CN105843170A - Control method based on EtherCAT master-slave station protocols - Google Patents
Control method based on EtherCAT master-slave station protocols Download PDFInfo
- Publication number
- CN105843170A CN105843170A CN201610050078.3A CN201610050078A CN105843170A CN 105843170 A CN105843170 A CN 105843170A CN 201610050078 A CN201610050078 A CN 201610050078A CN 105843170 A CN105843170 A CN 105843170A
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- ethercat
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- data
- slave station
- station equipment
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/408—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by data handling or data format, e.g. reading, buffering or conversion of data
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31145—Ethernet
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses a control method based on EtherCAT master-slave station protocols. The control method comprises the steps of receiving first data sent by a third-party EtherCAT master station device through an EtherCAT slave station; converting the first data into second data capable of outputted to a third-party EtherCAT salve station device, processing the second data according to a preset processing method and outputting the processed data to an EtherCAT master station; and forwarding the second data to one or more third-party EtherCAT salve station devices through the EtherCAT master station. Compared with the prior art, the invention has the beneficial effects of, by separating the third-party EtherCAT master station from the third-party EtherCAT salve station through the EtherCAT master-salve station protocols, reducing the development cost for a control algorithm of the third-party EtherCAT master station and the third-party EtherCAT slave station on the one hand,, and on the other hand effectively preventing a core algorithm of a company from being leaked through a third-party EtherCAT master station or third-party EtherCAT slave station platform.
Description
Technical field
The present invention relates to a kind of control method based on EtherCAT master-salve station agreement, especially
Relate to a kind of control system based on EtherCAT master-salve station agreement for injection machine and
Control method.
Background technology
EtherCAT (Ethernet auto-control technology) be one based on Ethernet
The field bus system of open architecture, initially by Elektro Beckhoff GmbH
(Beckhoff Automation GmbH) researches and develops.EtherCAT is the real-time of system
Can set up new standard with the motility of topology, meanwhile, it also is compliant with even reducing
The use cost of fieldbus.
Existing EtherCAT bus control system generally includes an EtherCAT main website
Equipment and multiple EtherCAT slave station equipment, multiple EtherCAT slave station equipment are passed through
EtherCAT main website is accessed entirely through EtherCAT bus after the series connection of EtherCAT bus
Equipment.The Chinese patent of such as Publication No. CN103529804A " a kind of based on
The dcs of EtherCAT bus ", it i.e. uses this kind of control mode.
But when using third party's EtherCAT master device and EtherCAT slave station equipment,
If the core technology algorithm of enterprise, technological parameter etc. are deposited in third party EtherCAT
In master device and EtherCAT slave station equipment, on the one hand can strengthen third party EtherCAT
Master device and the performance requirement of EtherCAT slave station equipment, on the other hand there is also technology
The potential safety hazard of secret.
Summary of the invention
The technical problem to be solved is, for the above-mentioned deficiency of prior art,
Propose one and can reduce third party's EtherCAT master device and EtherCAT slave station equipment
Exploitation performance requirement, prevents from depositing in third party's EtherCAT master device and EtherCAT
The leakages such as core technology algorithm in slave station equipment, technological parameter based on EtherCAT
The control method of master-salve station agreement.
The present invention solves its technical problem and employed technical scheme comprise that, propose a kind of based on
The control method of EtherCAT master-salve station agreement, it includes step:
Receive that third party's EtherCAT master device sends by EtherCAT slave station the
One data；
Be converted to may be output to third party's EtherCAT slave station equipment by these first data
These second data according to default disposal methods and are exported extremely by the second data
EtherCAT main website；
By EtherCAT main website, these second data are forwarded to one or more third party
EtherCAT slave station equipment.
Further, further comprise the steps of:
Receive one or more third party's EtherCAT slave stations by EtherCAT main website to set
3rd data of standby output；
Be converted to may be output to third party's EtherCAT master device by the 3rd data
4th data；
By EtherCAT slave station, the 4th data are forwarded to third party EtherCAT master
Station equipment.
Further, described default processing method is stored in by external communications equipment.
Further, described default processing method is control algolithm, controls logic, technique
Parameter and/or servo parameter.
Further, also include: by the data of multiple third party's EtherCAT slave station equipment
Information MAP is self-defining data message.
