CN108931953A - A kind of electric machine control system based on EtherCAT bus - Google Patents
A kind of electric machine control system based on EtherCAT bus Download PDFInfo
- Publication number
- CN108931953A CN108931953A CN201810955186.4A CN201810955186A CN108931953A CN 108931953 A CN108931953 A CN 108931953A CN 201810955186 A CN201810955186 A CN 201810955186A CN 108931953 A CN108931953 A CN 108931953A
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- China
- Prior art keywords
- ethercat bus
- slave station
- controller
- chip
- motor
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- 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
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Programmable Controllers (AREA)
Abstract
The invention discloses a kind of electric machine control systems based on EtherCAT bus, on the one hand, controller can be connect by EtherCAT bus with each slave station equipment for being equipped with EtherCAT bus interface, because EtherCAT bus comes with time clock feature, the delay time of slave station equipment can be calculated automatically, the delay time of slave station equipment can be calibrated simultaneously, overcome the delay time different problems between each slave station equipment in different environments, and then may insure each slave station equipment clock consistency；On the other hand each slave station equipment is connected to motor again, so control instruction can be sent to motor by EtherCAT bus and slave station equipment to control motor by controller, because the clock of each slave station equipment is consistent, it is possible to further ensure that the motor clock consistency connecting with each slave station equipment.
Description
Technical field
The present invention relates to Motor Control Field, in particular to a kind of electric machine control system based on EtherCAT bus.
Background technique
Industrial equipment at runtime, generally can all have many motors, and each motor needs a motor servo to drive
It is dynamic.Currently, mainly sending control instruction directly to motor servo to realize the control to motor, if motor number by controller
Measure it is less and to the actuation time of each motor delay it is of less demanding in the case where, can satisfy demand.But if in electricity
In the case that machine quantity is more and the actuation time delay of each motor requires very little, sent out using controller directly to motor servo
Control instruction is sent just to be unable to satisfy requirement, because the core of controller is CPU, CPU can only successively execute each instruction, then
The instruction for being sent to motor servo has sequencing, and delay is unavoidable, although precalculated can postpone,
Taken into account when programming, but in the case where number of motors is more, workload can be very big, and in different rings
The time postponed under border may be also different, so still not overcoming the problems, such as that motor postpones.
It can be seen that how to overcome traditional motor control mode, delay time is different between caused each motor, Jin Eryin
The inconsistent problem of each motor clock risen is those skilled in the art's urgent problem to be solved.
Summary of the invention
The embodiment of the present application provides a kind of electric machine control system based on EtherCAT bus, to solve in the prior art
Traditional motor control mode, delay time is different between caused each motor, and then caused each motor clock is inconsistent asks
Topic.
In order to solve the above technical problems, the present invention provides a kind of electric machine control system based on EtherCAT bus, packet
It includes:
Controller, the controller are connected by EtherCAT bus with each slave station equipment for being equipped with EtherCAT bus interface
It connects, each slave station equipment is connected to motor, and the controller will by the EtherCAT bus and each slave station equipment
Control instruction is sent to the motor to control the motor.
Preferably, further includes:
The display module connecting with the controller, the display module are used to show the working condition of the motor.
Preferably, the controller specifically includes S3C2440 main control chip, SDRAM chip, memory, serial ports conversion core
Piece and debugging interface, the S3C2440 main control chip respectively with the SDRAM chip, the memory, serial ports conversion
Chip and debugging interface connection.
Preferably, the memory is specially NOR FLASH chip and/or NAND FLASH chip.
Preferably, the serial ports conversion chip is specially PL2303TA chip.
Preferably, the debugging interface is specially JTAG debugging interface, accordingly, the controller further include with it is described
The corresponding DM9000CEP network port driving chip of JTAG debugging interface.
Preferably, the display module is specially LED colorful display screen.
Preferably, further includes:
The warning device connecting with the controller, the warning device are used to prompt when the electrical fault alarm.
Preferably, the controller further includes the WM8976G audio processing driving chip for driving the warning device.
Preferably, the warning device is specially buzzer and/or indicator light and/or microphone.
