CN105824770A - Transmission method for control information of Ethernet control automation technology (Ether CAT) equipment and adapter - Google Patents
Transmission method for control information of Ethernet control automation technology (Ether CAT) equipment and adapter Download PDFInfo
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Abstract
The invention provides a transmission method for control information of Ethernet control automation technology (Ether CAT) equipment and an adapter. The method comprises the following steps: receiving control data sent by a tablet personal computer through a USB interface; converting the control data to control data which can be recognized by the Ether CAT equipment; sending the control data which can be recognized by the Ether CAT equipment to the Ether CAT equipment. The adapter of the invention comprises a USB interface, an Ethernet interface and a conversion module. According to the invention, the control data sent by the tablet personal computer can be recognized by the Ether CAT equipment, so that the tablet personal computer can be used for carrying out field control on the Ether CAT equipment to further control field control equipment connected with the Ether CAT equipment by controlling the Ether CAT equipment through the tablet personal computer.
Description
Technical field
The present embodiments relate to industrial automation and EPA Field Bus Control Technology field, particularly relate to a kind of Ethernet auto-control technical equipment and control information transferring method and adapter.
Background technology
Ethernet auto-control technology (EthernetControlAutomationTechnology, it is called for short: EtherCAT) be the EPA fieldbus of a kind of international standard, it it is one of the most most widely used current EPA fieldbus, with field control equipment, EtherCAT equipment is carried out field control by Computer Control Unit at present, i.e. use Computer Control Unit and field control device transmission control instruction and feedback data.Wherein, above-mentioned field control equipment is typically the automatic control system being made up of equipment such as servo drive, servomotor, sensor, digital quantity switches, and above computer controls device and is usually embedded computer or industrial control computer.
In recent years, panel computer is as a kind of moving multimedia equipment, quickly grow, have become as most widely used computer product, along with industrial automation control system is towards distribution and intelligent aspect development, how to use panel computer that EtherCAT equipment is carried out the research tendency that field control becomes current.
Summary of the invention
The embodiment of the present invention provides a kind of Ethernet auto-control technical equipment to control information transferring method and adapter, and the control of EtherCAT equipment is controlled by panel computer the field control equipment being connected with this EtherCAT equipment with realization.
The embodiment of the present invention provides a kind of Ethernet auto-control technical equipment to control information transferring method, including: (UniversalSerialBus, is called for short: USB) the control data that interface sends by USB (universal serial bus) to receive panel computer；
Control data are converted to Ethernet auto-control technology EtherCAT equipment discernible control data；
Discernible for EtherCAT equipment control data are sent to described EtherCAT equipment.
The embodiment of the present invention provides a kind of adapter, including: USB interface, Ethernet interface, modular converter；
USB interface, is connected with the USB interface of panel computer, for receiving the control data that panel computer sends；
Modular converter, is connected with described USB interface, and described control data are converted to Ethernet auto-control technology EtherCAT equipment discernible control data；
Ethernet interface, with EtherCAT linking of devices, is used for described EtherCAT equipment discernible control data are sent to described EtherCAT equipment.
The Ethernet auto-control technical equipment that the present invention provides controls in information transferring method and adapter, by receiving the control data that panel computer is sent by USB interface, described control data are converted to EtherCAT equipment discernible control data, described EtherCAT equipment discernible control data are sent to described EtherCAT equipment, achieve the control data that EtherCAT equipment can identify that panel computer sends, so that use panel computer that EtherCAT equipment is carried out field control, achieve further, by panel computer, the control of EtherCAT equipment is controlled the field control equipment that is connected with this EtherCAT equipment.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in describing below is some embodiments of the present invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 controls the flow chart of information transferring method embodiment one for the Ethernet auto-control technical equipment that the present invention provides；
Fig. 2 controls the flow chart of information transferring method embodiment two for the Ethernet auto-control technical equipment that the present invention provides；
Fig. 3 controls the Frame schematic diagram of information transferring method embodiment three for the Ethernet auto-control technical equipment that the present invention provides；
Fig. 4 controls the flow chart of information transferring method embodiment four for the Ethernet auto-control technical equipment that the present invention provides；
Fig. 5 controls control cycle T and the position command curvilinear trend schematic diagram of information transferring method embodiment five for the Ethernet auto-control technical equipment that the present invention provides；
Fig. 6 controls the memory management data section schematic diagram of the fieldbus of the EtherCAT Frame of information transferring method embodiment five for the Ethernet auto-control technical equipment that the present invention provides；
The Ethernet auto-control technical equipment that Fig. 7 present invention provides controls the flow chart of information transferring method embodiment six；
The structural representation of the adapter embodiments seven that Fig. 8 provides for the present invention；
The structural representation of the adapter embodiments eight that Fig. 9 provides for the present invention.
