CN105306326B - Driver integrates the implementation method of a variety of industrial bus - Google Patents
Driver integrates the implementation method of a variety of industrial bus Download PDFInfo
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- CN105306326B CN105306326B CN201510780378.2A CN201510780378A CN105306326B CN 105306326 B CN105306326 B CN 105306326B CN 201510780378 A CN201510780378 A CN 201510780378A CN 105306326 B CN105306326 B CN 105306326B
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Abstract
The invention discloses the implementation methods that driver integrates a variety of industrial bus, and the traffic model of driver is divided into physical layer, protocol layer, interface layer and driving application layer.Physical layer includes network hardware interface and CAN hardware interface；Protocol layer includes the Cia301 protocol stack of Powerlink protocol stack, EtherCAT protocol stack and CANOpen；Interface layer includes function interface, object set and object dictionary；Drive application layer for realizing the function of Cia402 agreement.The present invention can integrate Powerlink bus, the function of EtherCAT bus and CANOpen bus, and transmission rate with higher simultaneously on a drive, support the synchronization of multiple drivings.
Description
Technical field
The present invention relates to the implementation methods that movement control technology more particularly to driver integrate a variety of industrial bus.
Background technique
Networking is one of important directions of industrial development, either the industry in industry 4.0 or national development strategy
Robot, all to Web based product, more stringent requirements are proposed, and traditional fieldbus is promoted to send out to the direction of Industrial Ethernet
Exhibition, and real-time ethernet is the industrial network that real-time is best in Industrial Ethernet.In motion control field,
Powerlink and EtherCAT occupation rate of market is higher, and in traditional bus protocol, CANOpen is because of its open, more neck
Domain standardization, and it is widely used in industrial motion control field.Therefore (hereinafter referred to as to integrated Ethernet Powerlink
Powerlink), driving product (such as servo, frequency converter) demand of EtherCAT, CANOpen are further vigorous.
Currently, there are no it is towards driving, simultaneously support uniformly connecing for Powerlink, EtherCAT, CANOpen bus
Mouth and framework.Traditional integrated approach or be that integrated (such as PORTING, IXXAT company is total to hardware and agreement simple
Line product), it is ununified to provide interface to upper layer application；Interface (such as Softing company, He You are provided towards communication
News), but due to its towards communication and each bus differ greatly, configuration and use process it is still cumbersome.
Fig. 1 is shown using a kind of existing driving of the method for integrated Powerlink, EtherCAT, CANOpen bus
The traffic model configuration diagram of device, the API representative function interface in figure.In the solution, every kind of industrial bus agreement
There will be the object dictionary of oneself and object, need to carry out protocol conversion, and need respective protocol stack runnable interface.It can be seen that
Its exchange process is complicated, and these agreements and the synchronization for being not concerned with driving, does not provide sync cap specially to drive.
Summary of the invention
Technical problem to be solved by the present invention lies in the implementation method for providing a kind of driver and integrating a variety of industrial bus,
It can integrated Powerlink bus, the function of EtherCAT bus and CANOpen bus simultaneously on a drive, and have compared with
High transmission rate supports the synchronization of driving.
In order to solve the above technical problems, the technical solution used in the present invention is:
Driver integrates the implementation method of a variety of industrial bus, a variety of industrial bus include Powerlink bus,
EtherCAT bus and CANOpen bus, it is characterized in that, by the traffic model of the driver be divided into physical layer, protocol layer,
Interface layer and driving application layer；
The physical layer is located at the bottom of entire traffic model, which includes network hardware interface and CAN hardware
Interface；The protocol layer between the physical layer and the interface layer, the protocol layer include Powerlink protocol stack,
301 protocol stack of Cia of EtherCAT protocol stack and CANOpen；The interface layer includes function interface, object set and object
Dictionary；The driving application layer is located at the top of interface layer, for realizing the function of Cia402 agreement；
The network hardware interface for forwarding the data from Powerlink bus and EtherCAT bus respectively
To Powerlink protocol stack and EtherCAT protocol stack, and will be from Powerlink protocol stack and EtherCAT protocol stack
Data are sent respectively to Powerlink bus and EtherCAT bus；The CAN hardware interface will be total for that will come from CANOpen
The data forwarding of line and is sent out the data of 301 protocol stack of Cia from CANOpen to 301 protocol stack of Cia of CANOpen
Give CANOpen bus；
Powerlink protocol stack and EtherCAT protocol stack for will the data from the object set respectively according to
Powerlink bus protocol and EtherCAT bus protocol are sent to the network hardware interface after being packaged processing, and will
The data from Powerlink bus and EtherCAT bus of network hardware interface forwarding are respectively according to Powerlink bus
Agreement and EtherCAT bus protocol are sent to the object set after unpacking；301 protocol stack of Cia of the CANOpen is used for
It is sent to the CAN hardware after data from the object set are packaged processing according to CANOpen bus protocol and connects
Mouthful, and the object set is sent to after the data that CAN hardware interface forwards are unpacked according to CANOpen bus protocol；
The function interface is for realizing the setting to communication type, the configuration to messaging parameter, the visit to object dictionary
It asks and manages, the state of protocol stack is managed and sync break and asynchronous interrupt are handled；The object dictionary
Including meeting Cia301 agreement and Cia402 agreement in Powerlink agreement, EtherCAT agreement and CANOpen agreement
Object.
