One-master multi-slave scheduling method based on CAN bus

• Main Author: ZHANG HANBING
• Format: Patent
• Language: Chinese; English
• Published: 19.03.2021
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING; TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHICCOMMUNICATION

One embodiment of the invention discloses a one-master multi-slave scheduling method based on a CAN bus, the method is applied to a servo control system, all modules of the servo control system are cascaded through the CAN bus, and the method comprises the following steps: firstly, allocating communication mailboxes to all the modules according to the number of the modules of the servo control system; secondly, allocating time slices to all modules in the servo control system; and finally, selecting a servo control module in the servo control system as a master module, selecting other modulesexcept the master module as slave modules according to requirements, enabling the master module to run a scheduling method to send data to the slave modules, and enabling the slave modules to return the data according to the data sent by the master module. The modules of the servo control system are cascaded through the CAN bus, data transmission is performed through the CAN bus, IO resources aresaved, the interface is si