server 1 receives the message broadcast by the main controller 2, and replaces the default disconnection ID with the target ID (ie 0x03). In such a cycle, the main controller 2 repeats the broadcast, and each server 1 sequentially completes the steps of replacing the preset disconnection ID with different target IDs, and finally replaces all target IDs with the default disconnection ID.

In this way, through the above steps, the process of setting IDs for all servers 1 is completed.

The server ID setting method provided in this example does not require a complicated software setting process. It only needs to simply broadcast a message through the main controller 2, and each server 1 will broadcast the message according to the set program and the received main controller 2. message, the ID setting of server 1 is automatically completed.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (5)

1. A server preset disconnection ID setting method in a server control system is characterized in that, the server control system includes a main controller and some servers; the main controller includes a main control MCU and several an interface, the interface is connected to the main control MCU through a bus, and at least one of the interfaces is serially connected to the server through a bus; The server preset disconnection ID setting method includes the following steps: The master controller broadcasts a message that sets the original ID of the server to a non-preset disconnection ID to all servers connected to its interface; Each server replaces the original ID with a non-preset disconnection ID according to the received broadcast message; The master controller broadcasts a message of setting the non-default disconnection ID as the default disconnection ID to all servers connected to its interface; Each server replaces the non-preset disconnection ID with the preset disconnection ID according to the received broadcast message. 2. The server preset disconnection ID setting method in the server control system according to claim 1, characterized in that, the non-preset disconnection ID is any different from the preset disconnection ID ID. 3. The server preset disconnection ID setting method in the server control system according to claim 1, characterized in that the step "the main controller broadcasts and sends the In the message that the original ID of the device is set to a non-preset disconnection ID", the following steps are also included: the main controller reads back whether there is a preset disconnection ID on the bus, and if there is a preset disconnection ID, continue broadcasting, Until all servers' original IDs are set to non-default disconnected IDs. 4. The server preset disconnection ID setting method in the server control system according to claim 1 is characterized in that, when the ID of the server is the preset disconnection ID, then make the server Disconnect from the next adjacent server. 5. The server preset disconnection ID setting method in the server control system according to claim 1, characterized in that, when the ID in the server is different from the preset disconnection ID, all the The connection between the above server and the next next server.