Simultaneously , the obtained data was transmitted on can protocol . in can network , the information in all of the nodes could be exchanged mutually , i . e . , multi - host transmitting mode was realized in can network Can網(wǎng)絡(luò)上其他節(jié)點可以接收本節(jié)點發(fā)出的數(shù)據(jù),同時本節(jié)點也可以接受其它節(jié)點送來的數(shù)據(jù),即在can網(wǎng)絡(luò)上實現(xiàn)多主傳送方式。
Emphatically introduce the can communication protocol in user layer based on multi - host competition and bus arbitration , and state the distribute software mechanism which applies the vxd ( virtual x device ) technology which work in ringo of the windows operation system to realize the real - time control of the robotic excavator 著重闡述了基于多主競爭和總線仲裁的命令加參數(shù)的can高層通信協(xié)議的制定和為實現(xiàn)機器人實時控制而采用的以vxd (虛擬設(shè)備驅(qū)動程序)為核心的分層分布式軟件體系結(jié)構(gòu)。 4 、展示挖掘機器人分布式控制系統(tǒng)的運行狀況。