CN105306326A - Implementation method of integration of various industrial buses on driver - Google Patents
Implementation method of integration of various industrial buses on driver Download PDFInfo
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- CN105306326A CN105306326A CN201510780378.2A CN201510780378A CN105306326A CN 105306326 A CN105306326 A CN 105306326A CN 201510780378 A CN201510780378 A CN 201510780378A CN 105306326 A CN105306326 A CN 105306326A
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Abstract
The invention discloses an implementation method of integration of various industrial buses on a driver, wherein a communication model of the driver is divided into a physical layer, a protocol layer, an interface layer and a drive application layer. The physical layer comprises a network hardware interface and a CAN hardware interface; the protocol layer comprises a Powerlink protocol stack, an EtherCAT protocol stack and a Cia301 protocol stack of CANOpen; the interface layer comprises a function interface, an object set and an object dictionary; and the drive application layer is used for implementing functions of a Cia402 protocol. The implementation method can simultaneously integrate functions of a Powerlink bus, an EtherCAT bus and a CANOpen bus on the driver, has higher transmission rate and supports synchronization of multiple drivers.
Description
Technical field
The present invention relates to movement control technology, particularly relate to the implementation method of the integrated multiple industrial bus of driver.
Background technology
Networking is one of important directions of industrial development, it is no matter the industrial robot in industry 4.0 or national development strategy, all Web based product is had higher requirement, impel traditional fieldbus to the future development of Industrial Ethernet, and real-time ethernet is the industrial network that in Industrial Ethernet, real-time is best.In motion control field, Powerlink and EtherCAT occupation rate of market is higher, and in traditional bus protocol, CANOpen because of its open, multi-field standardization, and is widely used in industrial motion control field.Therefore further vigorous to driving product (as servo, the frequency converter) demand of integrated EthernetPowerlink (hereinafter referred to as Powerlink), EtherCAT, CANOpen.
Current, also not towards drive, unified interface and the framework of simultaneously supporting Powerlink, EtherCAT, CANOpen bus.Traditional integrated approach, or be simply integrated (bus product as PORTING, IXXAT company) to hardware and agreement, unification does not provide interface to upper layer application; Towards communication provide interface (as Softing company, He You news), but due to its towards communication and each bus differ greatly, configuration and use procedure still more loaded down with trivial details.
Fig. 1 shows the traffic model configuration diagram of the driver of the method adopting existing a kind of integrated Powerlink, EtherCAT, CANOpen bus, the API representative function interface in figure.In this solution, often kind of industrial bus agreement all to have oneself object dictionary and object, need to carry out protocol conversion, and need respective protocol stack runnable interface.Its exchange process visible is complicated, and these agreements do not pay close attention to the synchronous of driving, do not provide sync cap specially for driving.
Summary of the invention
Technical problem to be solved by this invention is the implementation method providing the integrated multiple industrial bus of a kind of driver, it can the function of simultaneously integrated Powerlink bus, EtherCAT bus and CANOpen bus on a drive, and there is higher transmission rate, support the synchronous of driving.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The implementation method of the integrated multiple industrial bus of driver, described multiple industrial bus comprises Powerlink bus, EtherCAT bus and CANOpen bus, its feature is, the traffic model of described driver is divided into physical layer, protocol layer, interface layer and driving application layer;
Described physical layer is positioned at the bottom of whole traffic model, this physical layer packet includes network hardware interface and CAN hardware interface; Described protocol layer is between described physical layer and described interface layer, and this protocol layer comprises the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen; Described interface layer comprises function interface, object set and object dictionary; Described driving application layer is positioned at the top of interface layer, for realizing the function of Cia402 agreement;
Described network hardware interface is used for the data from Powerlink bus and EtherCAT bus to be transmitted to Powerlink protocol stack and EtherCAT protocol stack respectively, and the data from Powerlink protocol stack and EtherCAT protocol stack are sent to Powerlink bus and EtherCAT bus respectively; Described CAN hardware interface is used for by the data retransmission from CANOpen bus to the Cia301 protocol stack of CANOpen, and the data of the Cia301 protocol stack from CANOpen are sent to CANOpen bus;
Powerlink protocol stack and EtherCAT protocol stack send to described network hardware interface after being used for that the data from described object set are carried out encapsulation process according to Powerlink bus protocol and EtherCAT bus protocol respectively, and the data from Powerlink bus and EtherCAT bus forwarded by network hardware interface send to described object set after unpacking according to Powerlink bus protocol and EtherCAT bus protocol respectively; The Cia301 protocol stack of described CANOpen sends to described CAN hardware interface after being used for that the data from described object set are carried out encapsulation process according to CANOpen bus protocol, and sends to described object set after the data that CAN hardware interface forwards being unpacked according to CANOpen bus protocol;
Described function interface is for realizing the setting to communication type, the configuration to messaging parameter, to access and the management of object dictionary, managing and process sync break and asynchronous interrupt the state of protocol stack; Described object dictionary comprises the object meeting Cia301 agreement in Powerlink agreement, EtherCAT agreement and CANOpen agreement and Cia402 agreement.
