CN103076780B - Control method based on industrial Ethernet bus - Google Patents
Control method based on industrial Ethernet bus Download PDFInfo
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- CN103076780B CN103076780B CN201210584142.8A CN201210584142A CN103076780B CN 103076780 B CN103076780 B CN 103076780B CN 201210584142 A CN201210584142 A CN 201210584142A CN 103076780 B CN103076780 B CN 103076780B
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Abstract
The invention discloses an absolute-type grating control system and a control method based on an industrial Ethernet bus. A numerical-control system main station is sequentially connected with an input/output (IO) unit, a digital main-shaft drive device, a feeding shaft drive device and a grating adapter slave station protocol data unit (PDU) through the industrial Ethernet bus, and the grating adapter slave station PDU is connected with an X-axis linear grating, a Y-axis linear grating, a Z-axis linear grating and an angle grating. The grating adapter slave station is flexibly adaptive to different grating devices, so that higher communication throughput, higher communication rate and shorter communication period can be realized, direct high-speed cross communication between a servo system and the grating devices can be realized, and a simple and powerful technical support can be provided for the implementation of a closed-loop vibration inhabitation function. Meanwhile, a closed-loop control system adopts an annular topology, so that simplicity in connection can be realized, the slave station device can be flexibly expanded, the closed-loop control system has multiple system protection functions, and the safety and efficiency for running the system can be guaranteed.
Description
Technical field
The present invention relates to the technical field of Industrial Ethernet, particularly a kind of absolute grating control system based on Industrial Ethernet bus and control method.
Background technology
The automatic control system of closed-loop path is made up of, also known as feedback control system signal forward path and feedback network.This is a kind of automatic control system, comprising power amplification and feedback, makes the value of the value response input variable of output variable.After numerical control device sends command pulse, when command value delivers to location comparison circuit, if now worktable does not move, namely when position feed back signal is constant, instruction and fed back difference make servomotor rotate after amplifier amplifies, and drive platen to move through the actuated element such as gear, ball guide screw nat.Be contained in the position measurement element on platen, after measuring the actual displacement amount of worktable, feed back to and instruction signal in the comparer of numerical control device and compare, and control by the difference relatively.If both exist difference, amplify after amplifier, then control servo drive motor rotation, until when difference is zero, worktable just stops mobile.
Current grating closed-loop control mainly adopts two kinds of methods to realize: 1. the direct grating belt control interface of servo-driver; 2. adopt fieldbus to be connected with grating by grating adapter to communicate.
Method 1 mainly exists can not the shortcoming of flexible adaptive various gating devices, is difficult to realize multiplicated system defencive function, and increases the computational load of servo driving; Method 2 mainly exists that field bus communication speed is lower, and amount of communication data is little, is difficult to the shortcoming of the high speed cross-communication realizing servo-drive system and gating devices data.
Summary of the invention
The object of the invention is to overcome the shortcoming of prior art and deficiency, a kind of absolute grating control system based on Industrial Ethernet bus is provided.
Another object of the present invention is to, a kind of control method based on above-mentioned control system is provided.
In order to reach above-mentioned first object, the present invention by the following technical solutions:
The present invention is based on the absolute grating control system of Industrial Ethernet bus, be connected with each slave station equipment ring topology by Industrial Ethernet bus by digital control system, slave station comprises the I/O cell be linked in sequence, digital spindle driver, feed shaft driver and grating adapter slave station PDU, and described grating adapter slave station PDU connects linear grating and angle grating.
Preferably, described grating adapter slave station PDU comprises FPGA master chip, serial storage EPCS and SDRAM storer, Ethernet phy chip and dual network interface, Power convert and gating devices serial line interface.
Preferably, described FPGA master chip adopts SOC (system on a chip) SOC technology, can flexible configuration software and hardware system framework, hardware frame constructs the internal RAM, timer, industrial ethernet protocol interface and the grating communication protocol module that comprise soft core host CPU, be connected with soft core host CPU, by inner Avalon bus interconnection communication; By soft core host CPU control program, by grating communication protocol module and grating interface and gating devices real-time Communication for Power, and by industrial ethernet protocol interface and main website CNC system real-time, interactive communications, by gating devices data message Real-time Feedback to main system.
