CN106873541A - A kind of EtherCAT Distributed Servo kinetic control systems based on DSP - Google Patents
A kind of EtherCAT Distributed Servo kinetic control systems based on DSP Download PDFInfo
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- CN106873541A CN106873541A CN201510914927.0A CN201510914927A CN106873541A CN 106873541 A CN106873541 A CN 106873541A CN 201510914927 A CN201510914927 A CN 201510914927A CN 106873541 A CN106873541 A CN 106873541A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/4185—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication
- G05B19/41855—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by the network communication by local area network [LAN], network structure
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
A kind of EtherCAT Distributed Servo kinetic control systems based on DSP, make full use of EtherCAT topological structures flexible, configuration is simple, data transmission is efficient, the advantages of real-time, synchronism are good, and the abundant peripheral functionality of TMS320F28335 dsp chips, slave station equipment with EtherCAT network interface function, build EtherCAT Distributed Servo kinetic control systems, and there is provided system hardware and the design of software, it is capable of achieving position control, speed control, 3 kinds of servo system control patterns of direct torque and real-time Data Transmission.The system provides solution for the transmission problem of servo control system middle-high density real time data, improves the real-time Communication for Power performance of many motor servo systems.The system can be applied to directly on actual apparatus for production line, to improve the performance of production equipment each side, fully demonstrate advantage of the EtherCAT fieldbus in commercial Application.
Description
Technical field
The present invention relates to a kind of EtherCAT Distributed Servo kinetic control systems based on DSP, it is adaptable to mechanical field.
Background technology
As modern industry production scale tends to maximize, production equipment system, scale, the kinetic control system for developing planned network turn into current study hotspot.Constantly ripe, cost is reduced rapidly industrial Ethernet technology, for large-scale industry control system provides preferred option.EtherCAT is the newcomer of EPA family, it is the real-time industrial ethernet technology of Beckhoff companies proposition, it is based on standard ethernet technology, with full-duplex communication, system configuration is simple, data transfer have at a high speed, it is efficient the characteristics of, bus utilization is high, its data is efficient up to more than 90%, and supports line style, tree-shaped, star network topology, and each system can connect up to 65535 nodes.
The content of the invention
The present invention proposes a kind of EtherCAT Distributed Servo kinetic control systems based on DSP, make full use of EtherCAT topological structures flexible, configuration is simple, data transmission is efficient, real-time, the advantages of synchronism is good, and the abundant peripheral functionality of TMS320F28335 dsp chips, slave station equipment with EtherCAT network interface function, build EtherCAT Distributed Servo kinetic control systems, and there is provided system hardware and the design of software, it is capable of achieving position control, speed control, 3 kinds of servo system control patterns of direct torque and real-time Data Transmission.
The technical solution adopted in the present invention is：The control system uses the structure of one master and multiple slaves, main website is using the PC with the Base-TX Ethernet cards of standard 100, slave station is, using the servo control card with EtherCAT network interface of TMS320 F28335 independent researches, Serve Motor Control to be realized using the motion-control module of the F28335 of dsp chip TM 5320.Standard 100BaseT X cable connections are used between main website and slave station, between slave station and slave station.
The EtherCAT Distributed Servos kinetic control system is made up of PC main website and some DSP slave stations with EtherCAT interfaces, use master slave mode medium access control (MAC), main website sends the ISO/IEC8802-3 ethernet data frames of standard to each slave station, when data frame is by EtherCAT slave nodes, EtherCAT slave stations identify the order of correlation and make corresponding treatment, and extracted from the sub- message in data frame inside or the related motion control data of insertion, then by the data frame transfer to next EtherCAT slave stations.Last EtherCAT slave station beams back the data frame by processing completely, and sends it to control unit as responsive data frame by first EtherCAT slave station.The characteristics of whole process make use of ethernet device independent process transmitted in both directions (TX and RX), and run in a full-duplex mode, the data frame for sending returns to control unit further through RX lines.EtherCAT has accurately clock system and high precision apparatus synchronization, and using EtherCAT, the data exchange of system is just based entirely on pure hardware mechanisms.
