CN105429836A - Real-time EtherCAT master station system - Google Patents
Real-time EtherCAT master station system Download PDFInfo
- Publication number
- CN105429836A CN105429836A CN201510934286.5A CN201510934286A CN105429836A CN 105429836 A CN105429836 A CN 105429836A CN 201510934286 A CN201510934286 A CN 201510934286A CN 105429836 A CN105429836 A CN 105429836A
- Authority
- CN
- China
- Prior art keywords
- master station
- real
- ethercat
- station system
- microprocessor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
- H04L12/40019—Details regarding a bus master
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/403—Bus networks with centralised control, e.g. polling
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
Abstract
The invention belongs to the field of EtherCAT, and relates to a real-time EtherCAT master station system. The EtherCAT master station system comprises a microprocessor, a master station module, an Ethernet controller, a program storage and a data storage. The microprocessor is connected with the master station module, the Ethernet controller, the program storage and the data storage through a data bus. The real-time EtherCAT master station system adopts a special EtherCAT industrial Ethernet module to analyze an EtherCAT master station protocol, promotes master station response real-time from the aspect of hardware, and solves the problem that due to the utilization of soft protocol stacks of general-purpose operating systems such as Windows, Linux and Android, an EtherCAT bus response bottleneck that real-time of the master station is influenced is formed in the prior art.
Description
Technical field
The invention belongs to EtherCAT (Ethernet auto-control technology) field, be specifically related to a kind of industrial real-time ethernet EtherCAT main station system.
Background technology
EtherCAT is proposed by German Bei Fu company, because it has the features such as networked-induced delay is high, topological structure is flexible, system configuration is simple, has obtained at present getting more and more and has applied widely.EtherCAT adopts primary and secondary structure, and main website can be general PC.Control cycle sends from main website, and main website sends descending telegram.The all slave station equipment of data frames traverse, each equipment Frame through time analyze and be addressed to the message of the machine, read in data according to the order in heading or write data to assigned address in message, and slave station hardware adds 1 the job count device of this message, represent that these data are processed.Frame is after access is positioned at last slave station of whole system logical place, and this slave station directly sends to main website using treated Frame as up telegram.After main website receives this up telegram, process return data, a sign off.
At present, the realization of EtherCAT main website mainly adopts German Bei Fu company under Windows operating system based on the solution of PC, certainly also has the embedded solution based on (SuSE) Linux OS and Android operation system.EtherCAT is as industrial field bus, its distinguishing feature is the real-time of response, but its main website is according to the soft protocol stack in the general-purpose operating system (as: Windows, Linux, Android), must call through operating system in its protocol analysis process, its real-time certainly will be affected, and also becomes EtherCAT bus acknowledge bottleneck.
Summary of the invention
In order to solve the EtherCAT bus acknowledge bottleneck problem existed in prior art, the invention provides a kind of real-time ethernet EtherCAT main station system, adopt special EtherCAT Industrial Ethernet module to resolve EtherCAT master station protocol, promote main website response real-time from hardware.
For achieving the above object, the present invention takes following technical scheme:
A kind of real-time ethernet EtherCAT main station system, comprising: microprocessor, master station module, ethernet controller, program storage, data storage; Described microprocessor is connected with data storage with master station module, ethernet controller, program storage by data/address bus.Wherein,
The control that described microprocessor realizes EtherCAT main website is called, and comprises EtherCAT main website and host computer network configuration software communication, by host computer network configuration software instruction to described master station module initialization, and network configuration.
Described master station module provides dual port RAM, extends out RAM as described microprocessor, realizes the communication function of described EtherCAT main station system.
Described ethernet controller provides the communication interface of described microprocessor and host computer.
Described program storage controls to call and host computer communication function code for storing main website, and storage networking configuration data (XML file), for described master station module.
Described data storage controls the data of caller and the operation of host computer communication function program for storing main website.
Further, described microprocessor adopts SPARCV832 bit CPU.
Further, described program storage adopts FLASH.
Further, described data storage adopts SDRAM.
Further, described master station module adopts Industrial Ethernet module COMX100CN-RE.
Further, described master station module provides a diagnose interface to be used for carrying out firmware downloads and diagnosis of dispatching from the factory between agreement.
