CN109525472B - Bus communication conversion circuit, device and system - Google Patents
Bus communication conversion circuit, device and system Download PDFInfo
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- CN109525472B CN109525472B CN201811163422.5A CN201811163422A CN109525472B CN 109525472 B CN109525472 B CN 109525472B CN 201811163422 A CN201811163422 A CN 201811163422A CN 109525472 B CN109525472 B CN 109525472B
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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 invention relates to the field of numerical control systems, in particular to a bus communication conversion device, which comprises a first data bus interface, a first bus interface and a second bus interface, wherein the first data bus interface is used for acquiring first bus data of an upper computer of a numerical control system; the programmable logic device is connected with the first data bus interface to receive the first bus data and convert the first bus data into Sercos II bus extractable data; the first processor is connected with the programmable logic device and runs the Sercos II bus to extract data and acquire periodic communication data of the Sercos II bus; the second processor is connected with the first processor and converts the periodic communication data into second bus data based on an Ethernet communication protocol architecture; and the second data bus interface is connected with the second processor and outputs the second bus data to the servo driver. The invention also relates to a bus communication conversion circuit and a bus communication conversion system. The bus communication conversion circuit, the device and the system can realize the conversion of the Sercos II bus into an Ethernet communication protocol architecture, have convenient interface connection and good compatibility and reduce the cost.
Description
Technical Field
The invention relates to the field of numerical control systems, in particular to a bus communication conversion circuit, a bus communication conversion device and a bus communication conversion system.
Background
Sercos is a Fieldbus interface and data exchange protocol for digital servo and transmission systems that enables real-time data communication between an industrial control computer and the digital servo, sensors and I/O ports of programmable controllers. EtherCAT is an ethernet-based fieldbus system.
In the field of numerical control systems, the applications of a Sercos field communication bus and an EtherCAT communication bus are more common, and particularly the EtherCAT bus is more and more widely applied.
The Sercos II bus is connected through optical fibers and mainly used for servo drive control, and compared with a connection mode of optical fiber connection, the RJ45 Ethernet interface connection mode is more popular in the field of industrial control. The EtherCAT bus adopts a universal RJ45 network cable interface and is compatible with servo control and I/O control. The EtherCAT bus has a relatively large market share in the field of bus communication of the numerical control system due to the relatively high openness and relatively low cost of the EtherCAT bus. Most brand servo drivers on the market support the EtherCAT bus communication protocol.
Traditional Sercos II bus is ripe and stable in servo control application, and control function is perfect, but communication interface adopts optical fiber connection, connects inconveniently, and the joint purchase price is higher, and compatible Sercos II field bus's servo type is less, and servo system purchases the degree of difficulty greatly. Compared with the prior art, the Ethernet interface of RJ45 is adopted by the EtherCAT bus or other Ethernet communication protocol architectures, so that the plugging is convenient, and the communication is stable and reliable.
A device capable of converting a Sercos II bus into an Ethernet communication protocol architecture such as an EtherCAT bus is urgently needed, so that a servo position control algorithm and a Sercos II control logic on an upper computer of a numerical control system can be continuously adopted without modification, the interface connection is convenient, and the cost is reduced.
Disclosure of Invention
The present invention provides a bus communication conversion circuit, device and system to overcome the above-mentioned drawbacks of the prior art, and solve the problems of inconvenient interface connection, high cost and poor compatibility of the prior Sercos II communication bus in the servo control application.
The technical scheme adopted by the invention for solving the technical problems is as follows: the bus communication conversion device is arranged between an upper computer of a numerical control system and a servo driver, and comprises:
the first data bus interface is used for acquiring first bus data of the upper computer of the numerical control system;
the programmable logic device is connected with the first data bus interface to receive the first bus data and convert the first bus data into Sercos II bus extractable data;
the first processor is connected with the programmable logic device and runs the Sercos II bus to extract data and acquire periodic communication data of the Sercos II bus;
the second processor is connected with the first processor and converts the periodic communication data into second bus data based on an Ethernet communication protocol architecture;
and the second data bus interface is connected with the second processor and outputs the second bus data to the servo driver.
Further preferred embodiments of the present invention are: the Ethernet communication protocol architecture of the second bus data comprises one of an EtherCAT bus, a Powerlink bus and a Mechatrolink-III bus.
Further preferred embodiments of the present invention are: the bus communication conversion device also comprises a double-port random access memory, wherein the double-port random access memory is respectively connected with the programmable logic device and the first processor and transmits the Sercos II bus extractable data received from the programmable logic device to the first processor.