Further, the data packets of the plurality of third party's EtherCAT slave station equipment
Include kinestate data message and/or the control of multiple third party's EtherCAT slave station equipment
Director data information；The plurality of third party's EtherCAT slave station equipment same movement state
And/or kinestate data message corresponding to control instruction and/or control instruction data message
Identical or different.
Further, also include:
By EtherCAT main website scan multiple third party's EtherCAT slave station equipment time
Clock signal also obtains the clock signal of third party's EtherCAT slave station equipment of distalmost end；
When described EtherCAT main website forwards the second data extremely multiple third party EtherCAT
During slave station equipment, the plurality of third party's EtherCAT slave station equipment is according to respective clock
Signal compares then with the clock signal of third party's EtherCAT slave station equipment of distalmost end
Time delay one time exports control signal again so that multiple third party's EtherCAT slave station sets
Standby synchronism output control signal.
Hinge structure of the present invention has the advantages that
1, by EtherCAT master-salve station agreement by third party EtherCAT main website and the 3rd
Side's EtherCAT slave station is kept apart, on the one hand reduce third party EtherCAT main website with
Third party EtherCAT, from the development cost stood in control algolithm, on the other hand also can have
The core algorithm that effect prevents enterprise own passes through third party EtherCAT main website or third party
EtherCAT reveals from platform；
2, one ring topologies of EtherCAT master-salve station agreement composition makes
EtherCAT bus topolopy flexibility is higher；Both EtherCAT master can be used alone as
Stand, it is also possible to be used alone as EtherCAT slave station, it is also possible to EtherCAT master-salve station is altogether
With using so that the application application surface is wider；
3, without consider third party's EtherCAT master device of various different model,
Tripartite's EtherCAT slave station equipment difference on clock, control performance, reduce various not
Third party's EtherCAT master device of same model, third party's EtherCAT slave station equipment
Exploitation, maintenance work.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of prior art EtherCAT bus control system；
Fig. 2 is the structured flowchart of EtherCAT bus control system of the present invention；
Fig. 3 is the control stream of present invention control method based on EtherCAT master-salve station agreement
Cheng Tu.
Detailed description of the invention
The following is the specific embodiment of the present invention and combine accompanying drawing, the technical side to the present invention
Case is further described, but the present invention is not limited to these embodiments.
Refer to Fig. 1, Fig. 1 be in prior art third party EtherCAT master device with
Third party's EtherCAT slave station equipment EtherCAT bus communication block diagram.
In the present embodiment, third party's EtherCAT master device with controller of plastic injection molding is all
Example illustrates, third party's EtherCAT slave station equipment all explanations as a example by servo-driver.But
Being to skilled person will appreciate that, third party's EtherCAT master device is not limited to note
Molding machine controller, can be also machine tool controller etc., and third party's EtherCAT slave station equipment is also
It is not limited to servo-driver.
In Fig. 1, controller of plastic injection molding is directly by each difference of EtherCAT bus marco
The servo-driver of model.Control algolithm, control logic, technological parameter, servo parameter
Etc. being stored in controller of plastic injection molding.Performance due to the servo-driver of different model
And the data letter that the kinestate of the servo-driver of different model is corresponding with control instruction
Breath difference, causes the development cost of controller of plastic injection molding drastically raise and be stored in injection machine
Control algolithm, control logic, technological parameter, servo parameter etc. in controller are easily let out
Dew.
To this end, refer to Fig. 2, controller of plastic injection molding is driven by the application with different servo
The communication of device is kept apart, and passes through EtherCAT between controller of plastic injection molding and servo-driver
Master-salve station integrative control card transmission signal.So, on the one hand make controller of plastic injection molding only
Towards EtherCAT master-salve station integrative control card, to the performance requirement of controller of plastic injection molding and
Development cost reduces, on the other hand, and the core control algolithm of enterprise, control logic, work
Skill parameter, servo parameter etc. be stored in EtherCAT master-salve station one control card in from
And effectively prevent those know-hows from revealing.
Refer to the FB(flow block) that Fig. 3, Fig. 3 are control method of the present invention；In Fig. 3,
The control method of the present invention includes: receive third party EtherCAT by EtherCAT slave station
The first data that master device sends；
Be converted to may be output to third party's EtherCAT slave station equipment by these first data
These second data according to default disposal methods and are exported extremely by the second data
EtherCAT main website；
By EtherCAT main website, these second data are forwarded to one or more third party
EtherCAT slave station equipment.