After adopting the above technical scheme, the present invention has at least the following advantages:
1, for Powerlink bus, EtherCAT bus and CANOpen bus use unified object dictionary with it is right
As, provide unified function interface, allow driver to support a variety of industrial bus simultaneously, extend application field, and
Can Speeding up development process, reduce development cost；The interface simplified simultaneously is but also keep efficiency of transmission higher；
2, the driving application layer towards driver provides the letter for synchronizing interrupt processing and asynchronous interrupt processing
Number interface, supports the synchronization of multiple drivings；
3, the network hardware interface of Powerlink bus and EtherCAT bus has been unified, to reduce hardware interface
Cost.
Detailed description of the invention
Fig. 1 is shown using a kind of existing driving of the method for integrated Powerlink, EtherCAT, CANOpen bus
The traffic model configuration diagram of device.
Fig. 2 shows using integrated Powerlink, EtherCAT, CANOpen bus according to an embodiment of the invention
The traffic model configuration diagram of the driver of method.
Fig. 3 shows the flow diagram that function interface according to an embodiment of the invention is initialized.
Fig. 4 shows the processing flow schematic diagram after receiving sync break data packet and asynchronous interrupt data packet.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Please refer to Fig. 2.Driver according to an embodiment of the invention integrates the implementation method of a variety of industrial bus, will drive
The traffic model of device has been divided into physical layer, protocol layer, interface layer and driving application layer.A variety of industrial bus include
Powerlink bus, EtherCAT bus and CANOpen bus.
Physical layer is located at the bottom of entire traffic model, which includes network hardware interface and CAN hardware interface；
Protocol layer between physical layer and interface layer, the protocol layer include Powerlink protocol stack, EtherCAT protocol stack and
301 protocol stack of Cia of CANOpen；Interface layer includes function interface, object set and object dictionary；Driving application layer, which is located at, to be connect
The top of mouth layer, for realizing the function of Cia402 agreement.
Data from Powerlink bus and EtherCAT bus for being transmitted to by network hardware interface respectively
Powerlink protocol stack and EtherCAT protocol stack, and by the number from Powerlink protocol stack and EtherCAT protocol stack
According to being sent respectively to Powerlink bus and EtherCAT bus.CAN hardware interface is used for will be from the number of CANOpen bus
It is sent to according to 301 protocol stack of Cia for being transmitted to CANOpen, and by the data of 301 protocol stack of Cia from CANOpen
CANOpen bus.
Powerlink protocol stack and EtherCAT protocol stack for will the data from object set respectively according to
Powerlink bus protocol and EtherCAT bus protocol are sent to network hardware interface after being packaged processing, and by network
The data from Powerlink bus and EtherCAT bus of hardware interface forwarding are respectively according to Powerlink bus protocol
Object set is sent to after unpacking with EtherCAT bus protocol；301 protocol stack of Cia of the CANOpen for will from pair
It is sent to CAN hardware interface after being packaged processing according to CANOpen bus protocol as the data of set, and CAN hardware is connect
The data of mouth forwarding are sent to object set after unpacking according to CANOpen bus protocol.
Function interface for realizing the setting to communication type, the configuration to messaging parameter, the access to object dictionary with
Management is managed the state of protocol stack and handles sync break and asynchronous interrupt；Object dictionary includes meeting
The object of Cia301 agreement and Cia402 agreement in Powerlink agreement, EtherCAT agreement and CANOpen agreement.Object
The attribute of set is defined by object dictionary, such as index, length, read-write properties.Object set is the example of object dictionary subset,
It is configured by main website, configuration content is required object in current application.
