CN105356991A - Driver real-time synchronization communication device - Google Patents
Driver real-time synchronization communication device Download PDFInfo
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- CN105356991A CN105356991A CN201510818749.1A CN201510818749A CN105356991A CN 105356991 A CN105356991 A CN 105356991A CN 201510818749 A CN201510818749 A CN 201510818749A CN 105356991 A CN105356991 A CN 105356991A
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Abstract
The invention discloses a driver real-time synchronization communication device. The device comprises a main control panel, an EtherCAT communication module, a power driver board and a storage device. Through the driver real-time synchronization communication device, communication of Ethernet protocol messages can be realized in a hardware manner, and real-time synchronization requirement is met.
Description
Technical field
The present invention relates to industrial control technology, particularly a kind of driver real-time synchronization communicator.
Background technology
Numerous data processings is had to need to carry out synchronously in control field, such as, the multi-axial Simultaneous etc. of arm robot.Now, real-time is the important indicator of control system.But in the prior art, apply the buses such as more on-scene communication bus CAN, ISA, speed is low, time delay is large, is difficult to the real-time Transmission realizing mass data.Such as, and based on a lot of agreements of Ethernet, Modbus/TCP, Ethernet/IP, Powerlink, EPA, PROFINETRT etc., protocol stack is all by software simulating, generally all cannot be less than the real-time synchronization requirement of 1ms.
Summary of the invention
In view of this, the invention provides a kind of driver real-time synchronization communicator, thus the mode of hardware can achieve the communication of Ethernet protocol message, meet the synchronous requirement of real-time.
Technical scheme of the present invention is specifically achieved in that
A kind of driver real-time synchronization communicator, this device comprises: master board, EtherCAT communication module, power driving device and memory;
Described master board uses parallel bus or Serial Peripheral Interface (SPI) to be connected with described EtherCAT communication module;
Described EtherCAT communication module, for carrying out reception and the transmission of data based on EtherCAT agreement, the EtherCAT data received data and/or extraction obtained send to described master board and memory, to complete data communication function;
Digital signal processor and state machine is provided with in described master board, described digital signal processor is used for the data according to receiving, strategy is driven according to the motor preset, by power driving device, external motor is driven, and step by step handover operation is carried out according to the order of " initialization-prerun-safe operation-operation " to the state machine be preset in described master board, complete state transition specified in the application layer mode control register of main website in described EtherCAT communication module;
Corresponding data, for storing received data, are sent to EtherCAT communication module according to reading command by described memory, and complete the exchanges data between main website by described EtherCAT communication module.
Preferably, described EtherCAT communication module comprises: EtherCAT communication controler and two physical chips;
Described EtherCAT communication controler, EtherCAT agreement is used to carry out reception and the transmission of data, EtherCAT data are extracted from received EtherCAT frame, and extracted EtherCAT data are sent to described master board and memory, or the data that will send are inserted in EtherCAT frame, and complete the transmission of EtherCAT frame;
Adopt Media Independent Interface MII to be connected between described physical chip with described EtherCAT communication controler, described physical chip is used for data encoding and level conversion.
Preferably, EtherCAT data link layer, physical layer protocol and application layer mode control register is provided with in EtherCAT communication controler.
Preferably, the state machine in described master board has five kinds of states:
Init state, prerun state, safe operation state, running status and boot state.
Preferably, described master board, also for initialize digital signal processor and EtherCAT communication controler, selection course data interface type, the break in service of enable EtherCAT communication controler, initialization CoE object dictionary, arranges the buffer memory passage initial parameter of mailbox and process data, arranges EtherCAT agreement correlated variables;
Preferably, described master board to complete in the application layer mode control register of main website in described EtherCAT communication module specified state transition and comprises:
Main website, by sending network message, changes the value of the first appointed area in the application layer mode control register in described EtherCAT communication module;
Described master board, also for reading the value of the first appointed area in described application layer mode control register, and by the state machine switches in master board to the state corresponding with read value; If handover success, then result is write the second appointed area in described application layer mode control register; Stores synchronized or fieldbus memory management unit channel parameters are set according to current state, start or stop handled data service type; If handoff failure, then state of remaining stationary is constant, and provides error flag instruction, error code is written to the 3rd appointed area of described application layer mode control register.
Preferably, described first appointed area is (0x120 ~ 0x121) in application layer mode control register;
Described second appointed area is (0x130 ~ 0x131) in described application layer mode control register;
Described 3rd appointed area is (0x134 ~ 0x135) in described application layer mode control register.
