CN103095537B - Numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment - Google Patents

Numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment Download PDF

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Publication number
CN103095537B
CN103095537B CN201210584687.9A CN201210584687A CN103095537B CN 103095537 B CN103095537 B CN 103095537B CN 201210584687 A CN201210584687 A CN 201210584687A CN 103095537 B CN103095537 B CN 103095537B
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China
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industrial ethernet
bus
ethernet bus
data
dual port
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CN201210584687.9A
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Chinese (zh)
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CN103095537A (en
Inventor
朱志红
田茂胜
周会成
凌文峰
周星
王祎
陈天航
蔡飞
向磊
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武汉华中数控股份有限公司
华中科技大学
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Abstract

The invention discloses a numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment. The numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment comprises a human-computer interaction unit and a main control unit, wherein the human-computer interaction unit is composed of a communication and data exchange interface, a liquid crystal display (LCD) screen, an operation panel and the like, the main control unit is of a structure of a central processing unit (CUP) and a field programmable gata array (FPGA), the CUP and the FPGA conduct data exchange through a system bus interface module. A first industrial Ethernet bus master station function module, a first twin-end data storage device, a first network chip, a first network interface and the like are used for dealing with a first class industrial Ethernet bus protocol and transmitting data, a second industrial Ethernet bus master station function module, a second twin-end data storage device, a second network chip, a second network interface and the like are used for dealing with a second class industrial Ethernet bus protocol and transmitting the data, an interrupt signal processing module conducts logical control to interrupt application signals output by the two-class bus master station modules to the CPU, and concurrent control over two classes of buses is achieved.

Description

A kind of numerical control device of parallel control two class Industrial Ethernet bus slave station equipment
Technical field
The invention belongs to fields of numeric control technique, specifically, relate to the numerical control device of a kind of parallel control two class Industrial Ethernet bus slave station equipment (slave station equipment comprises the driving of bus type main axle servo, feed servo driving, I/O unit etc.), for the control of Digit Control Machine Tool.
Background technology
The total digitalization of digital control system is the inexorable trend of Numeric Control Technology development, also be one of key content of fields of numeric control technique research both at home and abroad at present, and be the key technology realizing digital control system total digitalization at the Industrial Ethernet bussing technique that fields of numeric control technique is widely applied gradually.
Because the Industrial Ethernet bus protocol of international standard has multiple, various Industrial Ethernet bus protocol does not possess compatibility mutually, the Industrial Ethernet bus protocol that current domestic and international various bus-type numerical control system uses all is fought separately, thus causing the interface of the numerical control device of each family incompatible, product does not possess interchangeability; On the other hand, although there are some digital control systems can compatible different Industrial Ethernet bus protocol at present, but, these digital control systems generally need in numerical control device, to change different bus interface card hardware to adapt to different bus protocols, and different bus apparatus can not compatibility and co-existence, more can not concurrent working.Also do not have at present digital control system can compatible two class bus protocols and make two quasi-protocol concurrent workings simultaneously, namely when not changing any hardware, on same numerical control device, Parallel Implementation two class different bus agreement master function, connects simultaneously and controls the slave station equipment of two class bus protocols and make it mutually coordinate concurrent working.
Above problem causes the technology barriers between digital control system product, causing between various bus type numerical control device mutually can not compatibility and co-existence, have impact on the Scalable Performance of digital control system product, cause digital control system product can not meet the diversification of user, interchangeable configuration needs well.
Summary of the invention
For the defect of prior art, the object of the present invention is to provide a kind of numerical control device of parallel control two class Industrial Ethernet bus slave station equipment, be intended to solve dissimilar Industrial Ethernet bus apparatus in bus-type numerical control system can not compatibility and co-existence, can not the problem of collaborative work.