The EtherCAT slave stations unit mainly includes EtherCAT communication modules and TMS320F28335 servo control modules.EtherCAT communication modules realize the connection between main website and slave station or between slave station and slave station using standard RJ45 netting twines.According to the Distributed Servo kinetic control system EtherCAT from the demand of station control, 2 network interfaces of EtherCAT Communication Module Designs in this design：One network interface connects host computer or a upper slave station, and another network interface connects next slave station.The PDI Selector selections that EtherCAT communication modules pass through are connected by which kind of interface (8 or 16 parallel-by-bit interfaces, SPI interface, SSI interfaces) with DSP microprocessors, research within the system is connected from SPI interface mode with DSP microprocessors, realizes the interaction of motion control data.
The EtherCAT communication modules hardware mainly includes the parts such as slave station protocol controller chip ET1100, EEPROM, PHY chip KS8721, network data transformer H1102, network interface RJ45.Most important part is EtherCAT protocol controllers ETl 100 in communication interface modules, it realizes the agreement of the physical layer with data link layer of EtherCAT, two MII interfaces of ET1100 realize the data link layer of EtherCAT agreements on hardware, and the two physical chip KS8721 for extending out realize the physical layer of EPA.Physical layer PHY and network transformer network consisting interface, wherein network transformer are mainly realization isolation and impedance matching.Slave station configuration data and slave station describe data and are stored in EEPROM, and EEPROM passes through I2C modes connect ET1100.
The DSP servo control modules mainly realize that EtherCAT, to the specific control of live task and data feedback, is connected using SPI modes by PDI interfaces with ET1100;DSP is read from station control ET1100 internal storage regions director data, carries out data parsing, realizes servo control, and feedback data is written to from station control internal storage region, and data are transmitted EtherCAT buses by ET1100.
The software control of the slave station DSP mainly includes two parts content：A part is the communication function of system, and DSP carries out serial communication and is connected with ET1100, completes the communication process with host computer；Another part be for the control to servo-drive system and the collection of servo feedback number, and external analog signal input collection.The DSP control programs of design are carried out using interrupt mode.
The effect of the EtherCAT main websites is exactly that to initiate the function of communication, including the communication between main website and slave station, between slave station and slave station, and main website be substantially to be realized by software.In the design system, EtherCAT main websites realize the master function and man-machine interface of EtherCAT systems by configuration software TwinCAT that Beckhoff companies provide using the PCs with two standard ethernet interfaces.TwinCAT softwares are mainly including system administration manager, TwinCAT PLC and CONFIG.SYS etc..Wherein, EtherCAT system configurations are configured by writing XML file, and this document is used for storing EtherCAT system configuration informations, including main website, slave station configuration information, loop command and defeated people output mapping.Operated in by configuring TwinCAT configuration softwares in the computer of WindowsXP environment, realized master function.
The beneficial effects of the invention are as follows：The system provides solution for the transmission problem of servo control system middle-high density real time data, improves the real-time Communication for Power performance of many motor servo systems.The system can be applied to directly on actual apparatus for production line, to improve the performance of production equipment each side, fully demonstrate advantage of the EtherCAT fieldbus in commercial Application.
Brief description of the drawings
Fig. 1 is slave station software program flow chart of the invention.
Fig. 2 is interrupt service routine flow chart of the invention.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, control system uses the structure of one master and multiple slaves, main website is using the PC with the Base-TX Ethernet cards of standard 100, slave station is, using the servo control card with EtherCAT network interface of TMS320 F28335 independent researches, Serve Motor Control to be realized using the motion-control module of the F28335 of dsp chip TM 5320.Standard 100BaseT X cable connections are used between main website and slave station, between slave station and slave station.
EtherCAT Distributed Servos kinetic control system is made up of PC main website and some DSP slave stations with EtherCAT interfaces, use master slave mode medium access control (MAC), main website sends the ISO/IEC8802-3 ethernet data frames of standard to each slave station, when data frame is by EtherCAT slave nodes, EtherCAT slave stations identify the order of correlation and make corresponding treatment, and extracted from the sub- message in data frame inside or the related motion control data of insertion, then by the data frame transfer to next EtherCAT slave stations.Last EtherCAT slave station beams back the data frame by processing completely, and sends it to control unit as responsive data frame by first EtherCAT slave station.The characteristics of whole process make use of ethernet device independent process transmitted in both directions (TX and RX), and run in a full-duplex mode, the data frame for sending returns to control unit further through RX lines.EtherCAT has accurately clock system and high precision apparatus synchronization, and using EtherCAT, the data exchange of system is just based entirely on pure hardware mechanisms.
