HiperFace协议详解

【实例截图】

【核心代码】

Table of contents
1 Background .......................................................................................................5
1.1 Features .....................................................................................................................5
1.2 Typical Architecture ...................................................................................................5
2 Protocol Specification ......................................................................................6
2.1 Physical Layer ............................................................................................................6
2.1.1 Supply .........................................................................................................6
2.1.2 Interfaces ...................................................................................................6
2.1.3 Connectors and Cabling ............................................................................8
2.2 Data Link Layer..........................................................................................................9
2.2.1 Data Format ...............................................................................................9
2.2.2 Frame Timing .......................................................................................... 10
2.3 Network Layer ......................................................................................................... 11
2.3.1 Addressing .............................................................................................. 11
2.3.2 Command Format ................................................................................... 12
2.3.3 Checksum ............................................................................................... 12
2.3.4 Fault Indications ..................................................................................... 12
2.4 Application Layer .................................................................................................... 14
2.4.1 HIPERFACE ® State Machine ................................................................... 15
2.4.2 User Commands ..................................................................................... 17
2.4.3 Fault Messages ....................................................................................... 45
3 HIPERFACE ® Master ...................................................................................... 62
3.1 Hardware Implementation ..................................................................................... 62
3.1.1 Encoder Supply ....................................................................................... 62
3.1.2 Analog Signal Input................................................................................. 62
3.1.3 EIA-485 Data Interface .......................................................................... 64
3.1.4 Position Signal Synchronization ............................................................. 64
3.2 Software Implementation ...................................................................................... 64
3.2.1 Serial Protocol ......................................................................................... 64
3.2.2 Command Handler ................................................................................. 65
3.2.3 Quadrature Counting .............................................................................. 65
3.2.4 Fine Angle Interpolation ......................................................................... 66
3.2.5 Position Synchronization ........................................................................ 68
3.3 Typical Use Cases ................................................................................................... 71
3.3.1 Encoder Start-up..................................................................................... 71
3.3.2 Position Acquisition ................................................................................ 72
3.3.3 Safe Position Functions .......................................................................... 72
3.3.4 Fault Reaction ......................................................................................... 72
3.3.5 Motor Commutation Setting ................................................................... 75
3.3.6 Absolute Position Cross-check ............................................................... 77
TECHNICAL INFORMATION | SPECIFICATION HIPERFACE ® 8010701 / 1EEB/2021-12-15| SICK
Subject to change without notice
4
Table of figures
Process channel signal levels ..............................................................................................6
Parameter channel schematics ...........................................................................................7
General UART character format ...........................................................................................9
Transmission cycle ............................................................................................................ 10
Frame composition ............................................................................................................ 11
Address format .................................................................................................................. 11
Command format .............................................................................................................. 12
Warning Indication (one Operational Fault) ..................................................................... 13
Error Response .................................................................................................................. 13
Error and warning indication in parallel ........................................................................... 13
HIPERFACE ® State Machine .............................................................................................. 15
“Read Position” latching point .......................................................................................... 18
“Set position” phase shift ................................................................................................. 19
“Set position with Synchronization” operation ................................................................ 41
Typical analog signal input schematics (one of two channels) ....................................... 63
Position value valence ...................................................................................................... 69
Start-up flow chart ............................................................................................................. 71