Detailed description of the invention
For making the purpose of the embodiment of the present invention, technical scheme and advantage clearer, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, all other embodiments that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of protection of the invention.
Fig. 1 controls the flow chart of information transferring method embodiment one for the Ethernet auto-control technical equipment that the present invention provides, and the executive agent of the method can be adapter, as it is shown in figure 1, the method for the present embodiment may include that
The control data that step 101, reception panel computer are sent by USB interface.
Step 102, described control data are converted to EtherCAT equipment discernible control data.
Step 103, described EtherCAT equipment discernible control data are sent to described EtherCAT equipment.
Wherein, above-mentioned panel computer can be the panel computer of band Android operation system, the embodiment of the present invention is as a example by Android operation panel computer, above-mentioned control data can be the control program write by JAVA language on panel computer, equipment control instruction in this control program uses EtherCAT protocol format, then socket (Socket) class libraries using Android operation system to provide writes signal procedure based on Socket pattern, the control instruction using EtherCAT protocol format is packaged in the control packet of Sockte pattern, it is sent to adapter through data cable by USB interface.
These control data received are converted to EtherCAT equipment discernible control data by adapter, and the control data that this EtherCAT equipment can identify are sent to EtherCAT equipment.Wherein, above-mentioned EtherCAT equipment can be connected with the field control equipment in automatic control system, and this field control equipment can include servo drive, servomotor, sensor, digital quantity switch etc., and this is not any limitation as by the embodiment of the present invention.Wherein, panel computer, by the control to EtherCAT equipment, can realize the control to above-mentioned field control equipment further.
In the embodiment of the present invention, by receiving the control data that panel computer is sent by USB interface, described control data are converted to EtherCAT equipment discernible control data, described EtherCAT equipment discernible control data are sent to described EtherCAT equipment, achieve the control data that EtherCAT equipment can identify that panel computer sends, so that use panel computer that EtherCAT equipment is carried out field control, achieve further, by panel computer, the control of EtherCAT equipment is controlled the field control equipment that is connected with this EtherCAT equipment.
This technology can be used for the other control system being similar to, such as: intelligent appliance, Medical Instruments, scientific experiments instrument, experiment device for teaching etc..
Fig. 2 controls the flow chart of information transferring method embodiment two for the Ethernet auto-control technical equipment that the present invention provides, in above-described embodiment, alternatively, control data to carry at UDP (UserDatagramProtocol, abbreviation: UDP) in packet.Correspondingly, as in figure 2 it is shown, above-mentioned, control data are converted to Ethernet auto-control technology EtherCAT equipment discernible control data, specifically may include that
Step 201, control data being converted to the first UDP message frame, wherein, described first UDP message frame includes UDP head and UDP message, and UDP message includes EtherCAT Frame.
Step 202, according to described first UDP message frame, obtain EtherCAT Frame.Specifically, can be that the UDP head of above-mentioned first UDP message frame is removed, from UDP message, obtain EtherCAT Frame.
Concrete, Fig. 3 controls the Frame schematic diagram of information transferring method embodiment three for the Ethernet auto-control technical equipment that the present invention provides, as shown in Figure 3, this Frame includes UDP head and UDP message, the UDP head of the first UDP message frame is removed by adapter, from UDP message, EtherCAT Frame part is read, generate EtherCAT packet, be sent to EtherCAT equipment by Ethernet interface and Ethernet cable.
The Ethernet auto-control technical equipment that Fig. 4 provides for the present invention controls the flow chart of information transferring method embodiment four, as shown in Figure 4, above-mentioned discernible for EtherCAT equipment control data is sent to described EtherCAT equipment, specifically may include that
Step 401, control cycle according to EtherCAT equipment, by the sub-EtherCAT Frame that EtherCAT data frame dividing is predetermined number.
