CN109460011A - For the comprehensive performance test device and method of bus type kinetic control system - Google Patents
For the comprehensive performance test device and method of bus type kinetic control system Download PDFInfo
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- CN109460011A CN109460011A CN201811586596.2A CN201811586596A CN109460011A CN 109460011 A CN109460011 A CN 109460011A CN 201811586596 A CN201811586596 A CN 201811586596A CN 109460011 A CN109460011 A CN 109460011A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a kind of comprehensive performance test devices and method for bus type kinetic control system.Test device includes upper computer and lower computer；Host computer is the real-time main website of EtherCAT built based on IPC；Slave computer includes data interception device and several pulse collection modules.On the one hand data interception device accesses target kinetic control system bus, acquire the control data of motion controller and the status data of servo-driver, on the other hand each pulse collection module is triggered by DC periodic synchronization signal and acquisition is synchronized to rotational speed and torque data, the data of acquisition and the acquisition time value of record are uploaded to host computer together.Further include unified clock source in data interception device, makes all data acquisitions based on same timing.The present invention can acquire the rotational speed and torque data of the control data of motion controller, the status data of servo-driver and servo motor simultaneously, to realize the joint test to motion controller and multiple-axis servo driver and servo motor.
Description
Technical field
The present invention relates to a kind of comprehensive performance test devices and method for bus type kinetic control system.
Background technique
Motion control bus based on Industrial Ethernet such as EtherCAT, SERCOS etc. have traffic rate high, anti-interference
The advantages that performance is good, real-time performance is strong, gradually replaced pulse traditional between motion controller and servo-driver and
The interface modes such as analog quantity.The digitalized signature of motion control bus, by entire kinetic control system be converted into one it is digital
The entirety of change.More open data interaction may be implemented between motion controller and servo-driver as a result, and in this base
More excellent control algolithm can be designed on plinth, improve the overall performance of kinetic control system indirectly.
For the overall performance of lifting motion control system, need from motion controller, servo-driver and servo motor etc.
Three aspects carry out OVERALL OPTIMIZA-TION DESIGN FOR.And an objective effective performance test data, it is that one of product optimization design is important
Reference frame, it is therefore desirable to which objective effective test method is to evaluate and test the overall performance of kinetic control system.
It has been generalizable at present for the sensing measurement technology of servo motor rotational speed and torque, and on this basis
The measuring table for servo drive system is formd, pertinent literature can be found in: " the servo-system spy that Cao Yu, Li Yesong are delivered
Property test analysis Platform Designing " (" micro machine ", 2013,46 (10)), Teng Fulin, Hu Yuwen, Li Hongsheng, Deng Wei, yellow family are just sent out
" servo-system performance test and analysis platform " (" Electrified Transmission ", 2011,41 (01)) of table, Wang Chuanjun deliver " exchange is watched
Dress system specificity analysis and test " (" motor and control are applied ", 2018,45 (06)) etc..
But test platform in the prior art is tested only for servo-driver and servo motor, is lacked to fortune
The joint test of movement controller and Duo Tai servo-system can not analyze the comprehensive performance of entire kinetic control system.
Application No. is 201310136420.8 patents of invention to be directed to bus type kinetic control system, gives one kind and passes through
The method for analyzing the motion control bus data test kinetic control system of acquisition, but driven only for motion controller and servo
Dynamic device, can not the actual rotational speed and torque of synchronism detection servo motor, and due to the presence of clock jitter error, the patent formula institute
The motion control data of acquisition with the rotational speed and torque data measured can not merge based on the precision data of time phase sequence.
Therefore, it is the performance of comprehensive analysis kinetic control system, needs a kind of new test method, realize to motion controller
With the joint test of multiple-axis servo driver and servo motor.
Summary of the invention
The invention proposes a kind of comprehensive performance test device and method for bus type kinetic control system, purposes
It is: realizes the joint test to motion controller and multiple-axis servo driver and servo motor.