In the present embodiment, controller of plastic injection molding only needs to send simple logical control data,
The pressure that such as reaches needed for injection machine, flow, servomotor back to zero etc.；This control number
Third party EtherCAT is may be output to according to transmitting by EtherCAT slave station and be converted into
Second data of slave station equipment, and by these second data according to default disposal methods
For the signal of servo-driver can be controlled, such as degree of turning, torque signal.After process
Two data are forwarded to one or more servo-driver by EtherCAT main website.
Described default processing method be the own control algolithm of each enterprise, control logic,
Technological parameter, servo parameter etc..Those control algolithms, control logic, technological parameter,
Servo parameters etc. can be beforehand through external communications equipment, such as computer, hand-hold programmer etc.
In write control module.
EtherCAT main website also receives the 3rd data of each servo-driver output, respectively
The positional information of servomotor, torque information, rotary speed information etc.；By EtherCAT main website
The 3rd data received are converted to may be output to the of third party's EtherCAT master device
Four data；EtherCAT slave station receives the 4th data and the 4th data is forwarded to
Tripartite's EtherCAT master device.
Above-mentioned first data are changed with the 4th data with the second data conversion and the 3rd data
It is that the model due to all kinds of servo-drivers, producer's difference cause all kinds of servo-driver
Kinestate data message and/or control instruction data message are different, such as A producer
The servo back to zero that address information is A1, B producer instruction corresponding to servo back to zero instruction right
The address information answered then may be for B1；The and for example rotary speed information storage of A producer servomotor
Address be A2, B producer servomotor rotary speed information storage address may be B2.
Servo controller, the control card of EtherCAT master-salve station one and each for convenience
The signal transmission of servo-driver, the application also includes data mapping step, and it is by multiple
The data message of third party's EtherCAT slave station equipment is mapped as self-defining data message.
Below table is a concrete data mapping tables example, is only used for conveniently understanding,
Should not regard the restriction to the application real data mapping mode as.
In above-mentioned sequence number 1,2,4, self-defined address signal one_to_one corresponding servo-driver
Address signal, in above-mentioned sequence number 3,2 servo-driver address information all correspondences one
Self-defined address information.
Further, different, in order to protect due to the clock signal of multiple servo-drivers
Synchronicity during card servo driver drives servomotor, the EtherCAT main website of the application
Also scan the clock signal of multiple third party's EtherCAT slave station equipment and obtain distalmost end
The clock signal of third party's EtherCAT slave station equipment；When described EtherCAT main website
When forwarding second to control signal to multiple third party's EtherCAT slave station equipment, the plurality of
Third party's EtherCAT slave station equipment is according to respective clock signal and the 3rd of distalmost end
The clock signal of side's EtherCAT slave station equipment compares then time delay one time and exports control again
Signal processed is so that multiple third party's EtherCAT slave station equipment synchronism output control signal.
Such as, when the clock signal of the servo-driver of distalmost end is delay 10ms,
When EtherCAT main website forwarding behavior signal is to the servo-driver of most proximal end, it is assumed that recently
Servo-driver self clock delay of end is 2ms, then servo-driver time delay 8ms again
Rear action, so make the servo-driver of the servo-driver of most proximal end and distalmost end with
Step action.Other servo-drivers the most in like manner run.
Specific embodiment described herein is only to present invention spirit theory for example
Bright.Those skilled in the art can be to described specific embodiment
Make various amendment or supplement or use similar mode to substitute, but without departing from
The spirit of the present invention or surmount scope defined in appended claims.
Claims (7)
1. a control method based on EtherCAT master-salve station agreement, it is characterised in that:
Including step:
Receive that third party's EtherCAT master device sends by EtherCAT slave station the
One data；
Be converted to may be output to third party's EtherCAT slave station equipment by these first data
These second data according to default disposal methods and are exported extremely by the second data
EtherCAT main website；
By EtherCAT main website, these second data are forwarded to one or more third party
EtherCAT slave station equipment.
Control based on EtherCAT master-salve station agreement the most according to claim 1
Method, it is characterised in that: further comprise the steps of:
Receive one or more third party's EtherCAT slave stations by EtherCAT main website to set
3rd data of standby output；
Be converted to may be output to third party's EtherCAT master device by the 3rd data
4th data；
By EtherCAT slave station, the 4th data are forwarded to third party EtherCAT master
Station equipment.