Preferably, described digital spindle driver connects spindle motor, and described feed shaft driver connects feed shaft motor, and described I/O cell connects input/output signal, by Industrial Ethernet interface and main system real-time, interactive data, effectively control the motion of motor and the normal operation of I/O signal.
In order to reach above-mentioned second object, the present invention by the following technical solutions:
The present invention is based on the absolute grating control method of Industrial Ethernet bus, comprise the steps:
The ring topology of S11, CNC system main website and the servo-driver based on Industrial Ethernet, digital spindle driver, I/O cell and grating adapter slave station is connected;
S12, grating adapter slave station connect absolute grating equipment, Quartus-ii and the SOPC Builder development environment that grating adapter slave station adopts Altera FPGA to provide, set up system hardware engineering, described system hardware engineering specifically comprises: the formations such as RAM on soft core host CPU, EPCS storage chip interface, sheet, sdram controller interface, the Endat2.2 protocol interface (or with the Feedat2.0 protocol interface sent out lattice absolute grating and communicate) communicated with Heidenhain absolute grating and GSK-Link industrial ethernet protocol interface;
After S13, grating adapter slave station power on, software initialization system peripheral, read the ID of each gating devices, the information such as grating type and grating precision, by GSK-Link Industrial Ethernet bus, the communication of mutual each gating devices and type parameter, and open screen periods data communication interruption and the interruption of Industrial Ethernet bus, then system enters normal cycle communication process flow process;
S14, system periodically read the position data of each gating devices, and according to the grating type obtained in step S13 and grating precision information, convert as actual grating absolute position, by Industrial Ethernet bus Real-time Feedback to CNC main system;
While S15, system cycle read each gating devices position data and speed data, also the running status of grating is obtained in real time, when gating devices abnormal alarm, also pass through Industrial Ethernet bus Real-time Feedback to CNC main system, to ensure the safe operation of system.
Preferably, in step S14, the concrete grammar of the conversion actual absolute position of grating is as follows:
The instruction precision unit of S141, system directive position and the accuracy of detection unit of feedback position data are consistent, and comprehensive actual user demand is carried out according to the precision unit of 0.1um;
S142, in step S13 initialization, system obtains type and the grating precision information of grating automatically, grating type mainly comprises linear grating and angle grating, for linear grating, unit is nm, angle grating is for often to turn pulse number, therefore the calculated factor of linear grating is: grating accuracy data/100(0.1um), and angle grating calculated factor is: 360*10000/ grating accuracy data (0.1udeg);
S143, grating absolute position=grating feedback position data * grating calculated factor.
Preferably, described control method is full closed loop control method, and full closed loop control method concrete steps are as follows:
S21, by Industrial Ethernet bus, CNC system the starting stage or anxious stop unclamping time, using the absolute position of each gating devices of feedback as system lathe coordinate position; In system normal course of operation, the absolute position data of each gating devices that system directive position and cycle obtain makes position PID closed-loop process, and the instruction speed obtained controls the operation of servo-drive system, the motion of resulting belt motivation bed;
S22, each grating axle equipment are effective or invalid by Selecting parameter, when grating axle equipment choice is invalid, do semiclosed loop process by the feedback position of servo, but corresponding stop position data show by diagnosis;
S23, stop position direction are selected by optimum configurations, guarantee that grating direction of motion and axis servomotor direction of motion are consistent, thus ensure effective operation of PID position closed loop;
S24, system realize Double position loop function, under solving full closed loop control, for the lathe that gap is larger, the situation of machine vibration may be there is when fair speed is run, machine tool motion moves the high control performance of middle acquisition as semiclosed loop, and uses the hi-Fix of Grating examinations when stopping;
S25, system provide and arrange lathe function at zero point, when grating zero point is set, the zero offset arranging grating is kept in the ferroelectric internal memory of CNC system, even if system cut-off does not also disappear, the stop position of such periodic feedback and the difference of zero offset value are exactly actual grating feedback position;
S26, servo-drive system adopt absolute type encoder, and system cut-off is restarted also can remember servo feedback position, when the difference of the position that the absolute grating position of feedback and encoded servo device feed back exceedes the permissible range of optimum configurations, then produces warning;
When S27, unlatching closed-loop vibration suppression function, grating feedback speed is sent to corresponding servo-drive system slave station by Industrial Ethernet bus by grating adapter slave station in real time, realizes real time high-speed cross-communication between Industrial Ethernet bus slave station.Servo-drive system speed ring PID by including the calculating of raster velocity data in, effectively can suppress the vibration of closed-loop lathe in controlling.