Compared with the prior art, a kind of electric machine control system based on EtherCAT bus provided by the present invention, a side
Face, controller can be connect by EtherCAT bus with each slave station equipment for being equipped with EtherCAT bus interface, because
EtherCAT bus comes with time clock feature, can calculate the delay time of slave station equipment automatically, while can set to slave station
Standby delay time is calibrated, and the delay time different problems between each slave station equipment in different environments are overcome, into
And it may insure each slave station equipment clock consistency；On the other hand each slave station equipment is connected to motor again, so controller can be with
Control instruction is sent to motor to control motor by EtherCAT bus and slave station equipment, because of each slave station equipment
Clock be consistent, it is possible to further ensure that the motor clock consistency connecting with each slave station equipment.
Detailed description of the invention
Fig. 1 is a kind of electric machine control system structural representation based on EtherCAT bus provided by the embodiment of the present invention
Figure；
Fig. 2 is a kind of controller architecture schematic diagram provided by the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art without making creative work it is obtained it is all its
Its embodiment, shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of electric machine control system based on EtherCAT bus, can solve the prior art
Middle traditional motor control mode, delay time is different between caused each motor, and then caused each motor clock is inconsistent
Problem.
Scheme in order to enable those skilled in the art to better understand the present invention, with reference to the accompanying drawing and specific embodiment party
The present invention is described in further detail for formula.
Fig. 1 is a kind of electric machine control system structural representation based on EtherCAT bus provided by the embodiment of the present invention
Figure, as shown in Figure 1, the electric machine control system includes:
Controller 10, controller 10 pass through EtherCAT bus and each slave station equipment for being equipped with EtherCAT bus interface 13
11 connections, each slave station equipment 11 are connect with motor 12, and controller 10 will be controlled by EtherCAT bus and each slave station equipment 11
Instruction is sent to motor 12 to control motor 12.
In the prior art, controller 10 is directly connect with motor 12 by cable, if in 12 negligible amounts of motor and right
In the case that the actuation time delay of each motor 12 is of less demanding, still may be used in such a way that controller 10 directly controls motor 12
It is capable, but if more than 12 quantity of motor and when requiring each 12 delay time of motor difference very little, it is direct using controller 10
It is exactly unworkable for being connect in a manner of controlling motor 12 and work with motor 12, that is, does not overcome the delay issue of motor 12.From
It include special chip in station equipment 11, controller 10 (main website) passes through cable (communication protocol of the cable is EtherCAT agreement)
It is then dedicated into slave station equipment 11 by trawl performance chip to the relevant interface of slave station equipment 11, such as RJ45 interface
Chip, or directly to the special chip in slave station equipment 11, because some slave station equipments 11 are built-in trawl performance chips,
Slave station equipment 11 can receive the instruction of controller 10, and then control the work of the equipment such as motor 12, while can check motor 12
The state of lamp apparatus feeds back to the controller 10 in main website.
A kind of electric machine control system provided by the embodiment of the present application, controller 10 are no longer directly connected to motor 12, and
It is first to be connect with each slave station equipment 11 by EtherCAT bus, EtherCAT bus is exactly a kind of communications protocol in fact, control
Device 10 and slave station equipment 11 all have with EtherCAT bus interface 13, and motor 12 be do not have and EtherCAT bus interface
13, slave station equipment 11 again under be connected with motor 12, so controller 10 first can be referred to relevant control by EtherCAT bus
Order is issued to each slave station equipment 11, and the instruction received is then transmitted to motor 12, Jin Ershi by each slave station equipment 11 again
Now to the control of motor 12, because of EtherCAT bus clock function, as long as starting the function, so that it may calculate automatically each
The delay time of slave station equipment 11, and the delay time of each slave station equipment 11 can be corrected, even if there is multiple slave stations
The clock consistency between each slave station equipment 11 is also ensured in equipment 11, and then can ensure that and connect with each slave station equipment 11
The clock consistency between each motor 12 connect, EtherCAT bus interface 13 can be standard RJ45 in the embodiment of the present application
Interface is not to say that it can only is a kind of this interface certainly, can also select other EtherCAT bus interface 13 that meet the requirements,
The present invention is simultaneously not construed as limiting.Connecting line between controller 10 and each slave station equipment 11 can select the straight through cable of 5 classes or more.