In the present embodiment, function interface includes: in Powerlink protocol stack, EtherCAT to the processing of sync break
Notice driving application layer, which comes into force, when 301 protocol stack of Cia of protocol stack and CANOpen receive sync break signal is stored in driving
Periodical control data in application layer buffer area, and the periodic feedback data in application layer buffer area will be driven to put to agreement
Stack buffer area is sent to main website on the cycle data as next data frame.Powerlink protocol stack, EtherCAT protocol stack
With 301 protocol stack of Cia of CANOpen it is upper give a data frame when (the upper hair data frame of EtherCAT and issue data frame
Can be same frame) the periodic feedback data are read from protocol stack buffer area, and pass through the network hardware after carrying out encapsulation process
Interface or CAN hardware interface are sent to bus up.The generation of sync break signal is for Powerlink bus and CANOpen
It is to be generated by synchronization packets (the Sync message in SOC message, CANOpen in Powerlink) for bus, for
It for EtherCAT bus is generated by synchronised clock.Function interface further includes assisting in Powerlink to the processing of sync break
To notifying the driving to answer when view stack, EtherCAT protocol stack and 301 protocol stack of CANOpen Cia receive sync break signal
With layer come into force periodically control data time compensate.Since the PWM interrupt priority level in driver is interrupted greater than bus,
Therefore function interface calculates enters bus synchronous interruption service journey with driver at the time of protocol stack receives sync break signal
Difference between at the time of sequence, and the moment is compensated to PWM interrupt cycle and then driving motor, to improve multiple drivers
Between PWM rank synchronization.
In the present embodiment, function interface includes: in Powerlink protocol stack, EtherCAT to the processing of asynchronous interrupt
The periodical control data that receive object set when 301 protocol stack of Cia of protocol stack and CANOpen receive data frame and non-
Control data cycle is output to the buffer area of driving application layer, and to driving application layer after the success of aperiodic control data exchange
Callback interface is provided, to inform that driving application layer asynchronous data is ready.
In the present embodiment, function interface to the state of protocol stack be managed including to Powerlink protocol stack,
The network state machine and SDO state machine of 301 protocol stack of Cia of EtherCAT protocol stack and CANOpen are managed and right
Each protocol stack carries out error handling processing.The network state of three kinds of bus protocols is unified for init state, pre- fortune by network state machine
Row state and operating status, in init state can initializtion protocol stack, prerun state can for aperiodic traffic carry out
Configuration can then carry out driving application layer operation in operating status.SDO state machine and error handling processing still retain original each agreement
The processing method of stack oneself.Init state therein is function interface oneself management, and prerun state and operating status are roots
It instructs to switch in the data frame sent according to main website.
Due to Powerlink bus, EtherCAT bus all partly Cia301 agreements containing CANOpen, such as
The protocol core of Powerlink is exactly CANOpen 301, and EtherCAT also provides CANOpen On EtherCAT (CoE)
Interface, in addition, Powerlink and EtherCAT are all based on the bus of Ethernet, therefore the application is directed to Powerlink bus
Identical network hardware interface (such as PHY chip) is used with EtherCAT bus, and provides identical agreement to three kinds of buses
Interface.On the other hand, driving application layer according to the present invention directlys adopt Cia402 object and state machine as its nuclear structure,
The various applications driven can be done using standard according to Cia402, such as state machine, the operation of position, speed, torque mode, without
It is the data-interface for being only used as driving, to evade the trouble of protocol conversion, simultaneous transmission is more efficient.
Data-interface and function interface can be divided into according to the interface layer towards driving of one embodiment of the application.Data-interface
Including object dictionary above-mentioned and object set, object dictionary provides the definition of object instance set, and such as call number occupies word
Long, readable writeable attribute etc., object set plays the role of data buffer area.Data-interface is mainly that Cia402 object (please join
According to 402 agreement of Cia) and communication configuration parameter, wherein in Cia402 custom object increase communication type object with synchronize prolong
Slow target compensation.Configuration parameter mainly have node number (a Powerlink CANOpen has), software version number, VendorID,
ProductID, transmission rate.
(mainly COE is related for the existing driver using Powerlink bus, the driver using EtherCAT bus
Interface), using CANOpen bus driver provide interface have: object and object dictionary definition, read and write, link；Communicate phase
Close parameter configuration；Protocol initializing；The control of system mode machine；State machine control；SDO communication control；PDO communication control；
The control of sync buffering area；Sync break；Application layer and communication layers message management；Communication layers event handling；Error handling processing；Agreement is moved back
Out.