Preferably, system has static overproof and dynamic overproof parameter, when the system is initiated, when the positional value of instruction and the grating absolute position values of feedback are in the overproof parameter area of static state, system PID close-loop automatic adjustment stop position value is to the positional value of instruction, otherwise system directive value follows grating feedback positional value; During system quiescence, deviation maximal value is static overproof parameter value, and during system motion, then deviation maximal value automatically switches to dynamic overproof parameter value, if when the deviate of system directive positional value and grating feedback positional value exceedes deviation maximal value, starts overproof warning.
Preferably, the coordinate figure of linear grating and the command coordinate value of system are consistent, and therefore can directly adopt PID closed-loop process; And angle grating value of feedback always changes within the scope of 0 to 360 degree, but command coordinate value then may be inconsistent with it, therefore can not directly adopt PID closed-loop process, also needs to do corresponding coupling conversion process to feedback grating coordinate figure; The method converted is as follows:
Grating multi cycle value (integer)=system directive coordinate figure/360;
Feedback coordinates value=grating multi cycle value * 360+ grating feedback coordinate figure that actual PID calculates;
Now can carry out the computing of PID closed-loop or Double position loop, it is noted herein that, the raster coordinate value of feedback may 0 degree of minizone saltus step with 360 degree, there is the difference of nearly 360 degree in the feedback coordinates value possibility and instruction coordinate figure that the PID now obtained calculates, therefore needs the positional value after considering this factor to be only the machine feedback coordinate figure of final PID calculating.
Preferably; except using the CRC check of industrial ethernet protocol itself; real-time communication protocol between CNC system and grating adapter slave station is protected by two-way handshake energizing signal; namely the upset that to communicate word cycle of the FEEDBACK CONTROL of instruction control word and the grating adapter slave station of CNC system is shaken hands; ensure that periodic communication data all have upset handshake and just receive new data, guarantee the data security of system real-time Communication for Power further.
The present invention has following advantage and effect relative to prior art:
1, grating adapter slave station can flexible adaptive various gating devices, can realize higher communication throughput, traffic rate and shorter communication cycle.
2, direct high speed cross-communication can be realized between servo-drive system and gating devices, for the enforcement of closed loop vibration suppression function provides succinctly powerful technical support.
3, closed-loop control system adopts ring topology, and connect easy, slave station equipment can flexible expansion.
4, closed-loop control system possesses multiplicated system defencive function, ensures that security of system is effectively run.
Accompanying drawing explanation
Fig. 1 is the system topological connection layout that the present invention is based on Industrial Ethernet bus;
Fig. 2 is grating adapter slave station software and hardware structure schematic diagram;
Fig. 3 Double position loop controlling party of the present invention block diagram;
Fig. 4 grating adapter (Endat2.2/Feedat2.0) slave station control software design treatment scheme.
Embodiment
Below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1 and Figure 2, the present embodiment is based on the absolute grating control system of Industrial Ethernet bus, be connected with each slave station equipment ring topology by Industrial Ethernet bus by digital control system, it is characterized in that, slave station comprises the I/O cell be linked in sequence, digital spindle driver, feed shaft driver and grating adapter slave station PDU, and described grating adapter slave station PDU connects linear grating and angle grating.
Described grating adapter slave station PDU comprises FPGA master chip, serial storage EPCS and SDRAM storer, Ethernet phy chip and dual network interface, Power convert and gating devices serial line interface.
Described FPGA master chip adopts SOC (system on a chip) SOC technology, can flexible configuration software and hardware system framework, hardware frame constructs the internal RAM, timer, industrial ethernet protocol interface and the grating communication protocol module that comprise soft core host CPU, be connected with soft core host CPU, by inner Avalon bus interconnection communication; By soft core host CPU control program, by grating communication protocol module and grating interface and gating devices real-time Communication for Power, and by industrial ethernet protocol interface and main website CNC system real-time, interactive communications, by gating devices data message Real-time Feedback to main system.
