CN109525472A - A kind of bus communication conversion circuit, apparatus and system - Google Patents
A kind of bus communication conversion circuit, apparatus and system Download PDFInfo
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- CN109525472A CN109525472A CN201811163422.5A CN201811163422A CN109525472A CN 109525472 A CN109525472 A CN 109525472A CN 201811163422 A CN201811163422 A CN 201811163422A CN 109525472 A CN109525472 A CN 109525472A
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- communication conversion
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40052—High-speed IEEE 1394 serial bus
- H04L12/40097—Interconnection with other networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
- H04L12/40006—Architecture of a communication node
Abstract
The present invention relates to digital control system fields, and in particular to a kind of bus communication conversion equipment, including the first data bus interface obtain the first bus data of digital control system host computer；Programmable logic device connect with the first data bus interface and receives the first bus data and be converted to the extractable data of Sercos II bus；First processor, connecting with programmable logic device and running Sercos II bus can extract data and obtains the periodical communication data of Sercos II bus；Second processor connect with first processor and periodical communication data is converted to the second bus data based on ethernet communication agreement framework；Second data bus interface connect with second processor and exports the second bus data to servo-driver.The invention further relates to a kind of bus communication conversion circuit and systems.It is that ethernet communication is reached an agreement on framework that bus communication conversion circuit of the invention, apparatus and system, which are able to achieve Sercos II general line system, and interface is easy to connect, and good compatibility reduces cost.
Description
Technical field
The present invention relates to digital control system fields, and in particular to a kind of bus communication conversion circuit, apparatus and system.
Background technique
Sercos is a kind of field-bus interface and data exchange agreement for digital servo and transmission system, Neng Goushi
Real-time data communication between existing industrial control computer and digital servosystem, sensor and I/O mouthfuls of programmable controller.
EtherCAT is the field bus system based on Ethernet.
In digital control system field, Sercos local communication bus and EtherCAT communication bus application are more universal, especially
EtherCAT bus is using more and more extensive.
Sercos II bus is connected using optical fiber, is mainly used for servo drive control, the wiring side relative to optical fiber connection
Formula, the RJ45 Ethernet interface mode of connection are more universal in industrial control field.EtherCAT bus uses general RJ45 cable
Interface, while compatible SERVO CONTROL and I/O control.EtherCAT bus is with its higher open, lower cost in numerical control
The biggish market share of system bus communication field occupation ratio.Most of brand servo-drivers all support EtherCAT on the market
Bus protocol.
Traditional Sercos II bus is mature and stable in SERVO CONTROL application, and control function is perfect, but communication interface uses
Optical fiber connection, connection is inconvenient, and connector procurement price is higher, and the servo-system type of compatible Sercos II fieldbus is less,
It is big that servo-system purchases difficulty.In contrast, EtherCAT bus or other ethernet communications agreement framework use general RJ45
Ethernet interface is conveniently inserted, and is communicated reliable and stable.
Now it is badly in need of the dress that Sercos II general line system can be the ethernet communications such as EtherCAT bus agreement framework by one kind
It sets, allows servo position control algolithm and Sercos the II control logic on digital control system host computer to continue to use, do not need
Modification, interface is easy to connect, reduces cost.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the above drawbacks of the prior art, providing a kind of bus communication turn
Circuit, apparatus and system are changed, overcomes the interface connection in SERVO CONTROL application of existing Sercos II communication bus inconvenient,
It is at high cost, the problem of poor compatibility.
The technical solution adopted by the present invention to solve the technical problems is: a kind of bus communication conversion equipment is provided, it is described
Bus communication conversion equipment is arranged between digital control system host computer and servo-driver comprising:
First data bus interface obtains the first bus data of digital control system host computer；
Programmable logic device connect with the first data bus interface and receives the first bus data and be converted to Sercos
II bus can extract data；
First processor, connecting with programmable logic device and running Sercos II bus can extract data and obtains
The periodical communication data of Sercos II bus；
Second processor is connect with first processor and is converted to periodical communication data and reached an agreement on based on ethernet communication
Second bus data of framework；
Second data bus interface connect with second processor and exports the second bus data to servo-driver.
Still more preferably scheme of the invention is: the ethernet communication agreement framework of second bus data includes
One of EtherCAT bus, Powerlink bus and Mechatrolink-III bus.
Still more preferably scheme of the invention is: the bus communication conversion equipment further includes Double Port Random Memory,
The Double Port Random Memory is connect with programmable logic device and first processor respectively, and will be connect from programmable logic device
The Sercos II bus of receipts can extract data and be transmitted to first processor.