EtherCAT slave stations unit mainly includes EtherCAT communication modules and TMS320F28335 servo control modules.EtherCAT communication modules realize the connection between main website and slave station or between slave station and slave station using standard RJ45 netting twines.According to the Distributed Servo kinetic control system EtherCAT from the demand of station control, 2 network interfaces of EtherCAT Communication Module Designs in this design：One network interface connects host computer or a upper slave station, and another network interface connects next slave station.The PDI Selector selections that EtherCAT communication modules pass through are connected by which kind of interface (8 or 16 parallel-by-bit interfaces, SPI interface, SSI interfaces) with DSP microprocessors, research within the system is connected from SPI interface mode with DSP microprocessors, realizes the interaction of motion control data.
EtherCAT communication modules hardware mainly includes the parts such as slave station protocol controller chip ET1100, EEPROM, PHY chip KS8721, network data transformer H1102, network interface RJ45.Most important part is EtherCAT protocol controllers ETl 100 in communication interface modules, it realizes the agreement of the physical layer with data link layer of EtherCAT, two MII interfaces of ET1100 realize the data link layer of EtherCAT agreements on hardware, and the two physical chip KS8721 for extending out realize the physical layer of EPA.Physical layer PHY and network transformer network consisting interface, wherein network transformer are mainly realization isolation and impedance matching.Slave station configuration data and slave station describe data and are stored in EEPROM, and EEPROM passes through I2C modes connect ET1100.
DSP servo control modules mainly realize that EtherCAT, to the specific control of live task and data feedback, is connected using SPI modes by PDI interfaces with ET1100;DSP is read from station control ET1100 internal storage regions director data, carries out data parsing, realizes servo control, and feedback data is written to from station control internal storage region, and data are transmitted EtherCAT buses by ET1100.
The software control of slave station DSP mainly includes two parts content：A part is the communication function of system, and DSP carries out serial communication and is connected with ET1100, completes the communication process with host computer；Another part be for the control to servo-drive system and the collection of servo feedback number, and external analog signal input collection.The DSP control programs of design are carried out using interrupt mode.
The effect of EtherCAT main websites is exactly that to initiate the function of communication, including the communication between main website and slave station, between slave station and slave station, and main website be substantially to be realized by software.In the design system, EtherCAT main websites realize the master function and man-machine interface of EtherCAT systems by configuration software TwinCAT that Beckhoff companies provide using the PCs with two standard ethernet interfaces.TwinCAT softwares are mainly including system administration manager, TwinCAT PLC and CONFIG.SYS etc..Wherein, EtherCAT system configurations are configured by writing XML file, and this document is used for storing EtherCAT system configuration informations, including main website, slave station configuration information, loop command and defeated people output mapping.Operated in by configuring TwinCAT configuration softwares in the computer of WindowsXP environment, realized master function.
Claims (5)
1. a kind of EtherCAT Distributed Servo kinetic control systems based on DSP, it is characterized in that：The control system uses the structure of one master and multiple slaves, main website is using the PC with the Base-TX Ethernet cards of standard 100, slave station is, using the servo control card with EtherCAT network interface of TMS320 F28335 independent researches, Serve Motor Control to be realized using the motion-control module of the F28335 of dsp chip TM 5320.
2. a kind of EtherCAT Distributed Servo kinetic control systems based on DSP according to claim 1, it is characterized in that：The EtherCAT Distributed Servos kinetic control system is made up of PC main website and some DSP slave stations with EtherCAT interfaces, use master slave mode medium access control (MAC), main website sends the ISO/IEC8802-3 ethernet data frames of standard to each slave station, when data frame is by EtherCAT slave nodes, EtherCAT slave stations identify the order of correlation and make corresponding treatment, and extracted from the sub- message in data frame inside or the related motion control data of insertion, then by the data frame transfer to next EtherCAT slave stations.