Compared with prior art, the present invention has following beneficial effect:
The present invention adopts special EtherCAT Industrial Ethernet module to resolve EtherCAT master station protocol, main website response real-time is promoted from hardware, solve main website in prior art because adopting the soft protocol stack of the general-purpose operating systems such as Windows, Linux, Android, its real-time is affected becomes the problem of EtherCAT bus acknowledge bottleneck.
Accompanying drawing explanation
Fig. 1 is the composition frame chart of real-time ethernet EtherCAT main station system;
Fig. 2 is the winding diagram of embodiment microprocessor and master station module.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
A kind of real-time ethernet EtherCAT main station system, its composition frame chart as shown in Figure 1, comprising: microprocessor, master station module, ethernet controller, program storage, data storage; Described microprocessor is connected with data storage with master station module, ethernet controller, program storage by data wire.
Microprocessor realizes EtherCAT main website and controls to call, and comprises main website and host computer network configuration software communication, completes by host computer network configuration software instruction functions such as the initialization of EtherCAT master station module, network configurations.Microprocessor adopts domestic SPARCV832 bit CPU, and dominant frequency can reach 100MH
z, it extends out data wire can 32 and 16 bit patterns, and its memory space and IO space can independently be arranged, and therefore plate level memory all adopts 32 bit patterns.
Master station module provides dual port RAM, realizes the master station protocol communication function of described EtherCAT main station system.Master station module adopts German He You to interrogate Industrial Ethernet module COMX100CN-RE.COMX100CN-RE module is connected with microprocessor SPARCV8, realizes EtherCAT master function.The winding diagram of COMX100CN-RE module and SPARCV8 as shown in Figure 2.COMX100CN-RE module provides host device interface to be DPM (DualPortMemery, dual port RAM), is realized the application programming interfaces of EtherCAT main website related communication by DPM.Master station module is concerning coupled microprocessor, and on hardware, suitable one extends out RAM.In addition, COMX100CN-RE module also provides a diagnose interface DiagnosticInterface to be used for carrying out firmware downloads between agreement (having corresponding WINDOWS software) and diagnosis of dispatching from the factory.DiagnosticInterface hardware provides UART, USB two kinds of interfaces.The present embodiment adopts UART mode, and can realize RS232 mode and communicate by mistake 1 road RS232 transceiver.Microprocessor and COMX100CN-RE module are articulated in the IO district of microprocessor by DPM mouth, adopt 16 bit patterns, microprocessor is large end pattern U, when it connects small end peripheral hardware COMX, data wire height eight is exchanged connection by hardware, and its sheet elects IOCS IO sheet choosing after expansion as.Because COMX read-write sequence requires to utilize the BRDYN signal of Low level effective, and microprocessor SPARCV8 peripheral hardware IOBUSY signal to be high level effective, the two needs to realize logic coupling by a not gate.
Ethernet controller adopts 2 ethernet control chip MAC0 and MAC1, for providing the communication interface with host computer, to realize the relevant communication configuration management of EtherCAT main website.
Program storage controls to call and host computer communication function code for storing main website, and storage networking configuration data (XML file), for master station module; Data storage controls the data of caller and the operation of host computer communication function program for storing main website.Program memory ROM adopts FLASH; Data storage RAM adopts SDRAM.For making ROM maximize, adopt 32 bit wides be spliced into by two groups of 2 16 bit wide FLASH to extend out ROMSN0 and ROMSN1 two ROM address spaces that ROM is connected respectively to microprocessor.32 SDRAM supported by microprocessor, therefore, extend out RAM and are also designed to be spliced into 32 SDARM by two panels 16 SDRAM.
The present embodiment needs expansion to have 3 peripheral hardwares: two ethernet controller MAC0 and MAC1, a COMX.Microprocessor selected by the present embodiment only has 1 road IO chip selection signal IOSN, therefore needs expansion IO chip selection signal to realize the function of management 3 IO peripheral hardwares.Utilize A24, A25 two address wires of CPU to control the IOSN signal of 2-4 decoder gating microprocessors, realize 4 sheet choosing expansions, MAC0 and MAC1 is distributed in the choosing of the first two expansion IO sheet, and COMX is distributed in the choosing of the 3rd expansion IO sheet.
The invention is not restricted to above-mentioned execution mode, those skilled in the art make to any apparent improvement of above-mentioned execution mode or change, all can not exceed the protection range of design of the present invention and claims.