Step 402, the sub-EtherCAT Frame of predetermined number is sent to successively according to predetermined period described EtherCAT equipment.
Specifically can determine above-mentioned predetermined period according to the system of panel computer.
nullFig. 5 controls control cycle T and the position command curvilinear trend schematic diagram of information transferring method embodiment five for the Ethernet auto-control technical equipment that the present invention provides，Fig. 6 controls the memorizer management (FieldbusMemoryManagement of the fieldbus of the EtherCAT Frame of information transferring method embodiment five for the Ethernet auto-control technical equipment that the present invention provides，It is called for short: FMMU) data segment schematic diagram，Shown in Fig. 5 and Fig. 6，Panel computer with Android operation system、As a example by servomotor is for field control equipment，The applicable control cycle of the panel computer of this Android operation system is usually 50 milliseconds，The Synchronization Control period defining of EtherCAT agreement is usually 1-8 millisecond，Regulation requirement is controlled in order to reach the synchronizing cycle of EtherCAT bus protocol，Can be by the position command segmentation function of adapter，The data subdividing that controls with 50 milliseconds as cycle of panel computer is become the control data with 5 milliseconds as cycle，Control above-mentioned servomotor.
Specifically, it is assumed that control data are position command, the control cycle of panel computer is T=50 millisecond, and the servomotor position command sent is P, as shown in Figure 3；Position command is that P is saved in FMMU data segment FMMU (P) of EtherCAT Frame, as shown in Figure 4；The working cycle of Ethernet-EtherCAT protocol conversion chip 18 is dT=5 millisecond, servomotor position command P in FMMU (P) is segmented by it: n=T/dT, dP=P/n, Pi+1=Pi+dP, i=0..9, adapter can generate, by 5 milliseconds, the EtherCAT subdivided data frame comprising position command FMMU (Pi) for the cycle, FMMU (P1) ... FMMU (P9), and Frame FMMU (P), it is sent to EtherCAT equipment and and the above-mentioned servomotor of this EtherCAT equipment connection.
The Ethernet auto-control technical equipment that Fig. 7 present invention provides controls the flow chart of information transferring method embodiment six, as it is shown in fig. 7, the method for the present embodiment may include that
Step 701, receive described EtherCAT equipment send return Frame.
Step 702, described return Frame is converted to the discernible interface data of described USB interface of described panel computer.
Step 703, discernible for described USB interface interface data is sent to described panel computer.
Further, step 702 is converted to the discernible interface data of described USB interface of described panel computer by returning Frame, may include that
Return Frame is converted to the second UDP message frame, wherein, described second UDP message frame comprises described return data；Described second UDP message frame is converted to the discernible interface data of described USB interface with described panel computer.
Specifically, after last field control equipment executive control operation, and EtherCAT Frame is returned.Return Frame, through all field control equipment, arrives the Ethernet interface of adapter, and being converted into can be by the EtherCAT Frame of panel computer USB interface identification.EtherCAT Frame is packaged in the second UDP message frame by adapter, it is sent to panel computer by USB interface and data cable, the Socket class libraries using panel computer reads in the second UDP message bag, and the feedback data of reading control equipment in the EtherCAT Frame from the second UDP message bag, and deal with.
Preferably, the USB interface in above-described embodiment is that (UniversalSerialBus is called for short: USB) interface, the discernible interface data of described USB interface is usb data frame USB (universal serial bus).The present embodiment is not limited thereto, such as, for other kinds of panel computer, it is also possible to be other interface adapted with it.
In the embodiment of the present invention, by receiving the return Frame that EtherCAT equipment sends, return Frame is converted to the discernible interface data of USB interface of panel computer, discernible for USB interface interface data is sent to panel computer, achieve panel computer and can read the control data that EtherCAT equipment feeds back, handle it, achieve the control circulation of the field control equipment that the control of EtherCAT equipment is controlled to be connected with this EtherCAT equipment by panel computer further.
The structural representation of the adapter embodiments seven that Fig. 8 provides for the present invention, as shown in Figure 8, the device of the present embodiment may include that usb 11, modular converter 12 and Ethernet interface 13, wherein,
Usb 11 is for being connected with the USB interface of panel computer, for receiving the control data that panel computer sends.
Described control data, for being connected with described USB interface, are converted to Ethernet auto-control technology EtherCAT equipment discernible control data by modular converter 12.