After adopting technique scheme, the present invention at least has the following advantages:
1, have employed unified object dictionary and object for Powerlink bus, EtherCAT bus and CANOpen bus, provide unified function interface, make driver can support multiple industrial bus simultaneously, extend application, and can Speeding up development flow process, reduce development cost; The interface of simultaneously simplifying also makes efficiency of transmission higher;
2, providing the function interface for carrying out sync break process and asynchronous interrupt process towards the driving application layer of driver, supporting the synchronous of multiple driving;
3, unify the network hardware interface of Powerlink bus and EtherCAT bus, thus reduce hardware interface cost.
Accompanying drawing explanation
Fig. 1 shows the traffic model configuration diagram of the driver of the method adopting existing a kind of integrated Powerlink, EtherCAT, CANOpen bus.
Fig. 2 shows the traffic model configuration diagram of the driver of the method for integrated according to an embodiment of the invention Powerlink, EtherCAT, CANOpen bus of employing.
Fig. 3 shows function interface according to an embodiment of the invention and carries out initialized schematic flow sheet.
Fig. 4 shows the handling process schematic diagram after receiving sync break packet and asynchronous interrupt packet.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Refer to Fig. 2.The implementation method of the integrated multiple industrial bus of driver, divides the traffic model of driver in order to physical layer, protocol layer, interface layer and driving application layer according to an embodiment of the invention.Described multiple industrial bus comprises Powerlink bus, EtherCAT bus and CANOpen bus.
Physical layer is positioned at the bottom of whole traffic model, this physical layer packet includes network hardware interface and CAN hardware interface; Protocol layer is between physical layer and interface layer, and this protocol layer comprises the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen; Interface layer comprises function interface, object set and object dictionary; Application layer is driven to be positioned at the top of interface layer, for realizing the function of Cia402 agreement.
Network hardware interface is used for the data from Powerlink bus and EtherCAT bus to be transmitted to Powerlink protocol stack and EtherCAT protocol stack respectively, and the data from Powerlink protocol stack and EtherCAT protocol stack are sent to Powerlink bus and EtherCAT bus respectively.CAN hardware interface is used for by the data retransmission from CANOpen bus to the Cia301 protocol stack of CANOpen, and the data of the Cia301 protocol stack from CANOpen are sent to CANOpen bus.
Powerlink protocol stack and EtherCAT protocol stack send to network hardware interface after being used for that the data from object set are carried out encapsulation process according to Powerlink bus protocol and EtherCAT bus protocol respectively, and the data from Powerlink bus and EtherCAT bus forwarded by network hardware interface send to object set after unpacking according to Powerlink bus protocol and EtherCAT bus protocol respectively; The Cia301 protocol stack of described CANOpen sends to CAN hardware interface after being used for that the data from object set are carried out encapsulation process according to CANOpen bus protocol, and sends to object set after the data that CAN hardware interface forwards being unpacked according to CANOpen bus protocol.
Function interface is for realizing the setting to communication type, the configuration to messaging parameter, to access and the management of object dictionary, managing and process sync break and asynchronous interrupt the state of protocol stack; Object dictionary comprises the object meeting Cia301 agreement in Powerlink agreement, EtherCAT agreement and CANOpen agreement and Cia402 agreement.The attribute of object set is defined by object dictionary, as index, length, read-write properties etc.Object set is the example of object dictionary subset, is configured by main website, and deploy content is object required in current application.