Still more preferably scheme of the invention is: the bus communication conversion equipment further include respectively with second processor
Second bus data is passed through the by the first network controller connected with the second data bus interface, the first network controller
Two data bus interfaces are transmitted to servo-driver.
Still more preferably scheme of the invention is: the bus communication conversion equipment further includes connecting with second processor
The second network controller, second network controller receives answering for outer computer or ethernet communication agreement framework slave station
With program and it is transmitted to second processor.
Still more preferably scheme of the invention is: the first processor is connect by AXI bus with second processor.
Still more preferably scheme of the invention is: the bus communication conversion equipment further includes and ZYNQ XC7Z020 core
Data file needed for the operation of ZYNQ XC7Z020 chip is loaded onto DDR and configured by the SD card and DDR of piece connection, the SD card
ZYNQ XC7Z020 chip.
Still more preferably scheme of the invention is: the first processor includes Microblaze soft-core processor.
The technical solution adopted by the present invention to solve the technical problems is: a kind of bus communication converting system is provided, including
Digital control system host computer, multiple servo-drivers, and be set to digital control system host computer and any servo-driver it
Between the bus communication conversion equipment.
The technical solution adopted by the present invention to solve the technical problems is: a kind of bus communication conversion circuit is provided, it is described
Bus communication conversion circuit is arranged in the bus communication conversion equipment comprising: the first data bus interface may be programmed
Logical device, the second data bus interface, and it is integrated with Double Port Random Memory, first processor, second processor, first
The ZYNQ XC7Z020 chip of network controller and the second network controller, the programmable logic device respectively with the first data
Bus interface is connected with the Double Port Random Memory of ZYNQ XC7Z020 chip.
The beneficial effects of the present invention are compared with prior art, be arranged programmable logic device for the first data/address bus
The first bus data that interface obtains, which is converted to Sercos II bus, can extract data, and it is total that first processor runs Sercos II
Line can extract data and obtain the periodical communication data of Sercos II bus, and second processor turns periodical communication data
It is changed to the second bus data based on ethernet communication agreement framework and is exported by the second data bus interface to servo-drive
Device controls its operating, realizes that Sercos II general line system is ethernet communication agreement framework, interface is easy to connect, can be compatible with and watch
Clothes control and I/O control, reduce cost.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the structural block diagram of bus communication conversion equipment of the invention；
Fig. 2 is the specific block diagram of bus communication conversion equipment of the invention；
Fig. 3 is the structural block diagram of bus communication conversion circuit of the invention；
Fig. 4 is the specific block diagram of bus communication converting system of the invention.
Specific embodiment
Now in conjunction with attached drawing, elaborate to presently preferred embodiments of the present invention.
As shown in Figures 1 and 2, the present invention provides a kind of preferred embodiment of bus communication conversion equipment.
The bus communication conversion equipment is arranged between digital control system host computer 100 and servo-driver 200, packet
It includes:
First data bus interface 1 obtains the first bus data of digital control system host computer 100；
Programmable logic device 2 connect with the first data bus interface 1 and receives the first bus data and be converted to Sercos
II bus can extract data；
First processor 3, connecting with programmable logic device 2 and running Sercos II bus can extract data and obtains
The periodical communication data of Sercos II bus；
Second processor 4 is connect with first processor 3 and is converted to periodical communication data and assisted based on ethernet communication
Determine the second bus data of framework；
Second data bus interface 5 connect with second processor 4 and exports the second bus data to servo-driver.
The bus data that first data bus interface 1 obtains is converted into Sercos by setting programmable logic device 2
II bus can extract data, and first processor 3 runs Sercos II bus and can extract data and obtain Sercos II bus
Periodical communication data are converted to second based on ethernet communication agreement framework by periodical communication data, second processor 4
Bus data simultaneously controls its operating by the second data bus interface 5 output to servo-driver 200, realizes that Sercos II is total
The conversion of line and ethernet communication agreement framework, interface is easy to connect, and compatible SERVO CONTROL and I/O control reduce cost.
Wherein, Sercos II communication bus in physical layer and data link layer using SERCON816 protocol chip,
SERCON816 protocol chip is simulated using programmable logic device 2 and the cooperation of first processor 3 in bus communication conversion equipment,
The periodical communication data of Sercos II communication bus are extracted, and periodical communication data are converted into base by second processor 4
In the second bus data of ethernet communication agreement framework, realize that Sercos II communication bus is reached an agreement on based on ethernet communication
The conversion of the bus of framework.