Slave station equipment 11 can be motor servo slave station equipment, digital signal input and output slave station equipment and simulation in practical applications
The type of signal input and output slave station equipment etc., slave station equipment 11 will not influence the realization of the embodiment of the present application.In the application
Connect a motor 12 under preferably each slave station equipment 11 in embodiment, in practical applications, according to actual needs, a slave station is set
Standby 11 can also connect down multiple motors 12, and the present invention is simultaneously not construed as limiting.2 slave station equipments 11 and one are only depicted in Fig. 1
Connect the schematic diagram of a motor 12 under a slave station equipment 11, but does not represent and there was only a kind of this mode.
A kind of electric machine control system based on EtherCAT bus provided by the present invention, on the one hand, controller can lead to
It crosses EtherCAT bus and is connect with each slave station equipment for being equipped with EtherCAT bus interface, because when EtherCAT bus comes with
Clock function can calculate the delay time of slave station equipment automatically, while can calibrate to the delay time of slave station equipment,
When overcoming the delay time different problems between each slave station equipment in different environments, and then may insure each slave station equipment
Clock consistency；On the other hand each slave station equipment is connected to motor again, so controller can pass through EtherCAT bus and slave station
Control instruction is sent to motor to control motor by equipment, can because the clock of each slave station equipment is consistent
To further ensure that the motor clock consistency connecting with each slave station equipment.
The working condition of motor 12 is checked for the ease of related personnel, on the basis of the above embodiments, preferably
Embodiment, further includes:
The display module connecting with controller 10, display module are used to show the working condition of motor 12.Particularly as be by
The working condition for the motor 12 connecting with each slave station equipment 11 is shown by display module.Preferably embodiment,
Display module is specially LED colorful display screen.Certainly, display module be other than it can select LED colorful display screen, can be with
Other satisfactory display modules are selected, the present invention is not construed as limiting.
Fig. 2 is a kind of controller architecture schematic diagram provided by the embodiment of the present invention, as shown in Fig. 2, in above-described embodiment
On the basis of, preferably embodiment, controller 10 specifically includes S3C2440 main control chip 101, SDRAM chip 102,
Memory 103, serial ports conversion chip 104 and debugging interface 105, S3C2440 main control chip 101 respectively with SDRAM chip
102, memory 103, serial ports conversion chip 104 and debugging interface 105 connect.
S3C2440 main control chip 101 can control the other chip operations being attached thereto；SDRAM chip 102, Ke Yicun
The ephemeral data in 10 operational process of controller is stored up, the memory of computer is equivalent to；Memory 103, can store program code,
It is equivalent to the hard disk of computer, it is preferable that memory 103 can be NOR FLASH chip and/or NAND FLASH chip；String
Serial communication in controller 10, can be converted to the communication interface for being used to connect external equipment by mouth conversion chip 104, such as
USB communication interface, it is preferable that serial ports conversion chip 104 can be PL2303TA chip；Debugging interface 105, utilizes debugging interface
105 may be implemented the downloading and debugging to program, and debugging interface 105 can preferably select JTAG as debugging interface.Certainly,
The type of memory 103, serial ports conversion chip 104 and debugging interface 105 will not influence the realization of the embodiment of the present application.
On the basis of the above embodiments, preferably embodiment, debugging interface 105 are specially that JTAG debugging connects
Mouthful, accordingly, controller 10 further includes DM9000CEP network port driving chip corresponding with JTAG debugging interface.
Specifically, when debugging interface 105 selects JTAG debugging interface, controller 10 further includes and JTAG debugging interface pair
The DM9000CEP network port driving chip answered can drive RJ45 interface by DM9000CEP network port driving chip, realize control
Communication between device 10 and slave station equipment 11.
When motor 12 breaks down in order to prevent, the case where related personnel is unable to learn in time, in the base of above-described embodiment
On plinth, preferably embodiment, further includes:
The warning device connecting with controller 10, warning device are used to prompt when 12 failure alarm of motor.