Technical solution of the present invention is as follows:
A kind of comprehensive performance test device for bus type kinetic control system, target kinetic control system packet to be measured
Motion controller and several servo-drivers controlled by motion controller are included, the servo-driver is connected with servo electricity
Machine, the servo motor are connected with load, it is characterised in that: the test device includes upper computer and lower computer；
The slave computer includes data interception device and several pulse collection modules；
The data interception device is connected to form the by EtherCAT bus and motion controller and servo-driver
One EtherCAT network controls each servo-driver by motion controller, and the data interception device is for acquiring first
The control data of motion controller and the status data of servo-driver in EtherCAT network；
Torque and speed sensors are installed, the torque and speed sensors are for detecting servo motor on the servo motor
Revolving speed and torque；The rotational speed and torque numerical value conversion that torque and speed sensors are also used to acquire is the output pulse of specified specification
Signal；The pulse collection module connects one to one with each torque and speed sensors, negative for acquiring each servo motor driving
Rotational speed and torque data when load；
The data interception device is also connected to form second by EtherCAT bus with each pulse collection module
EtherCAT network, using the clock of data interception device as reference clock, periodic synchronous acquisition turns each pulse collection module
Fast torque data and recording synchronism signal triggering moment value, are forwarded to host computer；
The data interception device is also connected with the host computer, for driving the control data of motion controller, servo
The status data of dynamic device and the rotational speed and torque data of servo motor are sent to host computer；
The data interception device further includes unified clock source, and the unified clock source is used for unified first EtherCAT network
With the clock signal of the second EtherCAT network.
As a further improvement of the present invention: the first network interface and the second network interface are equipped in the host computer；
The data interception device further include CPU, fpga chip, EtherCAT slave station chip, network interface A, network interface B, network interface C,
Network interface D and network interface E；
CPU, FPGA and EtherCAT slave station chip is connected with the unified clock source；
The network interface A and network interface B are connected with the fpga chip respectively, and the fpga chip is also connected with the CPU
It connects；Network interface A is connected with motion controller, and network interface B is connected with servo-driver, to constitute the first EtherCAT net
Network；The fpga chip is also used to acquire motion control by network interface A for realizing the data forwarding between network interface A and network interface B
The control data of device and the status data that servo-driver is acquired by network interface B, and for that will be adopted by network interface A and network interface B
The data of collection are sent to CPU after timestamp is added；
The CPU is connected with the network interface E, and the network interface E is connected, for inciting somebody to action with first network interface of host computer
The collected data of fpga chip are sent to host computer；
EtherCAT slave station chip in data interception device is connected with the network interface D, and the network interface D passes through EtherCAT
Bus is connected to constitute second EtherCAT network, institute with the EtherCAT slave station chip in each pulse collection module
Pulse collection module is stated according to the number of pulses of the synchronous signal acquisition torque and speed sensors of EtherCAT slave station chip and is led to
It crosses the second EtherCAT network and the data of acquisition is sent to host computer by data interception device；
EtherCAT slave station chip in the data interception device is also connected with the CPU, is used for the periodicity
Synchronization signal is sent to CPU；The CPU will record the timestamp of the periodic synchronization signal generation, be stored in process data pair
It is sent to as in the main website of the second EtherCAT network；
EtherCAT slave station chip in the data interception device is also connected with the network interface C, the network interface C with it is described
Second network interface is connected, and the rotational speed and torque data of acquisition and corresponding timestamp are encapsulated as a data packet, sends out by network interface C
It is sent to host computer, the host computer i.e. main website of the second EtherCAT network.