Preferably, described master board, the channel parameters also for completing aperiodicity data and process data communication is arranged and the process of communication data, realizes the communication service of mailbox data and real process data; When after start-up course data communication services, to inquire about or interrupt mode treatment cycle process data.
Preferably, described EtherCAT communication controler external and interface between described digital signal processor be Serial Peripheral Interface (SPI) or microcontroller interface.
Preferably, the interface between described EtherCAT communication controler and described physical chip is EBUS interface or Media Independent Interface interface;
Interface between described EtherCAT communication controler and described memory is IIC interface.
Preferably, described power driving device is insulated gate bipolar transistor power driving device.
Preferably, described external motor is permagnetic synchronous motor.
Preferably, IEEE1588 distribution clock is adopted in described EtherCAT communication controler.
As above visible, in driver real-time synchronization communicator provided by the present invention, owing to employing master board and the EtherCAT communication module based on EtherCAT agreement, therefore the communication of Ethernet protocol message is achieved by the mode of hardware, all devices is connected in series, form loop Hou Yuan road to return, take full advantage of the full duplex characteristic of Ethernet, the synchronous requirement of real-time can be met.In addition, in the inventive solutions, adopt DSP mode to realize driver in master board, the requirement of big data quantity process can be met.
Accompanying drawing explanation
Fig. 1 is the structural representation of the driver real-time synchronization communicator in the embodiment of the present invention.
Fig. 2 is the message structure figure of the EtherCAT communication protocol in the embodiment of the present invention.
Fig. 3 is the master-salve station communication scheme in the embodiment of the present invention.
Fig. 4 is the theory diagram of the driver real-time synchronization communicator in a specific embodiment of the present invention.
Embodiment
For making object of the present invention, technical scheme and advantage clearly understand, to develop simultaneously embodiment referring to accompanying drawing, the present invention is described in more detail.
At present, ethernet technology development is swift and violent, and application is very extensive, and has the features such as high reliability, low cost, high bandwidth, and therefore, industrial control field also starts to utilize Ethernet to transmit data.Wherein, EtherCAT (EthernetControlAutomationTechnology) is exactly a kind of a kind of communication protocol utilizing Ethernet message to carry out industrial control data transmission.
In common Ethernet, all tie points in network all may transceiving data bag, and it is unstable that the order of message conciliates packet delay, and the packet receiving of repeatability, unpacking process wastes a large amount of time, is the basic reason affecting networked-induced delay.
EtherCAT communication protocol is based on ethernet frame, and the specification order of transmission of message, adopts master-slave communication.A main website connects multiple slave station equipment, all slave station equipment information integration are in an Ethernet data bag, when the message of main website initiation is through each slave station equipment, each slave station control chip can check whether the process data of controlling oneself, if there is the process data of controlling oneself, then the process data of controlling oneself is read local internal memory, or data are inserted in the corresponding data field of message, the exchange of complete process data, this process only has the time delay of a few nanosecond.Not only reduce the time delay of data packets, and time delay is controlled, takes full advantage of the full duplex characteristic of Ethernet.
In above-mentioned communication process, message after last slave station process, then turns back to first slave station successively, finally by first slave station, response message is directly issued main website.Therefore, in the inventive solutions, in order to accelerate the speed of protocol analysis message, EtherCAT agreement can adopt hardware to complete the parsing of network protocol stack, thus not only can greatly reduce the process time delay of network message, and has nearly 100,000,000 bandwidth.
Therefore, a kind of driver real-time synchronization communicator is provided in technical scheme of the present invention.
Fig. 1 is the structural representation of the driver real-time synchronization communicator in the embodiment of the present invention.Fig. 3 is the master-salve station communication scheme in the embodiment of the present invention.As shown in figures 1 and 3, the driver real-time synchronization communicator in the embodiment of the present invention mainly comprises: master board 11, EtherCAT communication module 12, power driving device 13 and memory 14;
Described master board 11 uses parallel bus or Serial Peripheral Interface (SPI) (SPI, SerialPeripheralInterface) to connect with described EtherCAT communication module 12;
Described EtherCAT communication module 12, for carrying out reception and the transmission of data based on EtherCAT agreement, the EtherCAT data received data and/or extraction obtained send to described master board 11 and memory 14, to complete data communication function;
Digital signal processor and state machine is provided with in described master board 11, described digital signal processor is used for the data according to receiving, strategy is driven according to the motor preset, by power driving device 13, external motor is driven, and step by step handover operation is carried out according to the order of " initialization-prerun-safe operation-operation " to the state machine be preset in described master board 11, complete state transition specified in application layer (AL) mode control register of main website in described EtherCAT communication module 12;
Corresponding data, for storing received data, are sent to EtherCAT communication module 12 according to reading command by described memory 14, and complete the exchanges data between main website by described EtherCAT communication module 12.