The invention provides a kind of numerical control device of parallel control two class Industrial Ethernet bus slave station equipment, comprise man-machine interaction unit and main control unit, described main control unit comprises CPU, system bus interface module, first dual port data memory, second dual port data memory, interrupt signal processing module, the the first Industrial Ethernet bus master functional module, first network chip and the first network interface that connect successively, and the second Industrial Ethernet bus master functional module, second network chip and the second network interface that connect successively, write in described first dual port data memory and the second dual port data memory respectively through described system bus interface module after the numerical control machining data that CPU inputs man-machine interaction unit, control command and system parameters carry out calculation process, described first Industrial Ethernet bus master functional module reads data and carries out encapsulation process according to first kind Industrial Ethernet bus protocol standard to data from described first dual port data memory, then the slave station of first kind Industrial Ethernet bus is sent to through first network chip and first network interface, and will the position of each axle feeding back to numerical control device be needed after slave station process, speed, electric current and switching value data are uploaded by described first network interface, uploading data feeds back to the first Industrial Ethernet bus master functional module through described first network chip, the bus data of the first Industrial Ethernet bus master functional module to feedback unpacks process, data after unpacking are written in the first dual port data memory, after data have write, described first Industrial Ethernet bus master functional module interrupts application signal to described interrupt signal processing module write first, described second Industrial Ethernet bus master functional module reads data and carries out encapsulation process according to Equations of The Second Kind Industrial Ethernet bus protocol standard to data from described second dual port data memory, then through the slave station being sent to Equations of The Second Kind Industrial Ethernet bus of second network chip and second network interface, the position of each axle feeding back to numerical control device will be needed after slave station process, speed, electric current and switching value data are uploaded by described second network interface, uploading data feeds back to described second Industrial Ethernet bus master functional module through described second network chip, the bus data of described second Industrial Ethernet bus master functional module to feedback unpacks process, data after unpacking write in described second dual port data memory, after data have write, second Industrial Ethernet bus master functional module interrupts application signal to described interrupt signal processing module write second, described interrupt signal processing module is interrupted application signal and described second to described first and is interrupted application signal and carry out logic and operation, obtains one the shared 3rd and interrupts application signal and interrupt application signal by the described 3rd being sent to CPU, CPU receives the described 3rd and interrupts writing interrupt signal clear command to remove all interrupt signals in the backward described interrupt signal processing module of application signal, and from described first dual port data memory and described second dual port data memory, read the data that first kind Industrial Ethernet bus and Equations of The Second Kind Industrial Ethernet bus upload respectively, to the data issued be needed to write in the first dual port data memory and the second dual port data memory respectively by system bus interface module after CPU processes data, result is outputted in LCD display simultaneously and show.
Further, described system bus interface module, described first dual port data memory, described second dual port data memory and described interrupt signal processing module are arranged in FPGA.
Further, make the control cycle of first kind Industrial Ethernet bus identical with the duration of the control cycle of Equations of The Second Kind Industrial Ethernet bus by arranging the first Industrial Ethernet bus master functional module with the bus marco parameter in the second Industrial Ethernet master function module.
Further, described first Industrial Ethernet bus master functional module and described second Industrial Ethernet master function module installation are in FPGA.
Further, described CPU is connected with FPGA by system bus.
Further, described first Industrial Ethernet bus master functional module is the first ARM microprocessor or FPGA or embedded x86 microprocessor or DSP or single-chip microcomputer.
Further, described second Industrial Ethernet master function module is the second arm processor or FPGA or embedded x86 microprocessor or DSP or single-chip microcomputer.
The numerical control device of parallel control two class Industrial Ethernet bus slave station equipment provided by the invention is in same numerical control device, by shared interruption, the mode sharing internal memory, achieve the integrated of two class Industrial Ethernet bus master functions, can connect when not changing any hardware simultaneously and control two class bus slave station equipment, and make it mutually coordinate concurrent working, this is conducive to breaking the technology barriers between fields of numeric control technique different bus agreement, promote the Scalable Performance of digital control system, meet the diversification of user, interchangeable configuration needs.
Accompanying drawing explanation
Fig. 1 is the modular structure schematic diagram of the numerical control device of the parallel control two class Industrial Ethernet bus slave station equipment that the embodiment of the present invention provides;
Fig. 2 is the function structure chart of the numerical control device of the parallel control two class Industrial Ethernet bus slave station equipment that first embodiment of the invention provides;
Fig. 3 is the function structure chart of the numerical control device of the parallel control two class Industrial Ethernet bus slave station equipment that second embodiment of the invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
The present invention proposes a kind of numerical control device of parallel control two class Industrial Ethernet bus slave station equipment, in same numerical control device, by shared interruption, share the mode of internal memory, achieve the integrated of two class Industrial Ethernet bus master functions, can connect when not changing any hardware simultaneously and control two class bus slave station equipment, and make it mutually coordinate concurrent working, this is conducive to breaking the technology barriers between fields of numeric control technique different bus agreement, promote the Scalable Performance of digital control system, meet the diversification of user, interchangeable configuration needs.
As shown in Figure 1, numerical control device proposed by the invention comprises man-machine interaction unit, the large major part of main control unit two: wherein man-machine interaction unit comprises communication and data exchange interface (as USB, RS232, Internet, CF card interface etc.), LCD display, guidance panel etc., and man-machine interaction unit is mainly used in carrying out optimum configurations, Equipments Setting, NC Machining Program, manual operation, storage and more new data, networking control etc. to digital control system, main control unit is the core of whole numerical control device, main control unit adopts the basic structure of " CPU+FPGA(field programmable gate array) ", mainly comprise CPU, field programmable gate array (FPGA), two Industrial Ethernet bus master functional modules (the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module), two network chip (first network chips, second network chip), two network interface (first network interfaces, second network interface) etc., the CPU that the present invention uses can be x86 microprocessor, the various processors such as POWER PC processor, but be not limited to this, numerical control device hardware designed by the present invention also comprises other various auxiliary elements, as power management chip, resistance, electric capacity, inductance etc., does not elaborate at this.