And the periodical communication data include servo period position control data and the enabled order of servo.
Specifically, first data bus interface 1 includes pci interface 6.The bus communication conversion equipment passes through PCI
Interface 6 connect to obtain the first bus data of digital control system host computer 100 with digital control system host computer 100.Second data
Bus interface 5 includes the first RJ45 interface 7 and the first physical layer 8, and bus communication conversion transposition passes through the first RJ45 interface 7 and watches
The connection of driver 200 is taken, and controls the operating of servo-driver 200.First RJ45 interface, 7 grafting is convenient, and communication is stablized.
Wherein, the ethernet communication agreement framework of second bus data includes EtherCAT bus, Powerlink total
One of line and Mechatrolink-III bus.It will by using the bus communication conversion equipment in the embodiment of the present invention
When Sercos II general line system is EtherCAT bus or Powerlink bus or Mechatrolink-III bus, bus is logical
News conversion equipment in each structure between connection relationship and working principle be it is the same, only need to change corresponding communications protocol i.e.
It can.It is said so that the ethernet communication of the second bus data agreement framework includes EtherCAT bus as an example in the embodiment of the present invention
It is bright.
Further, the bus communication conversion equipment further includes Double Port Random Memory 9, the Double Port Random Memory
9 connect with programmable logic device 2 and first processor 3 respectively, and will be from the received Sercos II of programmable logic device 2
Bus can extract data and be transmitted to first processor 3.Double Port Random Memory 9 is respectively and at programmable logic device 2 and first
It manages device 3 to connect, programmable logic device 2 and first processor 3 is allowed to access simultaneously to Double Port Random Memory 9, and
Speed is fast, reads and writes at any time.Programmable logic device 2 receives the first bus data and is converted to the extractable number of Sercos II bus
According to sending the data to Double Port Random Memory 9 according to Sercos II protocol format.Double Port Random Memory 9 is mainly simulated
Dual port RAM logic inside SERCOS II communication protocol chip SERCON816 is configured according to SERCON816 chip data format
Data register and control register.
In the present embodiment, the bus communication conversion equipment further include respectively with second processor 4 and the second data/address bus
EtherCAT bus data is passed through the second number by the first network controller 10 that interface 5 connects, the first network controller 10
Servo-driver 200 is transmitted to according to bus interface 5.
Specifically, the first network controller 10 is transmitted to servo drive by the first physical layer 8 and the first RJ45 interface 7
Dynamic device 200.
Further, the bus communication conversion equipment further includes the second network controller connecting with second processor 4
11, second network controller 11 receives the application program of outer computer or ethernet communication agreement framework slave station and transmission
To second processor 4.
In the present embodiment, the Double Port Random Memory 9, first processor 3, second processor 4, first network controller
10 and second network controller 11 be integrated in ZYNQ XC7Z020 chip 12.Specifically, at the first processor 3 and second
Reason device 4 is two processors in the 8 double-core CPU of ARM Cotex A9 in ZYNQ XC7Z020 chip 12, twoport random storage
Device 9 is the SERCON816 dual port RAM logic in ZYNQ XC7Z020 chip 12, and first network controller 10 is ZYNQ
The network controller carried in the 8 double-core CPU of ARM Cotex A9 of XC7Z020 chip 12, the second network controller 11 are ZYNQ
Another network controller carried in XC7Z020 chip 12.And the first processor 3 passes through at AXI bus 13 and second
Manage 4 connection communication of device.
By Double Port Random Memory 9, first processor 3, second processor 4, first network controller 10 and the second network
Controller 11 is integrated in ZYNQ XC7Z020 chip 12, easy to use.
Certainly, in other embodiments, other serial model SOC chips of ZYNQ-7000 can be used, such as ZYNQ XC7Z010
Chip, ZYNQ XC7Z015 chip etc..
Wherein, first processor 3 is used for and 9 communication data of Double Port Random Memory.The first processor 3 naked race fortune
Row, tape operation system, the part timing that the naked race program that first processor 3 is run also simulates SERCON816 communication chip are not patrolled
Volume, guarantee that the communication timing of SERCOS II bus operates normally, and extract the periodical communication of SERCOS II communication bus
Data.Second processor 4 runs real-time Linux operating system, and runs on the basis of real-time Linux operating system
EtherCAT main website, the position control order that EtherCAT main website is sent is by carrying on 8 double-core CPU of ARM Cotex A9
First network controller 10, and servo-driver 200 is transmitted to by the second data bus interface 5 and controls servo-driver 200
Operating.