In the present embodiment, the process of function interface to sync break comprises: when the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen receives sync break signal, notice drives application layer to come into force the periodicity control data being stored in and driving in application layer buffer area, and the periodic feedback data driven in application layer buffer area are put to protocol stack buffer area, the cycle data as next Frame sends to main website.The Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen upper give a Frame time (upper Frame of EtherCAT with issue Frame can be same frame) from protocol stack buffer area, read this periodic feedback data, and be sent to bus by network hardware interface or CAN hardware interface after carrying out encapsulation process and get on.The generation of sync break signal is produced by synchronization packets (the SOC message in Powerlink, the Sync message in CANOpen) for Powerlink bus and CANOpen bus, is produced by synchronised clock for EtherCAT bus.Function interface is also included in when Powerlink protocol stack, EtherCAT protocol stack and CANOpenCia301 protocol stack receive sync break signal notifying that come into force time of periodically control data of described driving application layer compensates the process of sync break.Interrupt because the PWM interrupt priority level in driver is greater than bus, therefore function interface calculates protocol stack and receives difference between moment that moment of sync break signal and driver enter bus synchronous interrupt service routine, and compensate this moment to PWM interrupt cycle and then drive motors, thus improve the synchronous of PWM rank between multiple driver.
In the present embodiment, the process of function interface to asynchronous interrupt comprises: periodicity control data object set received when the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen receives Frame and aperiodic control data output to and drive the buffer area of application layer, and aperiodic control data exchange successfully and provide callback interface to driving application layer, to inform that to drive application layer asynchronous data ready.
In the present embodiment, the state of function interface to protocol stack manages to comprise and manages the network state machine of the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen and SDO state machine and carry out error handling processing to each protocol stack.The unification of the network state of three kinds of bus protocols is init state, prerun state and running status by network state machine, can initializtion protocol stack when init state, can be aperiodic traffic in prerun state to be configured, then can carry out driving application layer when running status and run.SDO state machine and error handling processing still retain the processing method of original each protocol stack oneself.Init state is wherein function interface oneself management, and prerun state and running status carry out switching according to the instruction in the Frame of main website transmission.
Due to Powerlink bus, the EtherCAT bus Cia301 agreement all partly containing CANOpen, the protocol core of such as Powerlink is exactly CANOpen301, and EtherCAT also provides CANOpenOnEtherCAT (CoE) interface, in addition, Powerlink and EtherCAT is all the buses based on Ethernet, therefore the application have employed identical network hardware interface (as PHY chip) for Powerlink bus and EtherCAT bus, and provides identical protocol interface to three kinds of buses.On the other hand, driving application layer according to the present invention directly adopts Cia402 object and state machine as its core texture, the various application driven can be done according to the application standard of Cia402, as the operation of state machine, position, speed, torque mode, instead of only as the data-interface driven, thus evaded the trouble of protocol conversion, efficiency of transmission is higher simultaneously.
The interface layer towards driving according to the application one embodiment can be divided into data-interface function interface.Data-interface comprises aforesaid object dictionary and object set, and object dictionary provides the definition of object instance set, and as call number, occupy word length, readablely write attribute etc., object set plays the effect of data buffer area.Data-interface is mainly Cia402 object (please refer to Cia402 agreement) and communication configuration parameter, and wherein in Cia402, self-defined object adds communication type object and synchronization delay target compensation.Configuration parameter mainly contains node number (PowerlinkCANOpen has), software version number, VendorID, ProductID, transmission rate.
The driver of existing use Powerlink bus, the driver (mainly COE relevant interface) of use EtherCAT bus, the interface using the driver of CANOpen bus to provide have: object defines with object dictionary, read and write, links; The configuration of communication relevant parameter; Protocol initializing; System mode machine controls; State machine controls; SDO Control on Communication; PDO Control on Communication; Sync buffering district controls; Sync break; Application layer and communication layers message management; Communication layers event handling; Error handling processing; Agreement exits.
The driver of existing use Powerlink bus also can provide Ethernet interface and system clock interface; Use the driver of EtherCAT bus also can provide distribution clock interface, SercosOnEtherCAT interface (SOE), FileOnEtherCAT interface (FOE), EthernetOnEtherCAT (EOE), ADSoverEtherCAT (AoE) mailbox protocol, FMMU memory-mapped management interface and mailbox management interface.And the sync break interface of CANOpen accurate unlike Powerlink, EtherCAT (being produced by hardware interrupts), produce after being resolved by synchronization frame.