Operation system, CNC control application software, two class Industrial Ethernet bus protocol integrated driving softwares etc. in CPU, CPU carries out exchanges data by system bus and FPGA, the present invention as used herein system bus can be pci bus, PCI-E bus, isa bus, PC/104 bus, VME bus, STD bus, Compact pci bus etc., but is not limited to this; CPU utilizes two class Industrial Ethernet bus protocol integrated driving softwares to dual port data memory (the first dual port data memory and the second dual port data memory) address spaces different in two class bus master data allocations FPGA, realize two class bus datas and share internal memory, the data of both guarantees are not disturbed mutually, CPU only needs read from the first dual port data memory and the second dual port data memory or write the various application datas needed for CNC control application software to it, and does not need process two class Industrial Ethernet bus protocol.
Two class Industrial Ethernet bus master functions realize respectively in the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module, wherein the first Industrial Ethernet bus master functional module is for the treatment of first kind Industrial Ethernet bus protocol, realize first kind Industrial Ethernet bus master function, comprise data encapsulation, unpack, retransmit, error correction, state machine switches etc., carry out exchanges data by first network chip and first network interface and first kind Industrial Ethernet bus slave station; Second Industrial Ethernet bus master functional module is for the treatment of Equations of The Second Kind Industrial Ethernet bus protocol, realize Equations of The Second Kind Industrial Ethernet bus master function, comprise data encapsulation, unpack, retransmit, error correction, state machine switches etc., carry out exchanges data by second network chip and second network interface and Equations of The Second Kind Industrial Ethernet bus slave station.In order to ensure the synchronism that two class Industrial Ethernet bus master functions perform, the control cycle of two class Industrial Ethernet buses by the setting to bus marco parameter, is set as identical duration by the present invention in the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module; First Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module can use hardware description language design to realize in the FPGA that the present invention is used, also independently microprocessor Design can be used respectively to realize, the microprocessor that the present invention uses herein can be embedded ARM processor, FPGA, digital signal processor (DSP), single-chip microcomputer etc., but is not limited to this; The implementation of two Industrial Ethernet master function modules will further describe in the first embodiment of the present invention and the second embodiment.
When the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module adopt that two independently microprocessor realizes respectively the detailed description of this implementation (can with reference to the first embodiment of the present invention), hardware description language need be used to realize three functional modules in FPGA inside: first functional module is system bus interface module, for the transfer of data between CPU and FPGA, CPU is by the dual port data memory in system bus interface read-write FPGA, second functional module in FPGA is two dual port data memory (the first dual port data memory and the second dual port data memory), be respectively used to deposit two class Industrial Ethernet bus requirementses receive, the application data sent out, also be the memory headroom that CPU and two Industrial Ethernet bus master functional module (the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module) carries out exchanges data, wherein the first Industrial Ethernet bus master functional module uses the first dual port data memory, second Industrial Ethernet bus master functional module uses the second dual port data memory, by this mode sharing internal memory, ensure that two class Industrial Ethernet bus datas do not interfere with each other, can compatibility and co-existence, the 3rd functional module in FPGA is interrupt signal processing module, the interruption application signal that this module in charge process first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module are sent, after interrupting applying for that signal carries out logic "and" operation to these two, be processed into the unique intererrupt application signal that the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module share, and send it to CPU, in addition, when interrupt signal processing module receives the interrupt clear order that CPU issues, remove above-mentioned all interruption application signals immediately, by the mode of this shared interruption, achieve the synchronism of two class Industrial Ethernet bus data transfer.
When the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module use hardware description language design to realize in FPGA the detailed description of this implementation (can with reference to the second embodiment of the present invention), the functional module that hardware description language need be used to realize in FPGA inside is except above-mentioned system bus interface module, 2 dual port data memory, outside three functional modules such as interrupt signal processing module, also comprise the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module, the function that these two modules (the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module) realized in FPGA possess and above-mentioned employing separate microprocessor to realize the function of two modules (the first Industrial Ethernet bus master functional module and the second Industrial Ethernet master function module) identical, no longer describe in detail at this.