Specifically, warning device warning note phase is just exactly controlled when controller 10 judges that motor 12 breaks down
Pass personnel are in time to handle it, it is preferable that warning device can be buzzer and/or indicator light and/or microphone.When
When electric machine control system in the embodiment of the present application includes the warning device connecting with controller 10, the driving of warning device is driven
Chip can select WM8976G audio processing driving chip, that is to say, that controller 10 further includes for driving warning device
WM8976G audio processing driving chip.
A kind of electric machine control system based on EtherCAT bus provided by the present invention is described in detail above.
With several examples, principle and implementation of the present invention are described herein, and the explanation of above embodiments is only used
In facilitating the understanding of the method and its core concept of the invention；At the same time, for those skilled in the art, according to the present invention
Thought, there will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as
Limitation of the present invention, those skilled in the art, under the premise of no creative work, to the present invention made modification,
Equivalent replacement, improvement etc., should be included in the application.
It should also be noted that, in the present specification, relational terms such as first and second and the like be used merely to by
One operation is distinguished with another operation, without necessarily requiring or implying there are any between these entities or operation
This actual relationship or sequence.Moreover, the similar word such as term " includes ", so that including the unit of a series of elements, equipment
Or system not only includes those elements, but also including other elements that are not explicitly listed, or further includes for this list
Member, equipment or the intrinsic element of system.
Claims (10)
1. a kind of electric machine control system based on EtherCAT bus characterized by comprising
Controller, the controller are connect by EtherCAT bus with each slave station equipment for being equipped with EtherCAT bus interface,
Each slave station equipment is connected to motor, and the controller will be controlled by the EtherCAT bus and each slave station equipment
Instruction is sent to the motor to control the motor.
2. the electric machine control system according to claim 1 based on EtherCAT bus, which is characterized in that further include:
The display module connecting with the controller, the display module are used to show the working condition of the motor.
3. the electric machine control system according to claim 1 based on EtherCAT bus, which is characterized in that the controller
Specifically include S3C2440 main control chip, SDRAM chip, memory, serial ports conversion chip and debugging interface, the S3C2440
Main control chip is connected with the SDRAM chip, the memory, the serial ports conversion chip and the debugging interface respectively.
4. the electric machine control system according to claim 3 based on EtherCAT bus, which is characterized in that the memory
Specially NOR FLASH chip and/or NAND FLASH chip.
5. the electric machine control system according to claim 3 based on EtherCAT bus, which is characterized in that the serial ports turns
Changing chip is specially PL2303TA chip.
6. the electric machine control system according to claim 3 based on EtherCAT bus, which is characterized in that the debugging connects
Mouth is specially JTAG debugging interface, and accordingly, the controller further includes DM9000CEP corresponding with the JTAG debugging interface
Network port driving chip.
7. the electric machine control system according to claim 2 based on EtherCAT bus, which is characterized in that the display mould
Block is specially LED colorful display screen.
8. according to claim 1 to the electric machine control system based on EtherCAT bus described in 7 any one, feature exists
In, further includes:
The warning device connecting with the controller, the warning device are used to prompt when the electrical fault alarm.
9. the electric machine control system according to claim 8 based on EtherCAT bus, which is characterized in that the controller
It further include the WM8976G audio processing driving chip for driving the warning device.
10. the electric machine control system according to claim 9 based on EtherCAT bus, which is characterized in that the alarm
Device is specially buzzer and/or indicator light and/or microphone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810955186.4A CN108931953A (en) | 2018-08-21 | 2018-08-21 | A kind of electric machine control system based on EtherCAT bus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810955186.4A CN108931953A (en) | 2018-08-21 | 2018-08-21 | A kind of electric machine control system based on EtherCAT bus |
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| CN108931953A true CN108931953A (en) | 2018-12-04 |
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| CN201810955186.4A Pending CN108931953A (en) | 2018-08-21 | 2018-08-21 | A kind of electric machine control system based on EtherCAT bus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112269699A (en) * | 2020-11-11 | 2021-01-26 | 上海新时达机器人有限公司 | Aging test method and device, EtherCAT main station and system, and storage medium |
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