Function interface according to an embodiment of the invention, concludes and has unified to drive the interface used, removing and drive no interface (as Ethernet/EOE, SOE, FOE, AOE), and add driving sync cap.Function interface comprises following function interface according to an embodiment of the invention:
CommHwInit (): be responsible for communication type and arrange, and the communication setting of related hardware and initialization;
CommStackInit (): setting and the initialization of being responsible for communication relevant parameter.Parameter towards servo is configuration parameter.Its inside is initialization object dictionary, state machine etc. then;
CommProcess (): maintenance agreement stack state, as network state machine, SDO state machine, error handling processing etc.;
CommExit (): exit protocol, removes resource;
CommSyncHdl (): sync break;
CommSyncCompensation (): inform driving synchroballistic in sync break;
CommPDOCallback (): exchange the periodically control data that comes into force in sync break;
CommAsyncHdl (): asynchronous interrupt, comprises asynchronous event, as ready in periodicity control data, aperiodic SDO event;
CommSDOCallback (): in asynchronous interrupt, aperiodic, control data exchanged the readjustment successfully;
The driving application layer of driver does not need the details knowing too many communication, only needs to call interface above when needed.
Fig. 3 shows function interface according to an embodiment of the invention and carries out initialized schematic flow sheet.
During driver initialization, by function interface CommHwInit initialize communications type and associated hardware interfaces, enable sync break and asynchronous interrupt.In initialize communications type procedure, any industrial bus communication protocol can be adopted at present to communicate according to the configuration (or by exterior I O) of driver is selected.Then, by function interface CommStackInit initializtion protocol stack relevant parameter, state, object dictionary, and the type definition of communications parameter is also contained in object dictionary.After this, if function interface CommProcess periodically perform on backstage and etc. to be interrupted, main website by Frame switch slave station network state machine, configure the object set that will use.If there is the mistake that protocol stack specifies, then the data object of mistake is fed back to main website, slave station enters corresponding state, if miscommunication, then network state machine state out of service, if application error then changes the application state of Cia402, if the system mistake that cannot recover, then need to call CommExit function interface.
Handling process schematic diagram after Fig. 4 shows and receives sync break signal and asynchronous interrupt.
When sync break signal arrives, system enters interrupt processing function CommSyncHdl, due in drive products, (be generally PWM interrupt) priority interrupted to the drived control of motor the highest, need to consider that communication disruption is interrupted situation about interrupting by PWM, therefore drive application layer to need to read synchroballistic value CommSyncCompensation at this, this synchroballistic value CommSyncCompensation and the aforementioned protocol stack calculated receive the difference between moment that moment of sync break signal and driver enter bus synchronous interrupt service routine.Drive this synchroballistic value of application layer adjustment PWM cycle, to reach the synchronous execution of multiple axle motion in network.Want synchronous exchange data in this interruption, notice drives application layer to come into force the periodicity control data being stored in and driving in application layer buffer area, and puts the periodic feedback data driven in application layer buffer area to protocol stack buffer area.
Asynchronous interrupt is lower than sync break priority, when asynchronous interrupt Frame arrives, enter asynchronous interrupt process function CommAsyncHdl, to asynchronous event process, after the periodicity control data of such as main website arrives, export revival when driving the buffering area of application layer to wait for sync break to, asynchronous data receives events such as starting, finish receiving, asynchronous data finishes receiving amendment Cia402 object, and calls CommSDOCallback notice driving application layer.Cia402 object in Fig. 4 refer to drive application layer buffer area in periodic data and aperiodicity data.
In the application, said driver can be servo-driver or frequency converter.