The each parts of numerical control device and the module detailed functions in data processing of the present invention's design are as follows: in a control cycle of two class Industrial Ethernet buses, the information such as numerically controlled machining programme order sequenced data, control command, system parameters of main control unit is passed to from man-machine interaction unit, carry out the various calculation process such as decoding explanation, interpolation operation, logical operation through CPU after, be written in the first dual port data memory in FPGA and the second dual port data memory by CPU respectively by system bus interface, first Industrial Ethernet bus master functional module reads data from the first dual port data memory, and according to first kind Industrial Ethernet bus protocol standard, encapsulation process is carried out to data, then (slave station comprises main axle servo to send to each slave station of first kind Industrial Ethernet bus through the data transmitting channel of first network chip and first network interface, feed servo, I/O unit etc.), after each slave station of first kind Industrial Ethernet bus processes related data, (position of each axle is comprised by needing the data feeding back to numerical control device, speed, electric current, the information such as switching value) uploaded by the data receiving channel of first network interface, uploading data feeds back to the first Industrial Ethernet bus master functional module through first network chip, the bus data of the first Industrial Ethernet bus master functional module to feedback unpacks process, data after unpacking are written in the first dual port data memory in FPGA, after data have write, first Industrial Ethernet bus master functional module interrupts application signal to the interrupt signal processing module write in FPGA, second Industrial Ethernet bus master functional module reads data from the second dual port data memory, and according to Equations of The Second Kind Industrial Ethernet bus protocol standard, encapsulation process is carried out to data, then (slave station comprises main axle servo to send to each slave station of Equations of The Second Kind Industrial Ethernet bus through the data transmitting channel of second network chip and second network interface, feed servo, I/O unit etc.), after each slave station of Equations of The Second Kind Industrial Ethernet bus processes related data, (position of each axle is comprised by needing the data feeding back to numerical control device, speed, electric current, the information such as switching value) uploaded by the data receiving channel of second network interface, uploading data feeds back to the second Industrial Ethernet bus master functional module through second network chip, the bus data of the second Industrial Ethernet bus master functional module to feedback unpacks process, data after unpacking are written in the second dual port data memory in FPGA, after data have write, second Industrial Ethernet bus master functional module also interrupts application signal to the interrupt signal processing module write in FPGA, interrupt signal processing module in FPGA is interrupted application signal to two and is carried out logic "and" operation process, two is interrupted application signal and is processed into shared unique intererrupt application signal, and this signal is sent to CPU, after CPU receives and interrupts application signal, first in FPGA, write interrupt clear order interrupt application signal to remove, then from the first dual port data memory FPGA and the second dual port data memory, read the data that two class Industrial Ethernet buses are uploaded respectively, and call the calculation process that CNC control application software is correlated with to data, after CPU processes data, again be written in the first dual port data memory in FPGA and the second dual port data memory by needing the data that issue respectively by system bus interface, result is shown in the man-machine interface of LCD display simultaneously, complete the exchanges data of one-period.
In same numerical control device of the present invention, the integrated of two class industrial ethernet protocol master function is achieved when not changing any hardware, and achieve the concurrent working of this two classes bus protocol function, this is conducive to breaking the technology barriers between fields of numeric control technique different bus agreement, realize compatibility and co-existence and the concurrent working of different bus formula digital control system product, the Scalable Performance of digital control system can be promoted widely, enable digital control system meet the diversification of user, interchangeable configuration needs; Use same numerical control device of the present invention, two class different bus slave station equipment can be connected, comprise main axle servo driving, feed servo driving, I/O unit etc., and can by any for these equipment matched combined, therefore, the product that in inhomogeneity bus slave station digital control system equipment different manufacturers can developed, performance is best combines, collocation obtains complete digital control system, the mutual supplement with each other's advantages of two class bus apparatus can be formed, be reduced to the defect in cover digital control system performance, promote the overall performance of digital control system.
In order to further the present invention is described, now in conjunction with instantiation, details are as follows:
First embodiment: shown in accompanying drawing 2 is the function structure chart of the numerical control device of the parallel control two class Industrial Ethernet bus slave station equipment that first embodiment of the invention provides.The EtherCAT(Real Time Ethernet Control Automation Technology of international standard that what the numerical control device of the first embodiment adopted is) NCUC-Bus Industrial Ethernet bus (the NCUnion of China Field Bus of Industrial Ethernet bus and China, digital control system on-the-spot bussing technique standard consortium bus), the present invention can use this two classes Industrial Ethernet bus, but being not limited to this, also can be other kinds Industrial Ethernet bus.
The numerical control device of the first embodiment comprises man-machine interaction unit, the large major part of main control unit two: wherein man-machine interaction unit comprises communication and data exchange interface (USB, RS232, Internet, CF card interface etc.), LCD display, guidance panel etc., and man-machine interaction unit is mainly used in carrying out optimum configurations, Equipments Setting, NC Machining Program, manual operation, storage and more new data, networking control etc. to digital control system, main control unit is the core of whole numerical control device, main control unit adopts the basic structure of " embedded x86 microprocessor+FPGA(field programmable gate array) ", mainly comprise embedded x86 microprocessor, FPGA(field programmable gate array), two arm processors (the first arm processor and the second arm processor), two network chip (first network chips, second network chip), two network interface (first network interfaces, second network interface) etc., CPU used in the present invention can be embedded x86 microprocessor, but be not limited to this, also can be other various processors, numerical control device hardware designed by first embodiment of the invention also comprises other various auxiliary elements, as power management chip, resistance, electric capacity, inductance etc., does not elaborate at this.