Further preferred embodiments of the present invention are: the bus communication conversion device also comprises a first network controller which is respectively connected with the second processor and the second data bus interface, and the first network controller transmits the second bus data to the servo driver through the second data bus interface.
Further preferred embodiments of the present invention are: the bus communication conversion device also comprises a second network controller connected with the second processor, and the second network controller receives the application program of the external computer or the slave station of the Ethernet communication protocol architecture and transmits the application program to the second processor.
Further preferred embodiments of the present invention are: the first processor is connected to a second processor through an AXI bus.
Further preferred embodiments of the present invention are: the bus communication conversion device further comprises an SD card and a DDR, wherein the SD card and the DDR are connected with the ZYNQ XC7Z020 chip, and the SD card loads a data file required by the operation of the ZYNQ XC7Z020 chip to the DDR and configures the ZYNQ XC7Z020 chip.
Further preferred embodiments of the present invention are: the first processor comprises a Microblaze soft core processor.
The technical scheme adopted by the invention for solving the technical problems is as follows: the bus communication conversion system comprises a numerical control system upper computer, a plurality of servo drivers and a bus communication conversion device arranged between the numerical control system upper computer and any one of the servo drivers.
The technical scheme adopted by the invention for solving the technical problems is as follows: a bus communication conversion circuit is provided, which is arranged in the bus communication conversion device and comprises: the device comprises a first data bus interface, a programmable logic device, a second data bus interface and a ZYNQ XC7Z020 chip integrating a double-port random access memory, a first processor, a second processor, a first network controller and a second network controller, wherein the programmable logic device is respectively connected with the first data bus interface and the double-port random access memory of the ZYNQ XC7Z020 chip.
Compared with the prior art, the invention has the advantages that the programmable logic device is arranged to convert first bus data acquired by the first data bus interface into Sercos II bus extractable data, the first processor operates the Sercos II bus extractable data and acquires periodic communication data of the Sercos II bus, the second processor converts the periodic communication data into second bus data based on an Ethernet communication protocol architecture and outputs the second bus data to the servo driver through the second data bus interface to control the operation of the servo driver, the conversion of the Sercos II bus into the Ethernet communication protocol architecture is realized, the interface connection is convenient, the servo control and the I/O control can be compatible, and the cost is reduced.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram of a bus communication conversion device according to the present invention;
FIG. 2 is a block diagram of a specific structure of the bus communication conversion device according to the present invention;
FIG. 3 is a block diagram of a bus communication conversion circuit according to the present invention;
fig. 4 is a block diagram showing a detailed structure of the bus communication conversion system according to the present invention.
Detailed Description
The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention provides a preferred embodiment of a bus communication conversion apparatus.
The bus communication conversion device is arranged between the upper computer 100 of the numerical control system and the servo driver 200, and comprises:
the first data bus interface 1 is used for acquiring first bus data of the upper computer 100 of the numerical control system;
the programmable logic device 2 is connected with the first data bus interface 1 to receive first bus data and convert the first bus data into Sercos II bus extractable data;
the first processor 3 is connected with the programmable logic device 2 and operates a Sercos II bus to extract data and acquire periodic communication data of the Sercos II bus;
a second processor 4 connected to the first processor 3 and converting the periodic communication data into second bus data based on the Ethernet communication protocol architecture;
and a second data bus interface 5 connected to the second processor 4 and outputting the second bus data to the servo driver.
The bus data acquired by the first data bus interface 1 is converted into Sercos II bus extractable data by the programmable logic device 2, the first processor 3 runs the Sercos II bus extractable data and acquires periodic communication data of the Sercos II bus, the second processor 4 converts the periodic communication data into second bus data based on an Ethernet communication protocol architecture and outputs the second bus data to the servo driver 200 through the second data bus interface 5 to control the operation of the servo driver, the conversion of the Sercos II bus and the Ethernet communication protocol architecture is realized, the interface connection is convenient, the servo control and the I/O control can be compatible, and the cost is reduced.
The Sercos II communication bus adopts an SERCON816 protocol chip in a physical layer and a data link layer, the programmable logic device 2 and the first processor 3 are adopted in the bus communication conversion device to cooperate with the simulation SERCON816 protocol chip to extract periodic communication data of the Sercos II communication bus, and the second processor 4 converts the periodic communication data into second bus data based on an Ethernet communication protocol architecture, so that the conversion between the Sercos II communication bus and the bus based on the Ethernet communication protocol architecture is realized.
And the periodic communication data includes servo periodic position control data and servo enable commands.