And second network controller 11 be IP kernel type network controller, support 100M network communication, be mainly used for
The debugging of Linux application program and program load.Second network controller 11 receives outer computer or or EtherCAT slave station
Application program and be transmitted to second processor 4.
Specifically, the second network controller 11 by the second physical layer 14 and the 2nd RJ45 interface 15 and outer computer or
EtherCAT slave station connects loading application programs.User can the compiling debugging application on the external computer with linux system
Application program is loaded by the 2nd RJ45 interface 15 and the second physical layer 14 and by the second network controller 11 by program
The operation of two processors 4.
And the topological XML file of slave station connection of EtherCAT bus can also pass through the load road of above-mentioned application program
Diameter passes through the 2nd RJ45 interface 15 and the second physical layer 14 and by the second network controller 11 by application transfer to the
The operation of two processors 4.
Certainly, in other embodiments, the first processor 3 can be Microblaze soft-core processor.
The naked race of Microblaze soft-core processor is run, not tape operation system, the naked race program of Microblaze soft-core processor operation
Also the part sequential logic of analog SERCON816 communication chip guarantees that the communication timing of SERCOS II bus operates normally,
And extract the periodical communication data of SERCOS II communication bus.
Further, the bus communication conversion equipment further include the SD card 16 being connect with ZYNQ XC7Z020 chip 12 and
ZYNQ XC7Z020 chip 12 is run required data file and is loaded onto DDR17 and configures ZYNQ by DDR17, the SD card 16
XC7Z020 chip 12.Wherein, the data file includes the startup file of ZYNQ XC7Z020 chip 12, system image, file
System and application program.
As shown in figure 3, the present invention provides a kind of preferred embodiment of bus communication conversion circuit.
The bus communication conversion circuit is arranged in the bus communication conversion equipment comprising: the first data are total
Line interface 1, programmable logic device 2, the second data bus interface 5, and it is integrated with the processing of Double Port Random Memory 9, first
Device 3, second processor 4, first network controller 10 and the second network controller 11 ZYNQ XC7Z020 chip 12, it is described can
Programmed logic device 2 connects with the Double Port Random Memory 9 of the first data bus interface 1 and ZYNQ XC7Z020 chip 12 respectively
It connects.
By Double Port Random Memory 9, first processor 3, second processor 4, first network controller 10 and the second network
Controller 11 is integrated in ZYNQ XC7Z020 chip 12, easy to use.
The number of buses for being obtained the first data bus interface 1 by the programmable logic device 2 of bus communication conversion circuit
It can extract data according to Sercos II bus is converted to, Sercos run using the first processor 3 of ZYNQ XC7Z020 chip 12
II bus can extract data and obtain the periodical communication data of Sercos II bus, and second processor 4 is by periodical communication
Data are converted to EtherCAT bus data and control its fortune by the second data bus interface 5 output to servo-driver 200
Turn, realizes that Sercos II communication bus is converted to ethernet communication agreement framework, interface is easy to connect, can be compatible with SERVO CONTROL
It is controlled with I/O, reduces cost.
As shown in figure 4, the present invention also provides a kind of preferred embodiments of bus communication converting system.
The bus communication converting system includes digital control system host computer 100, multiple servo-drivers 200, and setting
The bus communication conversion equipment between digital control system 100 and any servo-driver 200, the bus communication
Conversion equipment is connect by RJ45 interface with multiple servo-drivers 200.
Specifically, bus communication conversion equipment is arranged in digital control system host computer 100 and any servo-driver
It between 200, is plugged on digital control system host computer 10 by pci interface 6, and is driven by the first RJ45 interface 7 with multiple servos
Dynamic device 200 connects, and the second bus data transfer to servo-driver 200 is controlled its operating, and by RS232 interface 18 with
External numerical control Machine Tool Communication.Bus communication conversion equipment external can control multiple servo-drivers 200 and operate, and save resource, work
Make high-efficient.