Operation system in embedded x86 microprocessor, CNC control application software, two class Industrial Ethernet bus protocol integrated driving softwares etc., embedded x86 microprocessor carries out exchanges data by pci bus and FPGA, and (the present invention's system bus used herein can be pci bus, but be not limited to this, also can be other kinds system bus), embedded x86 microprocessor utilizes two class Industrial Ethernet bus protocol integrated driving softwares to dual port data memory (the first dual port data memory and the second dual port data memory) address spaces different in two class bus master data allocations FPGA, embedded x86 microprocessor only needs read from the first dual port data memory and the second dual port data memory or write the various application datas needed for CNC control application software to it, and do not need process two class Industrial Ethernet bus protocol.
First arm processor and the second arm processor are used as bus protocol processor, be respectively used to realize two class Industrial Ethernet bus master functions, two bus protocol processors that the present invention designs herein can be arm processors, but being not limited to this, also can be FPGA(field programmable gate array), DSP(digital signal processor), embedded x86 microprocessor, single-chip microcomputer etc.; Wherein the first arm processor is for the treatment of NCUC-Bus Industrial Ethernet bus protocol, realize NCUC-Bus Industrial Ethernet bus master function, comprise data encapsulation, unpack, retransmit, error correction, state machine switches etc., carry out exchanges data by first network chip and first network interface and NCUC-Bus Industrial Ethernet bus slave station; Second arm processor is for the treatment of EtherCAT Industrial Ethernet bus protocol, realize EtherCAT Industrial Ethernet bus master function, comprise data encapsulation, unpack, retransmit, error correction, state machine switches etc., carry out exchanges data by second network chip and second network interface and EtherCAT Industrial Ethernet bus slave station.In order to ensure the synchronism that two class Industrial Ethernet bus master functions perform, the numerical control device of the first embodiment passes through the setting to bus marco parameter in the first arm processor and the second arm processor, the control cycle of two class Industrial Ethernet buses is set as identical duration, is all set as 1ms.
Hardware description language need be used to realize three functional modules in the numerical control device FPGA inside of the first embodiment: first functional module is pci bus interface module, for the exchanges data between embedded x86 microprocessor and FPGA, second functional module in FPGA is two dual port data memory (the first dual port data memory and the second dual port data memory), be respectively used to deposit NCUC-Bus Industrial Ethernet bus and EtherCAT Industrial Ethernet bus requirements receipts, the application data sent out, also be the memory headroom that embedded x86 microprocessor and two arm processors (the first arm processor and the second arm processor) carry out exchanges data, wherein the first arm processor uses the first dual port data memory, second arm processor uses the second dual port data memory, by this mode sharing internal memory, ensure that two class Industrial Ethernet bus datas do not interfere with each other, can compatibility and co-existence, the 3rd functional module in FPGA is interrupt signal processing module, the interruption application signal that this module in charge process first arm processor and the second arm processor are sent, after interrupting applying for that signal carries out logic "and" operation to these two, be processed into the unique intererrupt application signal that the first arm processor and the second arm processor share, and send it to embedded x86 microprocessor, in addition, when interrupt signal processing module receives the interrupt clear order that embedded x86 microprocessor issues, remove above-mentioned all interruption application signals immediately, by the mode of this shared interruption, achieve the synchronism of two class Industrial Ethernet bus data transfer.