3. a kind of EtherCAT Distributed Servo kinetic control systems based on DSP according to claim 1, it is characterized in that：The EtherCAT slave stations unit mainly includes EtherCAT communication modules and TMS320F28335 servo control modules, and EtherCAT communication modules realize the connection between main website and slave station or between slave station and slave station using standard RJ45 netting twines.
4. a kind of EtherCAT Distributed Servo kinetic control systems based on DSP according to claim 1, it is characterized in that：The EtherCAT communication modules hardware mainly includes the parts such as slave station protocol controller chip ET1100, EEPROM, PHY chip KS8721, network data transformer H1102, network interface RJ45.
5. a kind of EtherCAT Distributed Servo kinetic control systems based on DSP according to claim 1, it is characterized in that：The DSP servo control modules mainly realize that EtherCAT, to the specific control of live task and data feedback, is connected using SPI modes by PDI interfaces with ET1100;DSP is read from station control ET1100 internal storage regions director data, carries out data parsing, realizes servo control, and feedback data is written to from station control internal storage region, and data are transmitted EtherCAT buses by ET1100.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279630A (en) * | 2018-01-29 | 2018-07-13 | 深圳市微秒控制技术有限公司 | A kind of Distributed Motion Control System and method based on bus |
| CN108572551A (en) * | 2018-04-23 | 2018-09-25 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Industrial Embedded Control System based on EtherCAT buses |
| CN110417762A (en) * | 2019-07-18 | 2019-11-05 | 广州健飞通信有限公司 | A kind of module integrated system with message packaging technique |
| CN110445767A (en) * | 2019-07-18 | 2019-11-12 | 广州健飞通信有限公司 | A kind of integral module integrated system for supporting various processor |
| CN111624926A (en) * | 2020-06-15 | 2020-09-04 | 深圳市优必选科技股份有限公司 | Robot controller and robot |
| CN114089662A (en) * | 2021-11-17 | 2022-02-25 | 湖南力行动力科技有限公司 | Implementation method of novel high-performance electronic shaft transmission control system |
| CN114102588A (en) * | 2021-11-23 | 2022-03-01 | 上海景吾智能科技有限公司 | EtherCAT-based single controller-double mechanical arm device and control method |
| WO2022222902A1 (en) * | 2021-04-19 | 2022-10-27 | 华为技术有限公司 | Communication method and related device |
-
2015
- 2015-12-13 CN CN201510914927.0A patent/CN106873541A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279630A (en) * | 2018-01-29 | 2018-07-13 | 深圳市微秒控制技术有限公司 | A kind of Distributed Motion Control System and method based on bus |
| CN108572551A (en) * | 2018-04-23 | 2018-09-25 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Industrial Embedded Control System based on EtherCAT buses |
| CN110417762A (en) * | 2019-07-18 | 2019-11-05 | 广州健飞通信有限公司 | A kind of module integrated system with message packaging technique |
| CN110445767A (en) * | 2019-07-18 | 2019-11-12 | 广州健飞通信有限公司 | A kind of integral module integrated system for supporting various processor |
| CN110445767B (en) * | 2019-07-18 | 2022-01-28 | 广州健飞通信有限公司 | Integrated module integrated system capable of supporting various processors |
| CN110417762B (en) * | 2019-07-18 | 2022-01-28 | 广州健飞通信有限公司 | Module integration system with message packaging technology |
| CN111624926A (en) * | 2020-06-15 | 2020-09-04 | 深圳市优必选科技股份有限公司 | Robot controller and robot |
| WO2022222902A1 (en) * | 2021-04-19 | 2022-10-27 | 华为技术有限公司 | Communication method and related device |
| CN114089662A (en) * | 2021-11-17 | 2022-02-25 | 湖南力行动力科技有限公司 | Implementation method of novel high-performance electronic shaft transmission control system |
| CN114102588A (en) * | 2021-11-23 | 2022-03-01 | 上海景吾智能科技有限公司 | EtherCAT-based single controller-double mechanical arm device and control method |
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Application publication date: 20170620 |