The invention also provides a kind of test methods based on above-mentioned test device:
The control data of motion controller and the status data of servo-driver: net are acquired by the first EtherCAT network
Time when data packet reaches corresponding network interface is added in the Ethernet data bag of mouth A and network interface B acquisition after fpga chip is handled
Stamp, is then forwarded to CPU, then be sent to host computer by network interface E；
Meanwhile each servo motor rotational speed and torque data are acquired by the second EtherCAT network: utilizing point of EtherCAT
Cloth clock mechanisms, the EtherCAT slave station core using the clock of data interception device as reference clock, in each pulse collection module
Piece periodically triggers synchronization signal, the number of pulses that synchronous acquisition torque and speed sensors issue simultaneously；At this point, data interception
EtherCAT chip in device will also trigger synchronization signal, the CPU in data interception device by record this synchronization signal triggering when
Between be worth；Within next communication cycle period of the second EtherCAT network, by the pulse value of each pulse collection module acquisition
With recorded synchronization signal triggering when time value be sent to the main website of the second EtherCAT network together, i.e., and data interception
The host computer of device network interface C connection；
The host computer based on when the control data of ordered pair motion controller, servo-driver status data and servo
The rotational speed and torque data of motor carry out data fusion, obtain corresponding control data of each moment, status data and revolving speed and turn
Square data.
Further improvement as this method: it sets network interface A and receives the time for controlling data as Ta, network interface B receives shape
The time of state data is Tb, and Ts is the triggered time of periodic sync signals；When carrying out data fusion to certain Ts moment, it is with the Ts
Benchmark acquires the Ta maximum of T a for being less than current Ts in Tamax, then acquire again and be greater than Ta in TbmaxMinimum value Tbmin, Tamax
The control data that motion controller issues before corresponding data packet includes Ts, TbminCorresponding data packet includes corresponding TamaxHair
The servo-driver status data for the control data sent, the corresponding data packet of Ts include the rotational speed and torque number of the moment servo motor
According to, by this control data, status data and rotational speed and torque data with the Ts moment be written data record in as the moment
Data fusion result.
Compared with the existing technology, the present invention has the positive effect that: (1) present invention can acquire motion controller simultaneously
Control data, the status data of servo-driver and the rotational speed and torque data of servo motor, thus realize to motion control
The joint test of device and multiple-axis servo driver and servo motor；(2) based on EtherCAT network topological structure and high-accuracy
Synchronizing characteristics, realize and multiple servo motor rotational speed and torque distributed synchronizations measured, collection period can reach 50 microseconds；
(3) the data interception device that designs of the present invention has unified motion control data on motion control bus and servo motor is true
The acquisition timing of rotational speed and torque data, to realize that the precision data fusion based on time phase sequence provides feasibility；(4) of the invention
The provided data fusion method based on time phase sequence can cope with the communication week of kinetic control system to be measured and test macro
Phase identical or different various situations, it is ensured that less than 1 data collection cycle of time jitter error；(5) present invention is actually answering
Used time, it is not necessary to modify the control programs or parameter configuration of motion controller in original kinetic control system and servo-driver
The comprehensive performance of kinetic control system is tested, the influence to kinetic control system to be measured is minimum, can with objective reflect fortune
The comprehensive performance of autocontrol system.
To sum up, the present invention has the characteristics that practical, test data system is comprehensive, measuring accuracy is high, has preferably
Practical value and application prospect.
Detailed description of the invention
Fig. 1 is block schematic illustration of the invention.
Fig. 2 is the block schematic illustration of data interception device of the present invention.
Fig. 3 is the schematic view of the mounting position of torque and speed sensors.
Fig. 4 is the timing diagram of EtherCAT network.
Fig. 5 is the data fusion flow chart based on time phase.
Fig. 6 is the data record format schematic diagram after fusion.
Specific embodiment
The technical solution that the invention will now be described in detail with reference to the accompanying drawings:
Such as Fig. 1, a kind of comprehensive performance test device for bus type kinetic control system, target motion control to be measured
System includes that motion controller and several servo-drivers controlled by motion controller, the servo-driver are connected with
Servo motor, the servo motor are connected with load.
Target kinetic control system to be measured uses EtherCAT as motion control bus, this is a kind of open protocol
Motion control bus can be convenient for extracting motion control data from bus data.