The each parts of numerical control device and the module detailed functions in data processing of the first embodiment design are as follows: in a control cycle of two class Industrial Ethernet buses, the numerically controlled machining programme order sequenced data of main control unit is passed to from man-machine interaction unit, control command, the information such as system parameters, decoding explanation is carried out through embedded x86 microprocessor, interpolation operation, after the various calculation process such as logical operation, by embedded x86 microprocessor, by pci bus interface, (the present invention's system bus used herein can be pci bus, but be not limited to this, also can be other various system buss) be written in the first dual port data memory in FPGA and the second dual port data memory respectively, first arm processor reads data from the first dual port data memory, and according to NCUC-Bus Industrial Ethernet bus protocol standard, encapsulation process is carried out to data, then (slave station comprises main axle servo to send to each slave station of NCUC-Bus Industrial Ethernet bus through the data transmitting channel of first network chip and first network interface, feed servo, I/O unit etc.), after each slave station of NCUC-Bus Industrial Ethernet bus processes related data, (position of each axle is comprised by needing the data feeding back to numerical control device, speed, electric current, the information such as switching value) uploaded by the data receiving channel of first network interface, uploading data feeds back to the first arm processor through first network chip, the bus data of the first arm processor to feedback unpacks process, and the data after unpacking are written in the first dual port data memory in FPGA, after data have write, first arm processor interrupts application signal to the interrupt signal processing module write in FPGA, second arm processor reads data from the second dual port data memory, and according to EtherCAT Industrial Ethernet bus protocol standard, encapsulation process is carried out to data, then (slave station comprises main axle servo to send to each slave station of EtherCAT Industrial Ethernet bus through the data transmitting channel of second network chip and second network interface, feed servo, I/O unit etc.), after each slave station of EtherCAT Industrial Ethernet bus processes related data, (position of each axle is comprised by needing the data feeding back to numerical control device, speed, electric current, the information such as switching value) uploaded by the data receiving channel of second network interface, uploading data feeds back to the second arm processor through second network chip, the bus data of the second arm processor to feedback unpacks process, and the data after unpacking are written in the second dual port data memory in FPGA, after data have write, second arm processor also interrupts application signal to the interrupt signal processing module write in FPGA, interrupt signal processing module in FPGA is interrupted application signal to above-mentioned two and is carried out logic "and" operation process, two is interrupted application signal and is processed into shared unique intererrupt application signal, and this signal is sent to embedded x86 microprocessor, after embedded x86 microprocessor receives and interrupts application signal, first in FPGA, write interrupt clear order interrupt application signal to remove, then from the first dual port data memory FPGA and the second dual port data memory, read the data that two class Industrial Ethernet buses are uploaded respectively, and call the calculation process that CNC control application software is correlated with to data, after the complete data of embedded x86 microprocessor processes, again be written in the first dual port data memory in FPGA and the second dual port data memory by needing the data that issue respectively by pci bus interface, result is shown in the man-machine interface of LCD display simultaneously, complete the exchanges data of one-period.
In a first embodiment, two class bus slave station equipment can configure connection by the mode shown in accompanying drawing 2, but are not limited thereto kind of a connected mode, and the I/O unit that every class bus connects and servo drive unit quantity can configure flexibly according to practical application request.
Second embodiment: as shown in Figure 3 be the function structure chart of the numerical control device of the parallel control two class Industrial Ethernet bus slave station equipment that second embodiment of the invention provides.The EtherCAT(Real Time Ethernet Control Automation Technology of international standard that what the numerical control device of the second embodiment adopted is) NCUC-Bus Industrial Ethernet bus (the NCUnion of China Field Bus of Industrial Ethernet bus and China, digital control system on-the-spot bussing technique standard consortium bus), the present invention can use this two classes Industrial Ethernet bus, but being not limited to this, also can be other kinds Industrial Ethernet bus.
The numerical control device of the second embodiment comprises man-machine interaction unit, the large major part of main control unit two: wherein man-machine interaction unit comprises communication and data exchange interface (USB, RS232, Internet, CF card interface etc.), LCD display, guidance panel etc., and man-machine interaction unit is mainly used in carrying out optimum configurations, Equipments Setting, NC Machining Program, manual operation, storage and more new data, networking control etc. to digital control system; Main control unit is the core of whole numerical control device, main control unit adopts the basic structure of " embedded x86 microprocessor+FPGA(field programmable gate array) ", mainly comprise embedded x86 microprocessor, FPGA(field programmable gate array), two network chips (first network chip, second network chip), two network interfaces (first network interface, second network interface) etc., CPU used in the present invention can be embedded x86 microprocessor, but being not limited to this, also can be other various processors; Numerical control device hardware designed by second embodiment of the invention also comprises other various auxiliary elements, as power management chip, resistance, electric capacity, inductance etc., does not elaborate at this.
Operation system in embedded x86 microprocessor, CNC control application software, two class Industrial Ethernet bus protocol integrated driving softwares etc., embedded x86 microprocessor carries out exchanges data by pci bus and FPGA, and (the present invention's system bus used herein can be pci bus, but be not limited to this, also can be other kinds system bus), embedded x86 microprocessor utilizes two class Industrial Ethernet bus protocol integrated driving softwares to dual port data memory (the first dual port data memory and the second dual port data memory) address spaces different in two class bus master data allocations FPGA, embedded x86 microprocessor only needs read from the first dual port data memory and the second dual port data memory or write the various application datas needed for CNC control application software to it, and do not need process two class Industrial Ethernet bus protocol.