In the inventive solutions, using above-mentioned provided driver real-time synchronization communicator as an EtherCAT slave station, and can be communicated with main website by the communication mode shown in Fig. 3.
Preferably, in a particular embodiment of the present invention, described power driving device can be insulated gate bipolar transistor (IGBT, InsulatedGateBipolarTransistor) power driving device.
Preferably, in a particular embodiment of the present invention, in described master board, be provided with digital signal processor (DSP, DigitalSignalProcesser), be called for short dsp processor.Have Harvard structure in described dsp processor, separately, therefore the speed of deal with data is fast for data/address bus and address bus.
Preferably, in a particular embodiment of the present invention, corresponding driver mapping algorithm can be preset in dsp processor, thus can strategy be driven to drive motor according to the motor preset easily.
Preferably, in a particular embodiment of the present invention, described external motor can be permagnetic synchronous motor.
Preferably, in a particular embodiment of the present invention, described EtherCAT communication module comprises: EtherCAT communication controler (ESC) and two physical chips;
Described EtherCAT communication controler (ESC), EtherCAT agreement is used to carry out reception and the transmission of data, EtherCAT data are extracted from received EtherCAT frame, and extracted EtherCAT data are sent to described master board and memory, or the data that will send are inserted in EtherCAT frame, and complete the transmission of EtherCAT frame;
Adopt Media Independent Interface MII to be connected between described physical chip with described EtherCAT communication controler, described physical chip is used for data encoding and level conversion.
In order to realize the synchronous of communication node, preferably, in a particular embodiment of the present invention, adopt IEEE1588 distribution clock in described EtherCAT communication controler, the clock synchronization accuracy of 1us can be realized.Therefore, in a communication process, an ethernet frame can exchange the process data of 1486 bytes, communication cycle 100us, thus can meet the requirement that control field communicates to real-time.
In the inventive solutions, EtherCAT communication controler is core component.Preferably, in a particular embodiment of the present invention, can pre-set (such as in EtherCAT communication controler, inside solidification) EtherCAT data link layer and physical layer protocol, thus extraction and the insertion of EtherCAT Frame can be realized, and the exchanges data of slave station this locality and main website is completed by internal data store district (i.e. described memory can comprise the register space of 4KB and the user data area of 1 ~ 60KB).
In addition, preferably, in a particular embodiment of the present invention, application layer mode control register is also provided with in described EtherCAT communication controler.
Now, each EtherCAT slave station equipment (namely described driver real-time synchronization communicator, lower with) all has addressable memory block, is therefore convenient to carry out between main website and slave station the read-write of data with mutual.An Ethernet message inside can embed the sub-message of multiple EtherCAT, and every sub-message has its corresponding data storage area.Fig. 2 is the message structure figure of EtherCAT communication protocol.EtherCAT data frame structure can with reference to the message structure figure of the EtherCAT communication protocol shown in figure 2.
In the inventive solutions, in order to the operation of specification driver, described master board adopts state machine (ESM) to coordinate current state and the state change at master and slave station, and completes the configuration of each slave station equipment in network.
In the inventive solutions, the state machine of EtherCAT slave station can have five kinds of states, is respectively: initialization (Init) state, prerun (Pre-Operational) state, safe operation (Safe-Operational) state, operation (OperationalState) state and guiding (Boot-Strap) state.Wherein, boot state is option, from init state to boot state, or can only turn back to init state from boot state.
EtherCAT is from when standing in from low level state to high-level State Transferring, and the order must following " initialization-prerun-safe operation-operation " is carried out step by step, and formula of can not bypassing the immediate leadership is changed.But from high-level to low level State Transferring, when also namely state returns, then not limited, allow great-jump-forward conversion.
Therefore, preferably, in a particular embodiment of the present invention, described master board can complete the task of the following stated:
(1) initialization task:
Described master board, may be used for initialization master board (DSP microprocessor) and EtherCAT communication module (EtherCAT communication controler), selection course data interface type, enable ESC break in service, initialization CoE object dictionary, the buffer memory passage initial parameter of mailbox and process data is set, EtherCAT agreement correlated variables is set;
(2) state machine task:
Described master board, the state machine that may be used for presetting carries out handover operation, the redirect of completion status machine.