The test device mainly includes upper computer and lower computer two parts.
The slave computer includes data interception device and several pulse collection modules；The inside of each slave computer node collects
At EtherCAT slave station, using the clock of Industrial Ethernet data interception device as the reference clock of EtherCAT.
The data interception device is connected to form the by EtherCAT bus and motion controller and servo-driver
One EtherCAT network, the control by motion controller to each servo-driver make the data interception device for by first
EtherCAT network acquires the control data of motion controller and the status data of servo-driver.
Such as Fig. 3, torque and speed sensors are installed on the servo motor, torque and speed sensors be located at servo motor and
Between driven loads simulator.The torque and speed sensors can be and same with the revolving speed of real-time detection servo motor and torque
Step is converted into the pulse signal of specific standard.The pulse collection module connects one to one with each torque and speed sensors, uses
Rotational speed and torque data when acquiring each servo motor driving load.
Such as Fig. 1, the data interception device is also connected with each pulse collection module and host computer by EtherCAT bus
Constitute the second EtherCAT network, enable EtherCAT network DC mode, that is, distribution clock mode, each pulse collection module with
For the clock of data interception device as DC reference clock, the EtherCAT slave station chip in pulse collection module and data detectaphone will
Periodical synchronization signal of setting out simultaneously, to trigger the synchronous acquisition and recording synchronism signal trigger time value of rotational speed and torque data.
The pulse collection module can be purchased from market or be developed based on FPGA.Each pulse collection module is at least
Two pulse collection channels are separately connected revolving speed output channel and the torque output channel of torque and speed sensors.It operates in
The data fusion software of position machine, can be converted to revolving speed and torque for the pulse value of acquisition according to the parameter specification of sensor.
The data interception device is also connected with the host computer, and control data, the servo of the motion controller of acquisition are driven
The status data of dynamic device, will be sent to host computer by gigabit Ethernet mouth；The servo motor of second EtherCAT network acquisition
Rotational speed and torque data and acquisition time value will also be sent to host computer.
The data interception device further includes unified clock source, and the unified clock source is used for unified first EtherCAT network
With the clock signal of the second EtherCAT network.
After host computer receives the consistent control data of clock signal, status data and rotational speed and torque data, data are pressed
Timing carries out data fusion, the basis as the analysis of follow-up test data.
Specifically, host computer is the IPC (industrial computer) at least having the first network interface and the second network interface such as Fig. 1, wherein
One is gigabit Ethernet.Windows operating system is run on IPC, and on it installation in real time expand software and
EtherCAT Master Station Software, makes the PC become the EtherCAT main website of a high real-time, and the real-time for meeting EtherCAT is wanted
It asks, and runs EtherCAT main website and data convergence analysis software on it.
Such as Fig. 2, the data interception device further include CPU, fpga chip, EtherCAT slave station chip, network interface A, network interface B,
Network interface C, network interface D and network interface E,.
CPU, FPGA and EtherCAT slave station chip is connected with the unified clock source.
The network interface A and network interface B are connected with the fpga chip respectively, and the fpga chip is also connected with the CPU
It connects；In first EtherCAT network of network interface A and network interface B access target kinetic control system, network interface A is connected with motion controller
It connects, network interface B is connected with servo-driver, and the two is responsible for communication data acquisition.The fpga chip is for realizing network interface A and net
No-delay data forwarding between mouth B will not generate interference, fpga chip to the EtherCAT network of kinetic control system to be measured
It is also used to acquire the control data of motion controller by network interface A and acquires the status data of servo-driver by network interface B,
And for CPU will to be sent to after the timestamp being added when data packet reaches by network interface A and network interface B data collected.
The CPU is connected with the network interface E, and network interface E is giga industry Ethernet interface, the network interface E and gigabit
First network interface is connected, for sending the collected data of fpga chip later according to the network interface and time-sequencing of data source
To host computer.