The existing driver using Powerlink bus can also provide Ethernet interface and system clock interface；Make
Distribution clock interface, Sercos On EtherCAT interface (SOE), File can be also provided with the driver of EtherCAT bus
On EtherCAT interface (FOE), Ethernet On EtherCAT (EOE), ADS over EtherCAT (AoE) mailbox association
View, FMMU memory mapping management interface and mailbox management interface.And the sync break interface of CANOpen unlike Powerlink,
EtherCAT like that accurate (being generated by hardware interrupts), is generated after being parsed by synchronization frame.
Function interface according to an embodiment of the invention, concludes and has unified the interface that driving is used, and removal driving does not have to
Interface (such as Ethernet/EOE, SOE, FOE, AOE), and increase driving sync cap.It is according to an embodiment of the invention
Function interface includes following function interface:
CommHwInit (): it is responsible for communication type setting, and the setting and initialization of communication related hardware；
CommStackInit (): it is responsible for the setting and initialization of communication relevant parameter.Parameter towards servo is configuration ginseng
Number.Object dictionary, state machine etc. are then initialized inside it；
CommProcess (): maintenance agreement stack state, such as network state machine, SDO state machine, error handling processing；
CommExit (): exit protocol removes resource；
CommSyncHdl (): sync break；
CommSyncCompensation (): driving synchroballistic is informed in sync break；
CommPDOCallback (): exchange, which comes into force, in sync break periodically controls data；
CommAsyncHdl (): asynchronous interrupt includes asynchronous event, such as periodically controls data ready, aperiodic SDO thing
Part；
CommSDOCallback (): the readjustment in asynchronous interrupt, after aperiodic control data exchange success；
The driving application layer of driver does not need to know the details communicated too much, it is only necessary to call when needed above
Interface.
Fig. 3 shows the flow diagram that function interface according to an embodiment of the invention is initialized.
When driver initializes, communication type and associated hardware interfaces are initialized by function interface CommHwInit, made
It can sync break and asynchronous interrupt.During initializing communication type, (or outside can be passed through according to the configuration of driver
IO it) selectes and is communicated at present using any industrial bus communication protocol.Then, pass through function interface CommStackInit
Initializtion protocol stack relevant parameter, state, object dictionary, and the type definition of communications parameter is also contained in object dictionary.This
Afterwards, if function interface CommProcess periodically carry out and wait from the background it is to be interrupted, main website can by data frame switch from
The network state machine stood, configuration object set to be used.If there is mistake as defined in protocol stack, by the data object of mistake
Feeding back to main website, slave station enters corresponding state, if miscommunication, then network state machine state out of service, if using
Mistake then changes the application state of Cia 402, if the system mistake that can not restore, then needs to call CommExit function interface.
Fig. 4 shows the processing flow schematic diagram after receiving sync break signal and asynchronous interrupt.
When sync break signal reaches, system enters interrupt processing function CommSyncHdl, due in drive products,
(usually PWM is interrupted) highest priority is interrupted to the drive control of motor, needs to consider what communication disruption was interrupted by PWM interruption
Situation, therefore application layer is driven to need to read synchroballistic value CommSyncCompensation herein, the synchroballistic value
Enter at the time of CommSyncCompensation, that is, aforementioned protocol stack being calculated receives sync break signal with driver
Difference between at the time of bus synchronous interrupt service routine.Application layer is driven to adjust PWM cycle with the synchroballistic value, to reach
Multiple the synchronous of axis movement execute in network.Synchronous exchange data are wanted in this interruption, notice driving application layer, which comes into force, to be stored in
Drive the periodical control data in application layer buffer area, and will drive the periodic feedback data in application layer buffer area put to
Protocol stack buffer area.
Asynchronous interrupt is lower than sync break priority, when asynchronous interrupt data frame reaches, handles function into asynchronous interrupt
CommAsyncHdl, after being reached to the periodical control data of asynchronous event processing, such as main website, output to driving application layer
Revival when buffer area waits sync break, asynchronous data, which receives, the events such as starts, finishes receiving, and asynchronous data, which finishes receiving, repairs
Change 402 object of Cia, and calls CommSDOCallback notice driving application layer.Cia402 object in Fig. 4 refers to driving
Periodic data and aperiodicity data in the buffer area of application layer.
Described driver can be servo-driver or frequency converter in the application.