Such as, in the inventive solutions, the change request of each slave station equipment state is initiated by main website, namely main website is by sending network message, change the value of the first appointed area in the application layer mode control register in slave station, such as, in preferred embodiment of the present invention, the value of described first appointed area can be the value of (0x120 ~ 0x121) in application layer mode control register; The value of the first appointed area in described application layer mode control register is read in the master board of slave station, and by the state machine switches in master board to the state corresponding with read value.If handover success, then result is write the second appointed area in described application layer mode control register, such as, in preferred embodiment of the present invention, described second appointed area can be (0x130 ~ 0x131) in described application layer mode control register; Stores synchronized (SM) or fieldbus memory management unit (FMMU) channel parameters are set according to current state, start or stop the data service type of slave station process.If handoff failure, then slave station state of remaining stationary is constant, and provide error flag instruction, error code is written to the 3rd appointed area of described application layer mode control register, such as, in preferred embodiment of the present invention, described 3rd appointed area can be (0x134 ~ 0x135) in described application layer mode control register.
(3) data communications task:
Described master board, the channel parameters that may be used for aperiodicity data and process data communication is arranged and the process of communication data, realizes the communication service of mailbox data and real process data.When after start-up course data communication services, slave station is with inquiry or interrupt mode treatment cycle process data.
Preferably, in a particular embodiment of the present invention, described dsp processor can be TI company generate TMS320F28335.
Preferably, in a particular embodiment of the present invention, described EtherCAT communication controler can be ET1100 chip.
Preferably, in a particular embodiment of the present invention, described physical chip can be MICRELKS8721BL chip.
Preferably, in a particular embodiment of the present invention, described EtherCAT communication controler external and interface between described dsp processor can be serial port SPI (SerialPeripheralInterface, Serial Peripheral Interface (SPI)) or 8|16 BITBUS network interface MCI (MicroControllerInterface, microcontroller interface).
Preferably, in a particular embodiment of the present invention, the interface between described EtherCAT communication controler and described physical chip can be EBUS or MII interface; Interface between described EtherCAT communication controler and described memory (such as, eeprom memory) can be IIC interface.
Preferably, in a particular embodiment of the present invention, according to the requirement of dsp processor to real-time and data volume, MCI microcontroller interface can be adopted to transmit data, described EtherCAT communication controler provides two-port RAM, dsp processor (CoE, CANOpenoverEtherCAT, EtherCAT runs control area net（CAN） CANOpen agreement) by the data of EtherCAT communication controler and state mapping in the memory space of dsp processor, can be filled in by dsp processor and process data to be sent.
In the inventive solutions, object of the present invention can be realized according to specific embodiments as described below:
1., according to the circuit theory of constitution of real time communication device, design principle figure and PCB figure, makes hardware circuit board.
Such as, the theory diagram of driver real-time synchronization communicator according to Fig. 4 corresponding circuit can be designed.
2. according to communication protocol requirements, design EtherCAT real time communication program.
Preferably, in the inventive solutions, EtherCAT real time communication program can form by three layers: application layer (AL), EtherCAT data link layer (DL) and EtherCAT physical layer.
Wherein, application layer (AL) the main process of completion status machine, the process of periodic process data and the process etc. of aperiodicity mailbox data.
3. all module integrated and test.
Modules is interconnected, and EtherCAT real-time communication module is downloaded in master control borad, according to the requirement of real time communication, carry out integration testing, run corresponding flow process.
Start the initialization first carrying out hardware initialization and protocol stack.Read event request register, in MainLoop () function, cyclic polling process data and aperiodic event.
Host computer adopts TwinCAT software, arranges 500us synchronizing cycle, enables synchronised clock, in the interruption pulse cycle using oscilloscope test slave station to export, can find that test error is less than 50us, can meet the real-time synchronization requirement of driver.
In summary, in driver real-time synchronization communicator provided by the present invention, owing to employing master board and the EtherCAT communication module based on EtherCAT agreement, therefore the communication of Ethernet protocol message is achieved by the mode of hardware, main website is only connected with first slave station, and other slave station equipment is connected in series successively, forms loop Hou Yuan road and returns, take full advantage of the full duplex characteristic of Ethernet, the synchronous requirement of real-time can be met.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within the scope of protection of the invention.
Claims (10)
1. a driver real-time synchronization communicator, is characterized in that, this device comprises: master board, EtherCAT communication module, power driving device and memory;
Described master board uses parallel bus or Serial Peripheral Interface (SPI) to be connected with described EtherCAT communication module;
Described EtherCAT communication module, for carrying out reception and the transmission of data based on EtherCAT agreement, the EtherCAT data received data and/or extraction obtained send to described master board and memory, to complete data communication function;
Digital signal processor and state machine is provided with in described master board, described digital signal processor is used for the data according to receiving, strategy is driven according to the motor preset, by power driving device, external motor is driven, and step by step handover operation is carried out according to the order of " initialization-prerun-safe operation-operation " to the state machine be preset in described master board, complete state transition specified in the application layer mode control register of main website in described EtherCAT communication module;
Corresponding data, for storing received data, are sent to EtherCAT communication module according to reading command by described memory, and complete the exchanges data between main website by described EtherCAT communication module.