In second EtherCAT network of network interface C and network interface D access test macro, connect as EtherCAT slave station communication
Mouthful, it is separately connected IPC and each pulse collection module realizes the acquisition and upload of rotational speed and torque data: in data interception device
EtherCAT slave station chip is connected with the network interface D, the network interface D by EtherCAT bus in a linear fashion with each pulse
EtherCAT slave station chip in acquisition module is connected to constitute second EtherCAT network, utilize EtherCAT
The DC mechanism of network, the EtherCAT slave station chip in each pulse collection module and data detectaphone can be triggered periodically simultaneously
Synchronization signal is realized the number of pulses that synchronous acquisition torque and speed sensors issue, and will be adopted by the second EtherCAT network
The data of collection are sent to host computer, i.e., the real-time main website of EtherCAT built based on IPC.
EtherCAT slave station chip in the data interception device is also connected with the CPU, is used for the periodicity
Synchronization signal is sent to CPU；The time stamp data generated according to the periodic synchronization signal is stored in process data by the CPU
In object, that is, PDO, it is sent to host computer through the EtherCAT slave station chip in the data interception device, i.e., is built based on IPC
The real-time main website of second EtherCAT network.The mode that EtherCAT slave station chip is combined with CPU can be adopted accurately recording impulse
Collect time value, it is ensured that time jitter is less than 1 microsecond.
EtherCAT slave station chip in the data interception device is also connected with the network interface C, the network interface C with it is described
Second network interface is connected, the numerical value that the timestamp in process data object is acquired with pulse collection module at the correspondent time moment
A data packet is formed, is back in the EtherCAT main website of IPC by EtherCAT network.
Such as Fig. 1 and 2, the test method based on above-mentioned test macro are as follows:
The control data of motion controller and the status data of servo-driver: net are acquired by the first EtherCAT network
Time when data packet reaches corresponding network interface is added in the Ethernet data bag of mouth A and network interface B acquisition after fpga chip is handled
Stamp, is then forwarded to CPU, then be sent to host computer by network interface E；
Meanwhile each servo motor rotational speed and torque data are acquired by the second EtherCAT network: utilizing the DC of EtherCAT
Mechanism, the EtherCAT slave station chip in data interception device and each pulse collection module generates periodic synchronization signal, synchronous
The signal number of pulses that each pulse collection module synchronization acquisition torque and speed sensors issue when reaching, data interception device will be remembered
The synchronization signal triggered time is recorded, acquires each pulse collection module in next communication cycle period of the second EtherCAT network
Numerical value and corresponding timestamp composition data packet the EtherCAT main website host computer in host computer is back to by network interface C.
The host computer captures the number sent out on Industrial Ethernet data interception device using WireShark from Gigabit Ethernet interface
According to packet, then it is stored in local storage, is denoted as file A；The each pulse collection mould of EtherCAT Master Station Software periodic reading
It the pulse value of block acquisition and the pulse collection triggered time of Industrial Ethernet data interception device record, designs a data and turns
Software is deposited by the data deposit local storage of acquisition, is denoted as file B.So far, it realizes and motion controller and multiaxis is watched
The data acquisition of Zhong Yuan while taking driver and servo motor joint test.
Then, the data fusion started on PC analyzes software, based on when the control data of ordered pair motion controller, servo drive
The status data of dynamic device and the rotational speed and torque data of servo motor carry out data fusion, obtain the corresponding control of each moment
Data, status data and rotational speed and torque data.
As shown in figure 4, when Ta is that motion controller issues control data arrival Industrial Ethernet data interception device network interface A
Between；Tb is the time that servo-driver feedback data packet reaches Industrial Ethernet data interception device network interface B；Ts is data interception device
EtherCAT slave station chip the synchronization signal triggered time.According to the communication of kinetic control system to be measured and this test macro week
Size relation between phase can be divided into three kinds of situations as shown in Figure 4: relationship A, kinetic control system to be measured and test macro
Communication cycle it is equal；Relationship B, the communication cycle of kinetic control system to be measured are less than the communication cycle of test macro；Relationship C,
The communication cycle of kinetic control system to be measured is greater than the communication cycle of test macro.