Described digital spindle driver connects spindle motor, described feed shaft driver connects feed shaft motor, described I/O cell connects input/output signal, by Industrial Ethernet interface and main system real-time, interactive data, effectively controls the motion of motor and the normal operation of I/O signal.
As shown in Figure 4, the present embodiment, based on the absolute grating control method of Industrial Ethernet bus, comprises following key characteristic:
(1) the CNC system main website based on Industrial Ethernet bus is connected with the ring topology of servo, digital main shaft, IO and grating adapter slave station, system main website identifies the type of each slave station automatically in the starting stage, and carry out periodic communication according to each slave station type, concrete connected mode is see the system topological connection layout of the Industrial Ethernet bus of Fig. 1.
(2) each grating adapter slave station connects at most 6 absolute grating equipment, and by Industrial Ethernet expansion grating adapter slave station, the absolute grating supported at present comprises the Heidenhain absolute grating based on Endat2.2 and the lattice absolute grating based on Feedat2.0, grating slave station hardware design framework is see Fig. 2, Quartus-ii and the SOPC Builder development environment that grating adapter slave station adopts Altera FPGA to provide, set up system hardware engineering, particular hardware engineering comprises: soft nucleus CPU, EPCS storage chip, RAM on sheet, SDRAM, the Endat2.2 agreement that Heidenhain producer provides or the Feedat2.0 agreement that Fa Ge producer provides, and GSK-Link industrial ethernet protocol etc., be interconnected by Avalon bus, thus the SOC software and hardware system realized based on FPGA, when not changing hardware, the absolute grating equipment of multiple producer agreement can be supported flexibly.
(3) after absolute grating slave station powers on, software initialization system peripheral, arranges the messaging parameter of each gating devices, and automatically reads the ID of each gating devices, the information such as grating type and grating precision, opens the communication of screen periods data cycle interruption; And by GSK-Link Industrial Ethernet bus, the parameters such as the type of each absolute grating equipment are sent to CNC system main website, then enters proper communication treatment scheme.
(4) PDU slave station system periodically reads the position data of each gating devices, and according to the grating type obtained in (3) and grating precision information, converts the absolute machine tool position into reality, and by Industrial Ethernet bus Real-time Feedback to CNC system.
(5), while the system cycle reads each gating devices position data, also obtain the running status of grating, when gating devices abnormal alarm, also by Industrial Ethernet bus Real-time Feedback to CNC system, to ensure the safe operation of system.
Based on the absolute grating control method of Industrial Ethernet bus, the system full closed loop control method of absolute grating can be realized, comprise following key characteristic:
(1) by Industrial Ethernet bus, CNC main system in the starting stage, using the absolute position of each gating devices of feedback as system lathe real coordinate position; In system normal course of operation, the absolute feedback position data of each gating devices that system directive position and cycle obtain make position PID closed-loop process, and the speed command calculated controls the normal operation of servo slave station system.
(2) each grating axle equipment is effective or invalid by Selecting parameter, and when selecting gating devices invalid, axle controls automatically to enter half-closed loop control, but corresponding stop position data can by diagnosis Graphics Processing, thus is conducive to user and debugs gating devices.
(3) stop position direction is also selected by optimum configurations, therefore can ensure effective operation of PID position closed loop, can prevent because the abnormal conditions of PID positive feedback appear in the reasons such as installation.
(4) system realizes Double position loop function, under solving full closed loop control, for the lathe that gap is larger, may occur the situation of machine vibration when fair speed is run.See Fig. 3, in machine tool movement, obtain the high control performance as semiclosed loop, and use the hi-Fix of Grating examinations when stopping.
(5) system provides and arranges lathe function at zero point, and when arranging grating zero point, the zero offset arranging grating is kept in the ferroelectric internal memory of CNC system, even if system cut-off does not also disappear.The stop position of such periodic feedback and the difference of zero offset value are exactly actual grating feedback position.
(6) be the safe operation of available protecting system; except gating devices warning function is provided; because encoded servo device adopts absolute type encoder; when the difference of the coordinate figure that the coordinate of the absolute grating ruler of feedback and encoded servo device feed back exceedes the permissible range of optimum configurations; then produce warning, to ensure the security of system cloud gray model.
