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GB/T 29825-2013 English PDF

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GB/T 29825-2013: Robot General Bus communication protocol
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PDF similar to GB/T 29825-2013


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Basic data

Standard ID GB/T 29825-2013 (GB/T29825-2013)
Description (Translated English) Robot General Bus communication protocol
Sector / Industry National Standard (Recommended)
Classification of Chinese Standard J28
Classification of International Standard 25.040.30
Word Count Estimation 19,158
Quoted Standard ISO 11898-1-2003; ISO 11898-2-2003; ISO 11898-4-2004; ISO 11898-5-2007
Regulation (derived from) National Standards Bulletin No. 22 of 2013
Issuing agency(ies) General Administration of Quality Supervision, Inspection and Quarantine of the People's Republic of China, Standardization Administration of the People's Republic of China
Summary This standard specifies: modular robot system a communication bus data formats and procedural norms, including protocol level, the format defined workflow. This standard applies to: a modular robot system between different functional modules components da

GB/T 29825-2013: Robot General Bus communication protocol

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Robot General Bus communication protocol ICS 25.040.30 J28 National Standards of People's Republic of China Robot communication bus protocol Issued on. 2013-11-12 2014-04-01 implementation Administration of Quality Supervision, Inspection and Quarantine of People's Republic of China Standardization Administration of China released

Table of Contents

Preface Ⅰ Introduction Ⅱ 1 Scope 1 2 Normative references 1 3 Terms and definitions 4 Abbreviations 2 5 Mechanical Standard 2 6 Electrical Standard 2 7 protocol format and procedures to achieve 2 Appendix A (informative) Application Example Description 11

Foreword

This standard was drafted in accordance with GB/T 1.1-2009 given rules. The standard proposed by China Machinery Industry Federation. The standard automation systems and integration by the National Standardization Technical Committee (SAC/TC159) centralized. This standard is mainly drafted by. Institute of Automation, Beijing Institute of Machinery Industry Automation, Shenyang New Song Robot Self Automation Company. The main drafters of this standard. Wang Shuo, Zhou Chao, Lee Eun, Zhang Ping, Wei Hongxing, the child is high, book reviews Yang, Chen Lian, Zhang Aimin, Zhu Wei, Wang Ye, Wang Zhenhua, forest valley, plum orchard, Cheng-sheng, CHEN Xiao-peng.

Introduction

This standard is described in a non-master fieldbus protocol, the bus has a good real-time performance and scalability, and strong anti-jamming Sex. Bus protocol from the physical layer, data link layer, transport layer, application layer, wherein the physical layer and the data link layer with reference to ISO 11898 standard Registration, transport layer and application layer allows for robot control needs to be modified. The data link layer using point to point mode and broadcast mode phase Combined to achieve, the address number of each module with 7-bit data representation. Transport layer based on packet header data packaging, in 29 packets Message header contains the destination address, source address, frame number, pipe number, frame type, etc., and combined with the corresponding data fault tolerance, reliable transmission, mention High utilization of the bus, while the transport layer supports both the master controller and from the data communication between controllers and between controllers support from several Data transmission. Function of the communication system of the robot application layer between modules, support more than 8 bytes of data packet split and reorganization, the main Process for the robot system is not fixed length data, real-time transmission requires a high communication data. Robot communication bus protocol

1 Scope

The standard provides a modular robotic system in a communication bus data format and procedural norms, including the protocol level, the format set Righteousness workflow. This standard applies to data exchange and information sharing between the members of different functional modules of the modular robot system. Applied to non Modular robot communication bus may also refer to the use of this standard.

2 Normative references

The following documents for the application of this document is essential. For dated references, only the dated version suitable for use herein Member. For undated references, the latest edition (including any amendments) applies to this document. ISO 11898-1.2003 Road vehicles - Controller Area Network - Part 1. Data link layer and physical signaling [Road vehiclesControlerareanetwork (CAN) -Part 1. Datalinklayerandphysicalsignaling] ISO 11898-2.2003 Road vehicles - Controller Area Network - Part 2. High-speed media storage unit [Roadvehicles Controlerareanetwork (CAN) -Part 2. High-speedmediumaccessunit] ISO 11898-4.2004 Road vehicles - Controller Area Network - Part 4. Time-triggered communication [Roadvehicles Controlerareanetwork (CAN) -Part 4. Time-triggeredcommunication] ISO 11898-5.2007 Road vehicles - Controller Area Network - Part 5. High-speed medium access unit low power mode [RoadvehiclesControlerareanetwork (CAN) -Part 5. High-speedmediumaccessunitwithlow- powermode]

3 Terms and Definitions

The following terms and definitions apply to this document. 3.1 Modular robots modularrobot One kind of the exchangeable module having various sizes and performance characteristics of the composition can be combined into a variety of different configurations of the robot. 3.2 Module module Member unit modular robot control, with relatively independent logical functions or information processing function, the robot has a standard bus Standard interface. 3.3 Member part Part of the module, with a certain function. 3.4 Frame frame RobBus basic data bus communication unit by the arbitration field, control field, data field, domain validation, authentication domains, each comprising a packet Header, data length, checksum and other information.

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