By integrate EtherCAT Industrial Ethernet data interception device design principle it is found that CPU, fpga chip and
EtherCAT slave station chip shares unified clock source, therefore Ta, Tb and Ts are all based on the same clock phase sequence.Between three when
Order relation is Ta (x) < Ts (n) < Ta (x+1) and Ta (x) < Tb (x) < Ta (x+1), x are data packet in kinetic control system to be measured
Serial number, the control data that Ta (x) moment issues are corresponding with the status data at Tb (x) moment.
The purpose that host computer carries out data fusion is, to Mr. Yu Ts (n), positions the Ta (x) and Tb (x) corresponding to it, from
And obtain time corresponding one group of control data --- status data --- rotational speed and torque data record.Fusion process is by upper
The data fusion of machine analyzes software realization, method particularly includes:
As shown in figure 5, on the basis of the Ts, being acquired in Ta less than current Ts's when carrying out data fusion to certain Ts moment
Ta maximum of T amax, then acquire again and be greater than Ta in TbmaxMinimum value Tbmin, TamaxCorresponding data packet is transported before including Ts
The control data that movement controller issues, TbminCorresponding data packet includes corresponding TamaxThe servo-driver of the control data of transmission
Status data, the corresponding data packet of Ts include the rotational speed and torque data of the moment servo motor, are obtained with the Ts moment in this way
The true rotational speed and torque number of control data, servo-driver status data and servo motor that corresponding motion controller issues
According to.Data fusion result as the moment in data record is written into the Ts moment in this group of data.A kind of typical number
It is as shown in Figure 6 according to fusion format.It is unequal for test macro communication cycle and the communication cycle of kinetic control system to be measured
Adjacent Ts and Ta, Tb data are supplemented in corresponding data segment by situation.
So far, control data, the servo-driver feedback that motion controller in kinetic control system issues have been obtained
Status data and the corresponding true rotational speed and torque data of servo motor.On this basis, certain motion reference data are added
(initial position of such as servo motor, electronic gear proportion), by consistent data analysis etc. can be carried out after data processing
Analysis operation.
Claims (4)
1. a kind of comprehensive performance test device for bus type kinetic control system, target kinetic control system to be measured include
Motion controller and several servo-drivers controlled by motion controller, the servo-driver are connected with servo electricity
Machine, the servo motor are connected with load, it is characterised in that: the test device includes upper computer and lower computer；
The slave computer includes data interception device and several pulse collection modules；
The data interception device is connected to form first by EtherCAT bus and motion controller and servo-driver
EtherCAT network controls each servo-driver by motion controller, and the data interception device is for acquiring first
The control data of motion controller and the status data of servo-driver in EtherCAT network；
Torque and speed sensors are installed, the torque and speed sensors are used to detect turning for servo motor on the servo motor
Speed and torque；The rotational speed and torque numerical value conversion that torque and speed sensors are also used to acquire is the output pulse letter of specified specification
Number；The pulse collection module connects one to one with each torque and speed sensors, for acquiring each servo motor driving load
When rotational speed and torque data；
The data interception device is also connected to form the 2nd EtherCAT net by EtherCAT bus with each pulse collection module
Network, for each pulse collection module using the clock of data interception device as reference clock, periodic synchronous acquires rotational speed and torque data
And recording synchronism signal triggering moment value, it is forwarded to host computer；
The data interception device is also connected with the host computer, for by the control data of motion controller, servo-driver
Status data and the rotational speed and torque data of servo motor be sent to host computer；
The data interception device further includes unified clock source, and the unified clock source is used for unified first EtherCAT network and the
The clock signal of two EtherCAT networks.