Claims (6)
1. the implementation method of the integrated multiple industrial bus of driver, described multiple industrial bus comprises Powerlink bus, EtherCAT bus and CANOpen bus, it is characterized in that, the traffic model of described driver is divided into physical layer, protocol layer, interface layer and driving application layer;
Described physical layer is positioned at the bottom of whole traffic model, this physical layer packet includes network hardware interface and CAN hardware interface; Described protocol layer is between described physical layer and described interface layer, and this protocol layer comprises the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen; Described interface layer comprises function interface, object set and object dictionary; Described driving application layer is positioned at the top of interface layer, for realizing the function of Cia402 agreement;
Described network hardware interface is used for the data from Powerlink bus and EtherCAT bus to be transmitted to Powerlink protocol stack and EtherCAT protocol stack respectively, and the data from Powerlink protocol stack and EtherCAT protocol stack are sent to Powerlink bus and EtherCAT bus respectively; Described CAN hardware interface is used for by the data retransmission from CANOpen bus to the Cia301 protocol stack of CANOpen, and the data of the Cia301 protocol stack from CANOpen are sent to CANOpen bus;
Powerlink protocol stack and EtherCAT protocol stack send to described network hardware interface after being used for that the data from described object set are carried out encapsulation process according to Powerlink bus protocol and EtherCAT bus protocol respectively, and the data from Powerlink bus and EtherCAT bus forwarded by network hardware interface send to described object set after unpacking according to Powerlink bus protocol and EtherCAT bus protocol respectively; The Cia301 protocol stack of described CANOpen sends to described CAN hardware interface after being used for that the data from described object set are carried out encapsulation process according to CANOpen bus protocol, and sends to described object set after the data that CAN hardware interface forwards being unpacked according to CANOpen bus protocol;
Described function interface is for realizing the setting to communication type, the configuration to messaging parameter, to access and the management of object dictionary, managing and process sync break and asynchronous interrupt the state of protocol stack; Described object dictionary comprises the object meeting Cia301 agreement in Powerlink agreement, EtherCAT agreement and CANOpen agreement and Cia402 agreement.
2. the implementation method of the integrated multiple industrial bus of driver according to claim 1, it is characterized in that, the process of described function interface to sync break comprises: notify that when the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen receives sync break signal described driving application layer comes into force the periodicity control data being stored in and driving in application layer buffer area, and put the periodic feedback data driven in application layer buffer area to protocol stack buffer area.
3. the implementation method of the integrated multiple industrial bus of driver according to claim 2, it is characterized in that, to notifying that come into force time of periodically control data of described driving application layer compensates when described function interface receives sync break signal to the Cia301 protocol stack that the process of sync break is also included in Powerlink protocol stack, EtherCAT protocol stack and CANOpen.
4. the implementation method of the integrated multiple industrial bus of driver according to claim 1, it is characterized in that, the process of described function interface to asynchronous interrupt comprises: periodicity control data object set received when the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen receives Frame and aperiodic control data output to and drive the buffer area of application layer, and aperiodic control data exchange successfully and provide callback interface to driving application layer, to inform that to drive application layer asynchronous data ready.
5. the implementation method of the integrated multiple industrial bus of driver according to claim 1, it is characterized in that, the state of described function interface to protocol stack manages to comprise and manages the network state machine of the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen and SDO state machine and carry out error handling processing to each protocol stack.
6. the implementation method of the integrated multiple industrial bus of driver according to claim 1, is characterized in that, described driver is servo-driver or frequency converter.
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| CN109554851A (en) * | 2018-11-19 | 2019-04-02 | 杰克缝纫机股份有限公司 | Sewing machine Double-axis synchronous control method, device, equipment, system and storage medium |
| CN109298683B (en) * | 2018-11-26 | 2021-05-18 | 上海维宏电子科技股份有限公司 | Numerical control system supporting multiple bus driver communication protocols |
| CN109298683A (en) * | 2018-11-26 | 2019-02-01 | 上海维宏电子科技股份有限公司 | Support the digital control system of a variety of bus driver communications protocol |
| CN109347884A (en) * | 2018-12-05 | 2019-02-15 | 北京和利时系统工程有限公司 | A kind of real-time ethernet is to the conversion method and device of fieldbus, storage medium |
| CN111367842A (en) * | 2018-12-26 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Multi-interface servo driving device, method and system based on object dictionary |
| CN111385118A (en) * | 2018-12-29 | 2020-07-07 | 苏州灵猴机器人有限公司 | EtherCAT equipment configuration software communication scheme |
| CN110398943A (en) * | 2019-07-17 | 2019-11-01 | 上海电机学院 | A kind of multi-layer three-dimensional experiment platform of control system and its building method |
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| CN111474908B (en) * | 2020-04-23 | 2021-04-02 | 中国人民解放军国防科技大学 | Method, system and medium for realizing motion control slave station of integrated CANopen protocol |
| CN111474908A (en) * | 2020-04-23 | 2020-07-31 | 中国人民解放军国防科技大学 | Method, system and medium for realizing motion control slave station of integrated CANopen protocol |
| CN113965468A (en) * | 2021-09-15 | 2022-01-21 | 中国航空工业集团公司西安飞机设计研究所 | Public framework network design method |
| CN113965468B (en) * | 2021-09-15 | 2024-01-30 | 中国航空工业集团公司西安飞机设计研究所 | Public frame network design method |
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