Control based on EtherCAT master-salve station agreement the most according to claim 1
Method, it is characterised in that: described default processing method is stored in by external communications equipment.
4. based on EtherCAT master-salve station agreement according to described in claim 1 or 3
Control method, it is characterised in that: described default processing method is control algolithm, controls to patrol
Volume, technological parameter and/or servo parameter.
Control based on EtherCAT master-salve station agreement the most according to claim 1
Method, it is characterised in that: also include: by multiple third party's EtherCAT slave station equipment
Data message is mapped as self-defining data message.
Control based on EtherCAT master-salve station agreement the most according to claim 5
Method, it is characterised in that: the data letter of the plurality of third party's EtherCAT slave station equipment
Breath include multiple third party's EtherCAT slave station equipment kinestate data message and/or
Control instruction data message；The plurality of third party's EtherCAT slave station equipment same movement
State and/or kinestate data message corresponding to control instruction and/or control instruction data
Information is identical or different.
Control based on EtherCAT master-salve station agreement the most according to claim 1
Method, it is characterised in that: also include:
By EtherCAT main website scan multiple third party's EtherCAT slave station equipment time
Clock signal also obtains the clock signal of third party's EtherCAT slave station equipment of distalmost end；
When described EtherCAT main website forwards the second data extremely multiple third party EtherCAT
During slave station equipment, the plurality of third party's EtherCAT slave station equipment is according to respective clock
Signal compares then with the clock signal of third party's EtherCAT slave station equipment of distalmost end
Time delay one time exports control signal again so that multiple third party's EtherCAT slave station sets
Standby synchronism output control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610050078.3A CN105843170A (en) | 2016-01-25 | 2016-01-25 | Control method based on EtherCAT master-slave station protocols |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610050078.3A CN105843170A (en) | 2016-01-25 | 2016-01-25 | Control method based on EtherCAT master-slave station protocols |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105843170A true CN105843170A (en) | 2016-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610050078.3A Pending CN105843170A (en) | 2016-01-25 | 2016-01-25 | Control method based on EtherCAT master-slave station protocols |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112910593A (en) * | 2021-03-09 | 2021-06-04 | 华南理工大学 | Synchronous control system and method applied to servo motor driver |
| CN116319155A (en) * | 2022-09-20 | 2023-06-23 | 深圳市同芯智控技术有限公司 | Distributed control system based on EtherCAT bus protocol |
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| WO2014006448A1 (en) * | 2012-07-03 | 2014-01-09 | Freescale Semiconductor, Inc. | Cut through packet forwarding device |
| CN103529804A (en) * | 2013-10-25 | 2014-01-22 | 深圳市汇川控制技术有限公司 | Distributed control system based on EtherCAT bus |
| CN104407591A (en) * | 2014-11-27 | 2015-03-11 | 杭州优稳自动化系统有限公司 | Communication management method for master station and slave station of Modbus device based on real-time database, and communication management system for master station and slave station of Modbus device based on real-time database |
-
2016
- 2016-01-25 CN CN201610050078.3A patent/CN105843170A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014006448A1 (en) * | 2012-07-03 | 2014-01-09 | Freescale Semiconductor, Inc. | Cut through packet forwarding device |
| CN103529804A (en) * | 2013-10-25 | 2014-01-22 | 深圳市汇川控制技术有限公司 | Distributed control system based on EtherCAT bus |
| CN104407591A (en) * | 2014-11-27 | 2015-03-11 | 杭州优稳自动化系统有限公司 | Communication management method for master station and slave station of Modbus device based on real-time database, and communication management system for master station and slave station of Modbus device based on real-time database |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112910593A (en) * | 2021-03-09 | 2021-06-04 | 华南理工大学 | Synchronous control system and method applied to servo motor driver |
| CN112910593B (en) * | 2021-03-09 | 2022-06-14 | 华南理工大学 | Synchronous control system and method applied to servo motor driver |
| CN116319155A (en) * | 2022-09-20 | 2023-06-23 | 深圳市同芯智控技术有限公司 | Distributed control system based on EtherCAT bus protocol |
| CN116319155B (en) * | 2022-09-20 | 2024-01-30 | 深圳市同芯智控技术有限公司 | Distributed control system based on EtherCAT bus protocol |
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Application publication date: 20160810 |