Hardware description language need be used to realize five functional modules in the FPGA inside of the second embodiment numerical control device, respectively: pci bus interface module, two dual port data memory (the first dual port data memory and the second dual port data memory), interrupt signal processing module, NCUC-Bus bus master functional module, EtherCAT bus master functional module, wherein pci bus interface module is used for the exchanges data between embedded x86 microprocessor and FPGA, first dual port data memory and the second dual port data memory are respectively used to deposit NCUC-Bus Industrial Ethernet bus and EtherCAT Industrial Ethernet bus requirements receipts, the application data sent out, also be embedded x86 microprocessor and NCUC-Bus bus master functional module, EtherCAT bus master functional module carries out the memory headroom of exchanges data, wherein NCUC-Bus bus master functional module uses the first dual port data memory, EtherCAT bus master functional module uses the second dual port data memory, by this mode sharing internal memory, ensure that two class Industrial Ethernet bus datas do not interfere with each other, can compatibility and co-existence, interrupt signal processing module is responsible for processing the interruption application signal that NCUC-Bus bus master functional module and EtherCAT bus master functional module send, after interrupting applying for that signal carries out logic "and" operation to these two, be processed into shared unique intererrupt application signal, and send it to embedded x86 microprocessor, in addition, when interrupt signal processing module receives the interrupt clear order that embedded x86 microprocessor issues, remove above-mentioned all interruption application signals immediately, by the mode of this shared interruption, achieve the synchronism of two class Industrial Ethernet bus data transfer, NCUC-Bus bus master functional module is for the treatment of NCUC-Bus Industrial Ethernet bus protocol, realize NCUC-Bus Industrial Ethernet bus master function, comprise data encapsulation, unpack, retransmit, error correction, state machine switches etc., carry out exchanges data by first network chip and first network interface and NCUC-Bus Industrial Ethernet bus slave station, EtherCAT bus master functional module is for the treatment of EtherCAT Industrial Ethernet bus protocol, realize EtherCAT Industrial Ethernet bus master function, comprise data encapsulation, unpack, retransmit, error correction, state machine switches etc., carry out exchanges data by second network chip and second network interface and EtherCAT Industrial Ethernet bus slave station.In order to ensure the synchronism that two class Industrial Ethernet bus master functions perform, the numerical control device of the second embodiment passes through the setting to bus marco parameter in NCUC-Bus bus master functional module and EtherCAT bus master functional module, the control cycle of two class Industrial Ethernet buses is set as identical duration, is all set as 1ms.
The each parts of numerical control device and the module detailed functions in data processing of the second embodiment design are as follows: in a control cycle of two class Industrial Ethernet buses, the numerically controlled machining programme order sequenced data of main control unit is passed to from man-machine interaction unit, control command, the information such as system parameters, decoding explanation is carried out through embedded x86 microprocessor, interpolation operation, after the various calculation process such as logical operation, by embedded x86 microprocessor, by pci bus interface, (the present invention's system bus used herein can be pci bus, but be not limited to this, also can be other various system buss) be written in the first dual port data memory in FPGA and the second dual port data memory respectively, NCUC-Bus bus master functional module reads data from the first dual port data memory, and according to NCUC-Bus Industrial Ethernet bus protocol standard, encapsulation process is carried out to data, then (slave station comprises main axle servo to send to each slave station of NCUC-Bus Industrial Ethernet bus through the data transmitting channel of first network chip and first network interface, feed servo, I/O unit etc.), after each slave station of NCUC-Bus Industrial Ethernet bus processes related data, (position of each axle is comprised by needing the data feeding back to numerical control device, speed, electric current, the information such as switching value) uploaded by the data receiving channel of first network interface, uploading data feeds back to NCUC-Bus bus master functional module through first network chip, the bus data of NCUC-Bus bus master functional module to feedback unpacks process, and the data after unpacking are written in the first dual port data memory in FPGA, after data have write, NCUC-Bus bus master functional module interrupts application signal to the write of interrupt signal processing module, EtherCAT bus master functional module reads data from the second dual port data memory, and according to EtherCAT Industrial Ethernet bus protocol standard, encapsulation process is carried out to data, then (slave station comprises main axle servo to send to each slave station of EtherCAT Industrial Ethernet bus through the data transmitting channel of second network chip and second network interface, feed servo, I/O unit etc.), after each slave station of EtherCAT Industrial Ethernet bus processes related data, (position of each axle is comprised by needing the data feeding back to numerical control device, speed, electric current, the information such as switching value) uploaded by the data receiving channel of second network interface, uploading data feeds back to EtherCAT bus master functional module through second network chip, the bus data of EtherCAT bus master functional module to feedback unpacks process, and the data after unpacking are written in the second dual port data memory in FPGA, after data have write, EtherCAT bus master functional module also interrupts application signal to the interrupt signal processing module write in FPGA, interrupt signal processing module in FPGA is interrupted application signal to two and is carried out logic "and" operation process, two is interrupted application signal and is processed into shared unique intererrupt application signal, and this signal is sent to embedded x86 microprocessor, after embedded x86 microprocessor receives and interrupts application signal, first in FPGA, write interrupt clear order interrupt application signal to remove, then from the first dual port data memory FPGA and the second dual port data memory, read the data that two class Industrial Ethernet buses are uploaded respectively, and call the calculation process that CNC control application software is correlated with to data, after the complete data of embedded x86 microprocessor processes, again be written in the first dual port data memory in FPGA and the second dual port data memory by needing the data that issue respectively by pci bus interface, result is shown in the man-machine interface of LCD display simultaneously, complete the exchanges data of one-period.