2. being directed to the comprehensive performance test device of bus type kinetic control system as described in claim 1, it is characterised in that: institute
It states and is equipped with the first network interface and the second network interface in host computer；
The data interception device further includes CPU, fpga chip, EtherCAT slave station chip, network interface A, network interface B, network interface C, network interface D
With network interface E；
CPU, FPGA and EtherCAT slave station chip is connected with the unified clock source；The network interface A and network interface B points
It is not connected with the fpga chip, the fpga chip is also connected with the CPU；Network interface A is connected with motion controller,
Network interface B is connected with servo-driver, to constitute first EtherCAT network；The fpga chip is for realizing network interface
Data forwarding between A and network interface B is also used to acquire the control data of motion controller by network interface A and be adopted by network interface B
Collect the status data of servo-driver, and for being sent to after timestamp being added by network interface A and network interface B data collected
CPU；
The CPU is connected with the network interface E, and the network interface E is connected with first network interface of host computer, is used for FPGA core
The collected data of piece are sent to host computer；
EtherCAT slave station chip in data interception device is connected with the network interface D, and the network interface D passes through EtherCAT bus
It is connected with the EtherCAT slave station chip in each pulse collection module to constitute second EtherCAT network, the arteries and veins
Acquisition module is rushed according to the number of pulses of the synchronous signal acquisition torque and speed sensors of EtherCAT slave station chip and by the
The data of acquisition are sent to host computer by data interception device by two EtherCAT networks；In the data interception device
EtherCAT slave station chip is also connected with the CPU, for the periodic synchronization signal to be sent to CPU；The CPU will
The timestamp that the periodic synchronization signal generates is recorded, is stored in process data object and is sent to the second EtherCAT network
In main website；
EtherCAT slave station chip in the data interception device is also connected with the network interface C, the network interface C and described second
Network interface is connected, and the rotational speed and torque data of acquisition and corresponding timestamp are encapsulated as a data packet, is sent to by network interface C
Host computer, the host computer i.e. main website of the second EtherCAT network.
3. the test method based on test device as claimed in claim 2, it is characterised in that:
The control data of motion controller and the status data of servo-driver: network interface A are acquired by the first EtherCAT network
With the Ethernet data bag of network interface B acquisition, timestamp when data packet reaches corresponding network interface is added after fpga chip is handled,
It is then forwarded to CPU, then host computer is sent to by network interface E；
Meanwhile passing through the second EtherCAT network and acquiring each servo motor rotational speed and torque data: using EtherCAT distribution when
Clock mechanism, the EtherCAT slave station chip week using the clock of data interception device as reference clock, in each pulse collection module
Synchronization signal, the number of pulses that synchronous acquisition torque and speed sensors issue are triggered to phase property simultaneously；At this point, in data interception device
EtherCAT chip will also trigger synchronization signal, the CPU in data interception device will record this synchronization signal triggering time value；
Within next communication cycle period of the second EtherCAT network, by the pulse value of each pulse collection module acquisition and remembered
Time value when the synchronization signal triggering of record is sent to the main website of the second EtherCAT network together, i.e., with data interception device network interface
The host computer of C connection；
The host computer based on when the control data of ordered pair motion controller, servo-driver status data and servo motor
Rotational speed and torque data carry out data fusion, obtain corresponding control data of each moment, status data and rotational speed and torque number
According to.
4. test method as claimed in claim 3, it is characterised in that host computer carries out data fusion method particularly includes: sets net
The time that mouth A receives control data is Ta, and the time that network interface B receives status data is Tb, and Ts is periodic sync signals
Triggered time；When carrying out data fusion to certain Ts moment, on the basis of the Ts, the Ta maximum value for being less than current Ts in Ta is acquired
Tamax, then acquire again and be greater than Ta in TbmaxMinimum value Tbmin, TamaxMotion controller before corresponding data packet includes Ts
The control data issued, TbminCorresponding data packet includes corresponding TamaxThe servo-driver status number of the control data of transmission
According to the corresponding data packet of Ts.
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