Ethernet interface 13 is for being connected with EtherCAT equipment, for described EtherCAT equipment discernible control data are sent to described EtherCAT equipment.
The device of the present embodiment, may be used for performing the technical scheme of embodiment of the method shown in Fig. 1, and it is similar with technique effect that it realizes principle, and here is omitted.
Further, control data and carry in UDP UDP message bag, the structural representation of the adapter embodiments eight that Fig. 9 provides for the present invention, as it is shown in figure 9, wherein modular converter 12 includes: data-Ethernet conversion chip the 201, first ethernet physical layer device 202, Ethernet-EtherCAT conversion chip 203 and the second ethernet physical layer device 204.Wherein,
Data-Ethernet conversion chip 201 is connected with described usb 11, and for described control data are converted to the first UDP message frame, the first UDP message frame includes UDP head and UDP message, and UDP message includes EtherCAT Frame；
First ethernet physical layer device 202 is connected with described data-Ethernet conversion chip 201, for the first UDP message frame is sent to Ethernet-EtherCAT conversion chip；
Ethernet-EtherCAT conversion chip 203 is connected with described first ethernet physical layer device 202, for being removed by the UDP head of Ethernet UDP message frame, obtains EtherCAT Frame；
Second ethernet physical layer device 204 is connected with Ethernet interface 13, for described EtherCAT Frame is sent to described Ethernet interface 13.
Further, Ethernet-EtherCAT conversion chip 203, the control cycle according to EtherCAT equipment that is additionally operable to is by sub-EtherCAT Frame that EtherCAT data frame dividing is predetermined number, Ethernet interface 13, is sent to described EtherCAT equipment successively by the sub-EtherCAT Frame of predetermined number according to predetermined period.
Said apparatus is for performing the technical scheme of Fig. 5, Fig. 6 embodiment of the method, and it is similar with technique effect that it realizes principle, and here is omitted.
Further, Ethernet interface 13 can be also used for receiving the return Frame that described EtherCAT equipment sends, modular converter 12 can be also used for being converted to return Frame the discernible interface data of described USB interface of described panel computer, and usb 11 can be also used for discernible for described USB interface interface data is sent to described panel computer.
Said apparatus is for performing the technical scheme of Fig. 7 embodiment of the method, and it is similar with technique effect that it realizes principle, and here is omitted.
Further, the second ethernet physical layer device 204 is connected with Ethernet interface 13, it is also possible to for the return Frame that EtherCAT equipment sends is sent to Ethernet-EtherCAT conversion chip 203；
Ethernet-EtherCAT conversion chip 203 is connected with the first ethernet physical layer device 202, it is also possible to for described return Frame is bundled to the second UDP message frame, wherein, described second UDP message frame includes returning Frame；
First ethernet physical layer device 202 is connected with data-Ethernet conversion chip 201, it is also possible to for described second UDP message frame is sent to described data-Ethernet conversion chip 201；
Data-Ethernet conversion chip 201 is connected with usb 11, it is also possible to for described second UDP message frame is converted into the discernible interface data of described USB interface of described panel computer.
It should be noted that, the Ethernet auto-control technical equipment that the embodiment of the present invention provides controls information carrying means, can apply to industrial automation, and other automatically control, data acquisition and processing (DAP) equipment, such as: intelligent appliance, Medical Instruments, scientific experimentation instrument and teaching experimental equipment etc..
One of ordinary skill in the art will appreciate that: all or part of step realizing above-mentioned each method embodiment can be completed by the hardware that programmed instruction is relevant.Aforesaid program can be stored in a computer read/write memory medium.This program upon execution, performs to include the step of above-mentioned each method embodiment；And aforesaid storage medium includes: the various media that can store program code such as ROM, RAM, magnetic disc or CDs.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments still can be modified by it, or the most some or all of technical characteristic is carried out equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (11)
1. an Ethernet auto-control technical equipment controls information transferring method, it is characterised in that including:
Receive the control data that panel computer is sent by general-purpose serial bus USB interface；
Described control data are converted to Ethernet auto-control technology EtherCAT equipment discernible control data；
Described EtherCAT equipment discernible control data are sent to described EtherCAT equipment.