Claims (6)
1. a real-time ethernet EtherCAT main station system, is characterized in that, described EtherCAT main station system comprises: microprocessor, master station module, ethernet controller, program storage, data storage; Described microprocessor is connected with data storage with master station module, ethernet controller, program storage by data/address bus; Wherein,
The control that described microprocessor realizes EtherCAT main website is called, and comprises described EtherCAT main station system and host computer network configuration software communication, by host computer network configuration software instruction to described master station module initialization, and network configuration;
Described master station module provides dual port RAM, extends out RAM as described microprocessor, realizes the communication function of described EtherCAT main station system;
Described ethernet controller provides the communication interface of described microprocessor and host computer;
Described program storage controls to call and host computer communication function code for storing main website, and storage networking configuration data, for described master station module;
Described data storage controls the data of caller and the operation of host computer communication function program for storing main website.
2. real-time ethernet EtherCAT main station system according to claim 1, is characterized in that, described microprocessor adopts SPARCV832 bit CPU.
3. real-time ethernet EtherCAT main station system according to claim 1, is characterized in that, described program storage adopts FLASH.
4. real-time ethernet EtherCAT main station system according to claim 1, is characterized in that, described data storage adopts SDRAM.
5. real-time ethernet EtherCAT main station system according to claim 1, is characterized in that, described master station module adopts Industrial Ethernet module COMX100CN-RE.
6. real-time ethernet EtherCAT main station system according to claim 1, is characterized in that, described master station module provides a diagnose interface to be used for carrying out firmware downloads and diagnosis of dispatching from the factory between agreement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510934286.5A CN105429836B (en) | 2015-12-15 | 2015-12-15 | A kind of real-time ethernet EtherCAT main station system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510934286.5A CN105429836B (en) | 2015-12-15 | 2015-12-15 | A kind of real-time ethernet EtherCAT main station system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105429836A true CN105429836A (en) | 2016-03-23 |
| CN105429836B CN105429836B (en) | 2019-06-14 |
Family
ID=55507785
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510934286.5A Active CN105429836B (en) | 2015-12-15 | 2015-12-15 | A kind of real-time ethernet EtherCAT main station system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105429836B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106059877A (en) * | 2016-07-18 | 2016-10-26 | 中国电子信息产业集团有限公司第六研究所 | EtherCAT master station module based on SPARC architecture CPU |
| CN106506303A (en) * | 2016-10-11 | 2017-03-15 | 西安电子科技大学 | A kind of main station system of controller real-time ethernet EtherCAT |
| CN110620712A (en) * | 2019-09-03 | 2019-12-27 | 武汉久同智能科技有限公司 | Method for realizing real-time EtherCAT master station of Window platform |
| CN111711476A (en) * | 2020-04-26 | 2020-09-25 | 四川润泽经伟信息技术有限公司 | Real-time frame synchronization system and method based on satellite communication countermeasure system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201601689U (en) * | 2009-11-24 | 2010-10-06 | 中国北车股份有限公司大连电力牵引研发中心 | Master station device for controller area network application layer protocol |
| CN101964737A (en) * | 2010-11-08 | 2011-02-02 | 国电南瑞科技股份有限公司 | Protocol conversion device based on PROFIBUS-DP master station field bus |
| CN104238517A (en) * | 2014-09-16 | 2014-12-24 | 西安西热控制技术有限公司 | PROFIBUS-DPV1 main communication station and method |
| CN104552311A (en) * | 2014-12-05 | 2015-04-29 | 杭州新松机器人自动化有限公司 | EtherCAT-based intelligent industrial robot bus module and operating method thereof |
-
2015
- 2015-12-15 CN CN201510934286.5A patent/CN105429836B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201601689U (en) * | 2009-11-24 | 2010-10-06 | 中国北车股份有限公司大连电力牵引研发中心 | Master station device for controller area network application layer protocol |
| CN101964737A (en) * | 2010-11-08 | 2011-02-02 | 国电南瑞科技股份有限公司 | Protocol conversion device based on PROFIBUS-DP master station field bus |
| CN104238517A (en) * | 2014-09-16 | 2014-12-24 | 西安西热控制技术有限公司 | PROFIBUS-DPV1 main communication station and method |