In the second embodiment shown in accompanying drawing 3, two class bus slave station equipment can configure connection by the mode shown in accompanying drawing 3, but be not limited thereto kind of a connected mode, the I/O unit that every class bus connects and servo drive unit quantity can configure flexibly according to practical application request.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.

Claims (7)

1. the numerical control device of a parallel control two class Industrial Ethernet bus slave station equipment, comprise man-machine interaction unit and main control unit, it is characterized in that, described main control unit comprises CPU, system bus interface module, first dual port data memory, second dual port data memory, interrupt signal processing module, the the first Industrial Ethernet bus master functional module connected successively, first network chip and first network interface, and the second Industrial Ethernet bus master functional module connected successively, second network chip and second network interface;
Write in described first dual port data memory and the second dual port data memory respectively through described system bus interface module after the numerical control machining data that CPU inputs man-machine interaction unit, control command and system parameters carry out calculation process;
Described first Industrial Ethernet bus master functional module reads data and carries out encapsulation process according to first kind Industrial Ethernet bus protocol standard to data from described first dual port data memory, then the slave station of first kind Industrial Ethernet bus is sent to through first network chip and first network interface, and will the position of each axle feeding back to numerical control device be needed after slave station process, speed, electric current and switching value data are uploaded by described first network interface, uploading data feeds back to the first Industrial Ethernet bus master functional module through described first network chip, the bus data of the first Industrial Ethernet bus master functional module to feedback unpacks process, data after unpacking are written in the first dual port data memory, after data have write, described first Industrial Ethernet bus master functional module interrupts application signal to described interrupt signal processing module write first,
Described second Industrial Ethernet bus master functional module reads data and carries out encapsulation process according to Equations of The Second Kind Industrial Ethernet bus protocol standard to data from described second dual port data memory, then through the slave station being sent to Equations of The Second Kind Industrial Ethernet bus of second network chip and second network interface, the position of each axle feeding back to numerical control device will be needed after slave station process, speed, electric current and switching value data are uploaded by described second network interface, uploading data feeds back to described second Industrial Ethernet bus master functional module through described second network chip, the bus data of described second Industrial Ethernet bus master functional module to feedback unpacks process, data after unpacking write in described second dual port data memory, after data have write, second Industrial Ethernet bus master functional module interrupts application signal to described interrupt signal processing module write second,
Described interrupt signal processing module is interrupted application signal and described second to described first and is interrupted application signal and carry out logic and operation, obtains one the shared 3rd and interrupts application signal and interrupt application signal by the described 3rd being sent to CPU;
CPU receives the described 3rd and interrupts writing interrupt signal clear command to remove all interrupt signals in the backward described interrupt signal processing module of application signal, and from described first dual port data memory and described second dual port data memory, read the data that first kind Industrial Ethernet bus and Equations of The Second Kind Industrial Ethernet bus upload respectively, to the data issued be needed to write in the first dual port data memory and the second dual port data memory respectively by system bus interface module after CPU processes data, result is outputted in LCD display simultaneously and show.
2. numerical control device as claimed in claim 1, it is characterized in that, described system bus interface module, described first dual port data memory, described second dual port data memory and described interrupt signal processing module are arranged in FPGA.
3. numerical control device as claimed in claim 1, it is characterized in that, making the control cycle of first kind Industrial Ethernet bus identical with the duration of the control cycle of Equations of The Second Kind Industrial Ethernet bus by arranging the first Industrial Ethernet bus master functional module with the bus marco parameter in the second Industrial Ethernet master function module.
4. numerical control device as claimed in claim 1, it is characterized in that, described first Industrial Ethernet bus master functional module and described second Industrial Ethernet master function module installation are in FPGA.
5. numerical control device as claimed in claim 4, it is characterized in that, described CPU is connected with FPGA by system bus.
6. numerical control device as claimed in claim 1, is characterized in that, described first Industrial Ethernet bus master functional module is the first ARM microprocessor or FPGA or embedded x86 microprocessor or DSP or single-chip microcomputer.
7. numerical control device as claimed in claim 6, is characterized in that, described second Industrial Ethernet master function module is the second arm processor or FPGA or embedded x86 microprocessor or DSP or single-chip microcomputer.
CN201210584687.9A 2012-12-28 2012-12-28 Numerical control device capable of concurrently controlling two-class industrial Ethernet bus slave station equipment CN103095537B (en)

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