In particular, the first data bus interface 1 comprises a PCI interface 6. The bus communication conversion device is connected with the numerical control system upper computer 100 through the PCI interface 6 so as to obtain first bus data of the numerical control system upper computer 100. The second data bus interface 5 comprises a first RJ45 interface 7 and a first physical layer 8, and the bus communication conversion device is connected with the servo driver 200 through the first RJ45 interface 7 and controls the servo driver 200 to operate. The first RJ45 interface 7 is convenient to plug and is stable in communication.
The Ethernet communication protocol architecture of the second bus data comprises one of an EtherCAT bus, a Powerlink bus and a Mechatrolink-III bus. When the bus communication conversion device in the embodiment of the invention is used for converting the Sercos II bus into the EtherCAT bus or the Powerlink bus or the Mechatrollink-III bus, the connection relation and the working principle among all structures in the bus communication conversion device are the same, and only the corresponding communication protocol needs to be replaced. In the embodiment of the present invention, the ethernet communication protocol structure of the second bus data includes an EtherCAT bus as an example.
Further, the bus communication conversion device further comprises a dual-port random access memory 9, wherein the dual-port random access memory 9 is respectively connected with the programmable logic device 2 and the first processor 3, and transmits the Sercos II bus extractable data received from the programmable logic device 2 to the first processor 3. The dual-port random access memory 9 is respectively connected with the programmable logic device 2 and the first processor 3, so that the programmable logic device 2 and the first processor 3 are allowed to simultaneously access the dual-port random access memory 9, and the dual-port random access memory is high in speed and capable of reading and writing at any time. The programmable logic device 2 receives the first bus data and converts it to Sercos II bus retrievable data, which is sent to the dual port random access memory 9 in Sercos II protocol format. The dual-port random access memory 9 is mainly a dual-port RAM logic inside an analog SERCOS II communication protocol chip SERCON816, and a data register and a control register are configured according to a data format of the SERCON816 chip.
In this embodiment, the bus communication conversion apparatus further includes a first network controller 10 connected to the second processor 4 and the second data bus interface 5, respectively, and the first network controller 10 transmits EtherCAT bus data to the servo driver 200 through the second data bus interface 5.
Specifically, the first network controller 10 transmits to the servo driver 200 through the first physical layer 8 and the first RJ45 interface 7.
Further, the bus communication conversion apparatus further includes a second network controller 11 connected to the second processor 4, where the second network controller 11 receives an application program of an external computer or an ethernet protocol architecture slave station and transmits the application program to the second processor 4.
In this embodiment, the dual-port ram 9, the first processor 3, the second processor 4, the first network controller 10, and the second network controller 11 are integrated in the ZYNQ XC7Z020 chip 12. Specifically, the first processor 3 and the second processor 4 are two processors in an ARM Cotex a 98 dual-core CPU in a ZYNQ XC7Z020 chip 12, the dual-port random access memory 9 is a SERCON816 dual-port RAM logic in the ZYNQ XC7Z020 chip 12, the first network controller 10 is a network controller carried by the ARM Cotex a 98 dual-core CPU in the ZYNQ XC7Z020 chip 12, and the second network controller 11 is another network controller carried by the ZYNQ XC7Z020 chip 12. And the first processor 3 is connected to communicate with the second processor 4 through an AXI bus 13.
The dual-port random access memory 9, the first processor 3, the second processor 4, the first network controller 10 and the second network controller 11 are integrated in a ZYNQ XC7Z020 chip 12, so that the use is convenient.
Of course, in other embodiments, other model SOC chips of the ZYNQ-7000 series may be used, such as the ZYNQ XC7Z010 chip, the ZYNQ XC7Z015 chip, and so forth.
Wherein the first processor 3 is used for communicating data with the dual port random access memory 9. The first processor 3 runs without an operating system, a part of time sequence logic of an SERCON816 communication chip is also simulated by a running program of the first processor 3, the communication time sequence of the SERCOS II bus is ensured to run normally, and periodic communication data of the SERCOS II communication bus is extracted. The second processor 4 runs a real-time Linux operating system, and runs an EtherCAT main station on the basis of the real-time Linux operating system, and a position control command sent by the EtherCAT main station passes through a first network controller 10 carried by an ARM Cotex a 98 dual-core CPU and is transmitted to the servo driver 200 through the second data bus interface 5 to control the servo driver 200 to operate.
And the second network controller 11 is an IP core type network controller, supports 100M network communication, and is mainly used for debugging and program loading of Linux application programs. The second network controller 11 receives an application program of an external computer or an EtherCAT slave station and transmits the application program to the second processor 4.
Specifically, the second network controller 11 loads the application from the station connection via the second physical layer 14 and the second RJ45 interface 15 and an external computer or EtherCAT. The user can compile a debugging application program on a computer with an external Linux system, load the application program to the second processor 4 through the second RJ45 interface 15 and the second physical layer 14 and through the second network controller 11, and run the application program.