| CN104552311A (en) * | 2014-12-05 | 2015-04-29 | 杭州新松机器人自动化有限公司 | EtherCAT-based intelligent industrial robot bus module and operating method thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106059877A (en) * | 2016-07-18 | 2016-10-26 | 中国电子信息产业集团有限公司第六研究所 | EtherCAT master station module based on SPARC architecture CPU |
| CN106059877B (en) * | 2016-07-18 | 2022-03-15 | 中电智能科技有限公司 | EtherCAT main station module based on SPARC framework CPU |
| CN106506303A (en) * | 2016-10-11 | 2017-03-15 | 西安电子科技大学 | A kind of main station system of controller real-time ethernet EtherCAT |
| CN110620712A (en) * | 2019-09-03 | 2019-12-27 | 武汉久同智能科技有限公司 | Method for realizing real-time EtherCAT master station of Window platform |
| CN110620712B (en) * | 2019-09-03 | 2021-08-20 | 武汉久同智能科技有限公司 | Method for realizing real-time EtherCAT master station of Window platform |
| CN111711476A (en) * | 2020-04-26 | 2020-09-25 | 四川润泽经伟信息技术有限公司 | Real-time frame synchronization system and method based on satellite communication countermeasure system |
| CN111711476B (en) * | 2020-04-26 | 2022-04-19 | 四川润泽经伟信息技术有限公司 | Real-time frame synchronization system and method based on satellite communication countermeasure system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105429836B (en) | 2019-06-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105429836A (en) | Real-time EtherCAT master station system | |
| CN103150279B (en) | Method allowing host and baseboard management controller to share device | |
| CN104965700A (en) | Method and system for implementing driving on SPI equipment under VxWorks operating system | |
| CN112000593B (en) | PCIe equipment management method and operation system thereof | |
| CN106814657A (en) | Embedded real-time EtherCAT main websites construction method based on ARM | |
| CN112000594B (en) | PCIe equipment management method and operation system thereof | |
| CN205212859U (en) | System of real -time ethernet etherCAT main website | |
| CN103092798A (en) | On-chip system and method for accessing to equipment under bus | |
| CN114531422A (en) | Bus address automatic allocation and identification method, electronic device, storage medium and program product | |
| CN1811480A (en) | Method and apparatus for real-time monitoring level signal | |
| CN109388526A (en) | A kind of control circuit and the method for resetting operation | |
| US7636797B2 (en) | LPC configuration sharing method | |
| US9639489B2 (en) | I/O device sharing system and I/O device sharing method | |
| CN101464846B (en) | Data card read-write method, interface control method and apparatus | |
| CN102291337B (en) | Gateway for switching communication based on EtherCAT (Ethernet for Control and Automation Technology) protocol and Profibus-DP (Process Field Bus-Decentralized Periphery) protocol and communication method thereof | |
| CN101561790A (en) | Method, system and device for communication between main control computer and slave computers | |
| CN105573931A (en) | Access method and device of double-port RAM | |
| CN102708079A (en) | Data transmission controlling method and system applied to microcontroller | |
| US20160239224A1 (en) | Method and system for transferring data over a plurality of control lines | |
| KR101338153B1 (en) | Middleware technology based on Device model | |
| CN202206415U (en) | Gateway for communication conversion between Ethernet CAT (Ethernet for Control and Automation Technology) protocol and Profibus-DP (Process Field Bus-Decentralized Periphery) protocol | |
| JP4320622B2 (en) | node | |
| CN109873741A (en) | A kind of system and working method of single-wire shared bus agreement | |
| CN107220046B (en) | Modularized connection method based on characteristic value | |
| CN212518967U (en) | Middle module for communication connection of upper computer and lower computer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190710 Address after: 102209 Room 622, Building A, China Electronic Information Security Industry Base, Southern Science City, Changping District, Beijing Co-patentee after: No.6 Research Institute of China Electronics Corporation Patentee after: Zhongdian Intelligent Technology Co., Ltd. Address before: No. 25 Tsinghua East Road, Haidian District, Beijing 100085 Patentee before: No.6 Research Institute of China Electronics Corporation |
|
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Song Liding Inventor after: Huang Bing Inventor after: Fan Wenbin Inventor after: Song Dong Inventor after: Dong Min Inventor before: Huang Bing Inventor before: Fan Wenbin Inventor before: Song Dong Inventor before: Dong Min |