(7) system has static overproof and dynamic overproof two kinds of parameters, the effect of two aspects can be played: a. when the system is initiated, when the positional value of instruction and the grating absolute position values of feedback are in the overproof parameter area of static state, system PID close-loop automatic adjustment stop position value is to the positional value of instruction, otherwise system directive value follows grating feedback positional value.B., during system quiescence, the deviation maximal value of allowing is static overproof parameter value; During system motion, then the deviation maximal value of allowing automatically switches to dynamic overproof parameter value, if when the deviate of system directive positional value and grating feedback positional value exceedes the deviation maximal value of allowing, produces overproof warning, plays safeguard protection effect to system.
(8) absolute grating scale type mainly contains two kinds: linear grating and angle grating.The value of feedback of linear grating and the command value of system are consistent, and therefore can directly adopt PID closed-loop process; And the value of feedback of angle grating always changes in 0 to 360 degree, but command coordinate value then may be inconsistent with it, therefore directly can not adopt PID closed-loop process, also needs to do corresponding coupling conversion process to feedback grating coordinate figure.Convert method: obtain multi cycle value by system directive coordinate, be multiplied by 360 degree by multi cycle value, add grating feedback coordinate figure be conversion after machine feedback coordinate figure, now can carry out the computing of PID closed-loop or Double position loop.It is also to be noted that, the raster coordinate value of feedback may saltus step in the minizone of 0 degree and 360 degree, there is the calculated difference of 360 degree in the machine feedback coordinate figure possibility and instruction coordinate figure now obtained, therefore needs the value after considering this factor to be only actual machine feedback coordinate figure.
(9) communication protocol between CNC system and absolute grating slave station is protected by two-way handshake energizing signal; namely the instruction control word of CNC system and the FEEDBACK CONTROL word of grating slave station overturn at every turn and shake hands; make each proper communication data all have upset handshake, ensure the data correctness of system communication further.
(10) for the angle grating described in (8), when turning axle moves toward identical direction always, in order to ensure the operational precision of system and prevent the problem of data from overflow, system need adopt the computing of double-precision floating point PID closed loop.Adopt the hardware implementing closed loop position control function of FPGA for this reason, can mitigation system load greatly, and obtain shorter closed-loop control cycle and system real-time Communication for Power cycle, thus guarantee effective operation of closed-loop control.
(11) grating vibration suppresses to be need key problems-solving during closed-loop grating controls.The loss of significance in process can be brought due to the Double position loop control method mentioned in employing (4), therefore full closed loop control must be adopted, but because lathe is in the situations such as feed speed control, can be twisted between servomotor and machinery distortion, produce velocity contrast sometimes and cause machine vibration, therefore need by gating devices feed back speed (i.e. machine velocity) by bus cross-communication Real-time Feedback to servo-drive system, according to the considerations that the difference of servomotor and mechanical speed controls as electric current (moment), the vibration of lathe can be avoided.
Above-described embodiment is the present invention's preferably embodiment; but embodiments of the present invention are not restricted to the described embodiments; change, the modification done under other any does not deviate from Spirit Essence of the present invention and principle, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (6)
1., based on an absolute grating control method for Industrial Ethernet bus, it is characterized in that, comprise the steps:
S11, to be connected based on the ring topology of CNC system main website and the feed shaft driver of Industrial Ethernet, digital spindle driver, I/O cell and grating adapter slave station;
S12, grating adapter slave station connect absolute grating equipment, Quartus-ii and the SOPC Builder development environment that grating adapter slave station adopts Altera FPGA to provide, and set up system hardware engineering;
After S13, grating adapter slave station power on, software initialization system peripheral, read the ID of each gating devices, grating type and grating precision information, by GSK-Link Industrial Ethernet bus, the communication of mutual each gating devices and type parameter, and open screen periods data communication interruption and the interruption of Industrial Ethernet bus, then system enters normal cycle communication process flow process;
S14, grating adapter periodically read the position data of each gating devices, and according to the grating type obtained in step S13 and grating precision information, convert as actual grating absolute position, by Industrial Ethernet bus Real-time Feedback to CNC system main website;
While S15, grating adapter cycle read each gating devices position data and speed data, also the running status of grating is obtained in real time, when gating devices abnormal alarm, also pass through Industrial Ethernet bus Real-time Feedback to CNC system main website, to ensure the safe operation of system.