Claims (5)
1. driver integrates the implementation method of a variety of industrial bus, a variety of industrial bus include Powerlink bus,
EtherCAT bus and CANOpen bus, which is characterized in that by the traffic model of the driver be divided into physical layer, protocol layer,
Interface layer and driving application layer；
The physical layer is located at the bottom of entire traffic model, which includes network hardware interface and CAN hardware interface；
For the protocol layer between the physical layer and the interface layer, which includes Powerlink protocol stack, EtherCAT
301 protocol stack of Cia of protocol stack and CANOpen；The interface layer includes function interface, object set and object dictionary；It is described
Driving application layer is located at the top of interface layer, for realizing the function of Cia402 agreement；
Data from Powerlink bus and EtherCAT bus for being transmitted to by the network hardware interface respectively
Powerlink protocol stack and EtherCAT protocol stack, and by the number from Powerlink protocol stack and EtherCAT protocol stack
According to being sent respectively to Powerlink bus and EtherCAT bus；The CAN hardware interface will be for that will come from CANOpen bus
Data forwarding to 301 protocol stack of Cia of CANOpen, and the data of 301 protocol stack of Cia from CANOpen are sent
Give CANOpen bus；
Powerlink protocol stack and EtherCAT protocol stack for will the data from the object set respectively according to
Powerlink bus protocol and EtherCAT bus protocol are sent to the network hardware interface after being packaged processing, and will
The data from Powerlink bus and EtherCAT bus of network hardware interface forwarding are respectively according to Powerlink bus
Agreement and EtherCAT bus protocol are sent to the object set after unpacking；The Cia301 protocol stack of the CANOpen is used for
It is sent to the CAN hardware after data from the object set are packaged processing according to CANOpen bus protocol and connects
Mouthful, and the object set is sent to after the data that CAN hardware interface forwards are unpacked according to CANOpen bus protocol；
The function interface for realizing the setting to communication type, the configuration to messaging parameter, the access to object dictionary with
Management is managed the state of protocol stack and handles sync break and asynchronous interrupt；The object dictionary includes
Meet pair of the Cia301 agreement and Cia402 agreement in Powerlink agreement, EtherCAT agreement and CANOpen agreement
As；The function interface to the processing of sync break include: Powerlink protocol stack, EtherCAT protocol stack and
The driving application layer that 301 protocol stack of Cia of CANOpen notifies when receiving sync break signal, which comes into force, is stored in driving application
Periodical control data in layer buffer area, and delay driving the periodic feedback data in application layer buffer area to put to protocol stack
Deposit area.
2. the implementation method that driver according to claim 1 integrates a variety of industrial bus, which is characterized in that the letter
Number interface is to the Cia that the processing of sync break further includes in Powerlink protocol stack, EtherCAT protocol stack and CANOpen
When 301 protocol stacks receive sync break signal to notify it is described driving application layer come into force periodically control data time mend
It repays.
3. the implementation method that driver according to claim 1 integrates a variety of industrial bus, which is characterized in that the letter
Number interface is to the Cia 301 that the processing of asynchronous interrupt includes: in Powerlink protocol stack, EtherCAT protocol stack and CANOpen
The periodicity for receiving object set when protocol stack receives data frame controls data and aperiodic control data are output to driving and answer
Callback interface is provided to driving application layer with the buffer area of layer, and after the success of aperiodic control data exchange, to inform driving
Application layer asynchronous data is ready.
4. the implementation method that driver according to claim 1 integrates a variety of industrial bus, which is characterized in that the function
Interface is managed including the Cia to Powerlink protocol stack, EtherCAT protocol stack and CANOpen the state of protocol stack
The network state machine and SDO state machine of 301 protocol stacks are managed and carry out error handling processing to each protocol stack.
5. the implementation method that driver according to claim 1 integrates a variety of industrial bus, which is characterized in that the drive
Dynamic device is servo-driver or frequency converter.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106027671A (en) * | 2016-07-05 | 2016-10-12 | 深圳前海大数点科技有限公司 | Cloud computing based industrial data bus and data service system |
| CN109547519B (en) * | 2017-09-22 | 2022-11-01 | 中兴通讯股份有限公司 | Reverse proxy method, apparatus and computer readable storage medium |
| CN109361653B (en) * | 2018-09-13 | 2021-09-07 | 上海华元创信软件有限公司 | POWERLINK main station |
| 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 |
| CN109347884B (en) * | 2018-12-05 | 2021-05-28 | 北京和利时系统工程有限公司 | Method and device for converting real-time Ethernet to field bus and 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 |
| CN112711202A (en) * | 2019-10-25 | 2021-04-27 | 中电智能科技有限公司 | EtherCAT slave station module |
| 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 |
| 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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