Bus communication conversion equipment in the embodiment of the present invention is set to digital control system host computer 100 and servo-driver
The conversion of bus data is carried out between 200, servo position control algolithm and Sercos II control on digital control system host computer 100
Logic processed can continue to use, and not need to modify, so that it may upgrade to EtherCAT control bus interface or Powerlink bus
The interface of interface or these ethernet communications of Mechatrolink-III bus interface agreement framework.Digital control system host computer 100
It is original maturation control algolithm and control logic completely can inherit and continue to use, interface is easy to connect, compatible SERVO CONTROL and
I/O control, good compatibility are at low cost.
It should be understood that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations, to ability
It for field technique personnel, can modify to technical solution illustrated in the above embodiments, or special to part of technology
Sign is equivalently replaced；And all such modifications and replacement, it should all belong to the protection domain of appended claims of the present invention.
Claims (10)
1. a kind of bus communication conversion equipment, which is characterized in that the bus communication conversion equipment setting is upper in digital control system
Between machine and servo-driver comprising:
First data bus interface obtains the first bus data of digital control system host computer；
Programmable logic device connect with the first data bus interface and receives the first bus data and to be converted to Sercos II total
Line can extract data；
First processor, connecting with programmable logic device and running Sercos II bus can extract data and obtains Sercos
The periodical communication data of II bus；
Second processor connect with first processor and is converted to periodical communication data based on ethernet communication agreement framework
The second bus data；
Second data bus interface connect with second processor and exports the second bus data to servo-driver.
2. bus communication conversion equipment according to claim 1, which is characterized in that the Ethernet of second bus data
Communications protocol framework includes one of EtherCAT bus, Powerlink bus and Mechatrolink-III bus.
3. bus communication conversion equipment according to claim 1 or 2, which is characterized in that the bus communication conversion equipment
It further include Double Port Random Memory, the Double Port Random Memory is connect with programmable logic device and first processor respectively,
And data will be can extract from the received Sercos II bus of programmable logic device and be transmitted to first processor.
4. bus communication conversion equipment according to claim 3, which is characterized in that the bus communication conversion equipment also wraps
The first network controller connecting respectively with second processor and the second data bus interface is included, the first network controller will
Second bus data is transmitted to servo-driver by the second data bus interface.
5. bus communication conversion equipment according to claim 4, which is characterized in that the bus communication conversion equipment also wraps
The second network controller connecting with second processor is included, second network controller receives outer computer or ether Netcom
The application program of news agreement framework slave station is simultaneously transmitted to second processor.
6. bus communication conversion equipment according to claim 5, which is characterized in that the first processor is total by AXI
Line is connect with second processor.
7. bus communication conversion equipment according to claim 6, which is characterized in that the bus communication conversion equipment also wraps
Include the SD card connecting with ZYNQ XC7Z020 chip and DDR, the SD card data that the operation of ZYNQ XC7Z020 chip is required
File is loaded onto DDR and configures ZYNQ XC7Z020 chip.
8. bus communication conversion equipment according to claim 1 or 2, which is characterized in that the first processor includes
Microblaze soft-core processor.
9. a kind of bus communication converting system, which is characterized in that the bus communication converting system include digital control system host computer,
Multiple servo-drivers, and be set between digital control system host computer and any servo-driver such as claim 1-
7 any bus communication conversion equipments.
10. a kind of bus communication conversion circuit, which is characterized in that the bus communication conversion circuit is arranged in such as claim 1-
In 7 any bus communication conversion equipments comprising: the first data bus interface, programmable logic device, the second data
Bus interface, and it is integrated with Double Port Random Memory, first processor, second processor, first network controller and second
The ZYNQ XC7Z020 chip of network controller, the programmable logic device respectively with the first data bus interface and ZYNQ
The Double Port Random Memory of XC7Z020 chip connects.
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| CN201811163422.5A CN109525472B (en) | 2018-09-30 | 2018-09-30 | Bus communication conversion circuit, device and system |
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| CN201811163422.5A CN109525472B (en) | 2018-09-30 | 2018-09-30 | Bus communication conversion circuit, device and system |
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| CN110687843A (en) * | 2019-10-14 | 2020-01-14 | 湖南强军科技有限公司 | Multi-shaft multi-motor servo device based on ZYNQ and control method thereof |
| CN112231257A (en) * | 2020-10-29 | 2021-01-15 | 中国航空工业集团公司洛阳电光设备研究所 | Plug-and-play interface of airborne photoelectric product |
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| CN112231257A (en) * | 2020-10-29 | 2021-01-15 | 中国航空工业集团公司洛阳电光设备研究所 | Plug-and-play interface of airborne photoelectric product |
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|---|---|
| CN109525472B (en) | 2021-05-14 |
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