2. according to claim 1 based on the absolute grating control method of Industrial Ethernet bus, it is characterized in that, in step S14, the concrete grammar of the conversion actual absolute position of grating is as follows:
The instruction precision unit of S141, system directive position and the accuracy of detection unit of feedback position data are consistent, and comprehensive actual user demand is carried out according to the precision unit of 0.1um;
S142, in step S13 initialization, system obtains type and the grating precision information of grating automatically, grating type mainly comprises linear grating and angle grating, for linear grating, unit is nm, angle grating is for often to turn pulse number, therefore the calculated factor of linear grating is: grating precision information/100 (0.1um), and angle grating calculated factor is: 360*10000/ grating precision information (0.1udeg);
S143, grating absolute position=grating feedback position data * grating calculated factor.
3. according to claim 2 based on the absolute grating control method of Industrial Ethernet bus, it is characterized in that, described control method is full closed loop control method, and full closed loop control method concrete steps are as follows:
S21, by Industrial Ethernet bus, CNC system main website the starting stage or anxious stop unclamping time, using the absolute position of each gating devices of feedback as system lathe coordinate position; In system normal course of operation, the absolute position data of each gating devices that system directive position and cycle obtain makes position PID closed-loop process, and the instruction speed obtained controls the operation of servo-drive system, the motion of resulting belt motivation bed;
S22, each grating axle equipment are effective or invalid by Selecting parameter, when grating axle equipment choice is invalid, do semiclosed loop process by the feedback position of servo, but corresponding stop position data show by diagnosis;
S23, stop position direction are selected by optimum configurations, guarantee that grating direction of motion and axis servomotor direction of motion are consistent, thus ensure effective operation of PID position closed loop;
S24, system provide and arrange lathe function at zero point, when grating zero point is set, the zero offset arranging grating is kept in the ferroelectric internal memory of CNC system main website, even if system cut-off does not also disappear, the stop position of such periodic feedback and the difference of zero offset value are exactly actual grating feedback position;
S25, feed shaft motor adopt absolute type motor encoder, and system cut-off restarts the feedback position also remembering feed shaft motor, when the difference of the absolute grating position of feedback and the position of feed shaft motor feedback exceedes the permissible range of optimum configurations, then produces warning.
4. according to claim 3 based on the absolute grating control method of Industrial Ethernet bus, it is characterized in that, system has static overproof and dynamic overproof parameter, when the system is initiated, when the positional value of instruction and the grating absolute position values of feedback are in the overproof parameter area of static state, system PID close-loop automatic adjustment stop position value is to the positional value of instruction, otherwise system directive value follows grating feedback positional value; During system quiescence, deviation maximal value is static overproof parameter value, and during system motion, then deviation maximal value automatically switches to dynamic overproof parameter value, if when the deviate of system directive positional value and grating feedback positional value exceedes deviation maximal value, starts overproof warning.
5. according to claim 3 based on the absolute grating control method of Industrial Ethernet bus, it is characterized in that, the coordinate figure of linear grating and the command coordinate value of system are consistent, and therefore can directly adopt PID closed-loop process; And angle grating value of feedback always changes within the scope of 0 to 360 degree, but command coordinate value then may be inconsistent with it, therefore can not directly adopt PID closed-loop process, also needs to do corresponding coupling conversion process to feedback grating coordinate figure; The method converted is as follows:
Grating multi cycle value=system directive coordinate figure/360;
Feedback coordinates value=grating multi cycle value * 360+ grating feedback coordinate figure that actual PID calculates
Now can carry out the computing of PID closed-loop or Double position loop, it is noted herein that, the raster coordinate value of feedback may 0 degree of minizone saltus step with 360 degree, there is the difference of nearly 360 degree in the feedback coordinates value possibility and instruction coordinate figure that the PID now obtained calculates, therefore needs the positional value after considering this factor to be only the machine feedback coordinate figure of final PID calculating.
6. according to claim 3 based on the absolute grating control method of Industrial Ethernet bus; it is characterized in that; except using the CRC check of industrial ethernet protocol itself; real-time communication protocol between CNC system main website and grating adapter slave station is protected by two-way handshake energizing signal; namely the upset that to communicate word cycle of the FEEDBACK CONTROL of instruction control word and the grating adapter slave station of CNC system main website is shaken hands; ensure that periodic communication data all have upset handshake and just receive new data, guarantee the data security of system real-time Communication for Power further.
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