2. device according to claim 1, is characterized in that, described EtherCAT communication module comprises: EtherCAT communication controler and two physical chips;
Described EtherCAT communication controler, EtherCAT agreement is used to carry out reception and the transmission of data, EtherCAT data are extracted from received EtherCAT frame, and extracted EtherCAT data are sent to described master board and memory, or the data that will send are inserted in EtherCAT frame, and complete the transmission of EtherCAT frame;
Adopt Media Independent Interface MII to be connected between described physical chip with described EtherCAT communication controler, described physical chip is used for data encoding and level conversion.
3. device according to claim 2, is characterized in that:
EtherCAT data link layer, physical layer protocol and application layer mode control register is provided with in EtherCAT communication controler.
4. device according to claim 3, is characterized in that, the state machine in described master board has five kinds of states:
Init state, prerun state, safe operation state, running status and boot state.
5. device according to claim 4, is characterized in that:
Described master board, also for initialize digital signal processor and EtherCAT communication controler, selection course data interface type, the break in service of enable EtherCAT communication controler, initialization CoE object dictionary, the buffer memory passage initial parameter of mailbox and process data is set, EtherCAT agreement correlated variables is set.
6. device according to claim 5, is characterized in that, described master board completes state transition specified in the application layer mode control register of main website in described EtherCAT communication module and comprises:
Main website, by sending network message, changes the value of the first appointed area in the application layer mode control register in described EtherCAT communication module;
Described master board, also for reading the value of the first appointed area in described application layer mode control register, and by the state machine switches in master board to the state corresponding with read value; If handover success, then result is write the second appointed area in described application layer mode control register; Stores synchronized or fieldbus memory management unit channel parameters are set according to current state, start or stop handled data service type; If handoff failure, then state of remaining stationary is constant, and provides error flag instruction, error code is written to the 3rd appointed area of described application layer mode control register.
7. device according to claim 6, is characterized in that:
Described first appointed area is (0x120 ~ 0x121) in application layer mode control register;
Described second appointed area is (0x130 ~ 0x131) in described application layer mode control register;
Described 3rd appointed area is (0x134 ~ 0x135) in described application layer mode control register.
8. device according to claim 6, is characterized in that:
Described master board, the channel parameters also for completing aperiodicity data and process data communication is arranged and the process of communication data, realizes the communication service of mailbox data and real process data; When after start-up course data communication services, to inquire about or interrupt mode treatment cycle process data.
9. device according to claim 8, is characterized in that:
Described EtherCAT communication controler external and interface between described digital signal processor be Serial Peripheral Interface (SPI) or microcontroller interface.
10. device according to claim 1, is characterized in that:
Interface between described EtherCAT communication controler and described physical chip is EBUS interface or Media Independent Interface interface;
Interface between described EtherCAT communication controler and described memory is IIC interface.
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| CN105824275A (en) * | 2016-05-17 | 2016-08-03 | 深圳市雷赛智能控制股份有限公司 | Method of controlling slave station servo driver synchronization master station |
| CN106452833A (en) * | 2016-08-30 | 2017-02-22 | 南京金水尚阳信息技术有限公司 | Data transmission method for realizing RTU multi-protocol dynamic loading |
| CN106789258A (en) * | 2016-12-24 | 2017-05-31 | 上海新时达电气股份有限公司 | The collocation method of EPA |
| CN107942839A (en) * | 2017-12-29 | 2018-04-20 | 中国电子信息产业集团有限公司第六研究所 | Pulse output card |
| CN110910660A (en) * | 2019-11-13 | 2020-03-24 | 苏州中亿通智能系统有限公司 | Road traffic signal controller |
| CN112527708A (en) * | 2020-12-07 | 2021-03-19 | 上海智能制造功能平台有限公司 | Device and method for realizing universal servo drive bus interface |
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| CN110910660A (en) * | 2019-11-13 | 2020-03-24 | 苏州中亿通智能系统有限公司 | Road traffic signal controller |
| CN112527708A (en) * | 2020-12-07 | 2021-03-19 | 上海智能制造功能平台有限公司 | Device and method for realizing universal servo drive bus interface |
| CN112527708B (en) * | 2020-12-07 | 2023-03-31 | 上海智能制造功能平台有限公司 | Device and method for realizing universal servo drive bus interface |
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