Method the most according to claim 1, it is characterised in that described control data are carried in UDP UDP message bag；
Described described control data are converted to EtherCAT equipment discernible control data, including:
Described control data are converted to the first UDP message frame, and wherein, described first UDP message frame includes that UDP head and UDP message, described UDP message include EtherCAT Frame；
According to described first UDP message frame, obtain described EtherCAT Frame.
Method the most according to claim 2, it is characterised in that described described EtherCAT equipment discernible control data are sent to described EtherCAT equipment, including:
According to the control cycle of described EtherCAT equipment, by the sub-EtherCAT Frame that described EtherCAT data frame dividing is predetermined number；
The sub-EtherCAT Frame of described predetermined number is sent to successively according to predetermined period described EtherCAT equipment.
Method the most according to claim 1, it is characterised in that also include:
Receive the return Frame that described EtherCAT equipment sends；
Described return Frame is converted to the discernible interface data of described USB interface of described panel computer；
Discernible for described USB interface interface data is sent to described panel computer.
Method the most according to claim 4, it is characterised in that the described discernible interface data of described USB interface that described return Frame is converted to described panel computer, including:
Described return Frame is converted to the second UDP message frame, wherein, described second UDP message frame comprises described return data；
Described second UDP message frame is converted to the discernible interface data of described USB interface with described panel computer.
6. according to the method described in any one of claim 1-5, it is characterised in that the discernible interface data of described USB interface is usb data frame.
7. an adapter, it is characterised in that including: USB interface, Ethernet interface, modular converter；
Described USB interface, is connected with the USB interface of panel computer, for receiving the control data that panel computer sends；
Described modular converter, is connected with described USB interface, and described control data are converted to Ethernet auto-control technology EtherCAT equipment discernible control data；
Described Ethernet interface, is connected with EtherCAT equipment, for described EtherCAT equipment discernible control data are sent to described EtherCAT equipment.
Adapter the most according to claim 7, it is characterised in that described control data are carried in UDP UDP message bag；
Described modular converter includes: data-Ethernet conversion chip, the first ethernet physical layer device, Ethernet-EtherCAT conversion chip and the second ethernet physical layer device, wherein:
Described data-Ethernet conversion chip, is connected with described USB interface, and for described control data are converted to the first UDP message frame, wherein, described first UDP message frame includes that UDP head and UDP message, described UDP message include EtherCAT Frame；
Described first ethernet physical layer device, is connected with described data-Ethernet conversion chip, for described first UDP message frame is sent to described Ethernet-EtherCAT conversion chip；
Described Ethernet-EtherCAT conversion chip, is connected with described first ethernet physical layer device, for according to described first UDP message frame, obtains described EtherCAT Frame.
Described second ethernet physical layer device, is connected with described Ethernet interface, for described EtherCAT Frame is sent to described Ethernet interface.
Adapter the most according to claim 8, it is characterised in that described Ethernet-EtherCAT conversion chip, is additionally operable to the control cycle according to described EtherCAT equipment, by the sub-EtherCAT Frame that described EtherCAT data frame dividing is predetermined number；
Described Ethernet interface, is sent to described EtherCAT equipment successively by the sub-EtherCAT Frame of described predetermined number according to predetermined period.
Adapter the most according to claim 7, it is characterised in that described Ethernet interface, is additionally operable to receive the return Frame that described EtherCAT equipment sends；
Described modular converter, is additionally operable to be converted to described return Frame the discernible interface data of described USB interface of described panel computer；
Described USB interface, is additionally operable to discernible for described USB interface interface data is sent to described panel computer.
11. adapters according to claim 10, it is characterised in that described modular converter includes: data-Ethernet conversion chip, the first ethernet physical layer device, Ethernet-EtherCAT conversion chip and the second ethernet physical layer device, wherein:
Described second ethernet physical layer device, is connected with described Ethernet interface, for the return Frame that EtherCAT equipment sends is sent to Ethernet-EtherCAT conversion chip.
Described Ethernet-EtherCAT conversion chip, is connected with described first ethernet physical layer device, and for described return Frame is bundled to the second UDP message frame, wherein, described second UDP message frame includes returning Frame；
Described first ethernet physical layer device, is connected with described data-Ethernet conversion chip, for described second UDP message frame is sent to described data-Ethernet conversion chip；
Described data-Ethernet conversion chip, is connected with described USB interface, for described second UDP message frame is converted into the discernible interface data of described USB interface of described panel computer.
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