And the slave station connection topology XML file of the EtherCAT bus can also transmit the application program to the second processor 4 through the loading path of the application program, namely, through the second RJ45 interface 15 and the second physical layer 14 and through the second network controller 11 for running.
Of course, in other embodiments, the first processor 3 may be a Microblaze soft core processor. The Microblaze soft-core processor runs in a bare mode without an operating system, a bare running program of the Microblaze soft-core processor can also simulate partial time sequence logic of a SERCON816 communication chip, the communication time sequence of the SERCOS II bus is guaranteed to run normally, and periodic communication data of the SERCOS II communication bus are extracted.
Further, the bus communication conversion device further comprises an SD card 16 and a DDR17 which are connected with the ZYNQ XC7Z020 chip 12, wherein the SD card 16 loads data files required by the operation of the ZYNQ XC7Z020 chip 12 to the DDR17 and configures the ZYNQ XC7Z020 chip 12. The data files comprise a boot file, a system mirror image, a file system and an application program of the ZYNQ XC7Z020 chip 12.
Referring to fig. 3, the present invention provides a bus communication converting circuit according to a preferred embodiment.
The bus communication conversion circuit is arranged in the bus communication conversion device and comprises: the device comprises a first data bus interface 1, a programmable logic device 2, a second data bus interface 5 and a ZYNQ XC7Z020 chip 12 which integrates a double-port random access memory 9, a first processor 3, a second processor 4, a first network controller 10 and a second network controller 11, wherein the programmable logic device 2 is respectively connected with the double-port random access memory 9 of the first data bus interface 1 and the ZYNQ XC7Z020 chip 12.
The dual-port random access memory 9, the first processor 3, the second processor 4, the first network controller 10 and the second network controller 11 are integrated in a ZYNQ XC7Z020 chip 12, so that the use is convenient.
The bus data acquired by the first data bus interface 1 is converted into the data extractable by the Sercos II bus through the programmable logic device 2 of the bus communication conversion circuit, the data extractable by the Sercos II bus is operated by the first processor 3 of the ZYNQ XC7Z020 chip 12, the periodic communication data of the Sercos II bus is acquired, the periodic communication data is converted into EtherCAT bus data by the second processor 4 and is output to the servo driver 200 through the second data bus interface 5 to control the operation of the servo driver, the Sercos II communication bus is converted into an Ethernet communication protocol architecture, the interface connection is convenient, the servo control and the I/O control can be compatible, and the cost is reduced.
As shown in FIG. 4, the present invention also provides a preferred embodiment of a bus communication conversion system.
The bus communication conversion system comprises a numerical control system upper computer 100, a plurality of servo drivers 200 and a bus communication conversion device arranged between the numerical control system 100 and any one of the servo drivers 200, wherein the bus communication conversion device is connected with the servo drivers 200 through RJ45 interfaces.
Specifically, the bus communication conversion device is arranged between the numerical control system upper computer 100 and any one of the servo drivers 200, is inserted into the numerical control system upper computer 10 through the PCI interface 6, is connected with the plurality of servo drivers 200 through the first RJ45 interface 7, transmits second bus data to the servo drivers 200 to control the operation of the servo drivers, and is communicated with an external numerical control machine through the RS232 interface 18. The bus communication conversion device can externally control a plurality of servo drivers 200 to operate, thereby saving resources and having high working efficiency.
The bus communication conversion device in the embodiment of the invention is arranged between the numerical control system upper computer 100 and the servo driver 200 to convert bus data, a servo position control algorithm and a Sercos II control logic on the numerical control system upper computer 100 can be continuously adopted, and can be upgraded into interfaces of Ethernet communication protocol architectures such as an EtherCAT control bus interface, a Powerlink bus interface or a Mechatrolink-III bus interface without modification. The original mature control algorithm and control logic of the upper computer 100 of the numerical control system can be completely inherited and used, the interface connection is convenient, the servo control and the I/O control can be compatible, the compatibility is good, and the cost is low.
It should be understood that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same, and those skilled in the art can modify the technical solutions described in the above embodiments, or make equivalent substitutions for some technical features; and all such modifications and alterations are intended to fall within the scope of the appended claims.
Claims (10)
1. A bus communication conversion device is characterized in that the bus communication conversion device is arranged between an upper computer and a servo driver of a numerical control system, and comprises:
the first data bus interface is used for acquiring first bus data of the upper computer of the numerical control system;
the programmable logic device is connected with the first data bus interface to receive the first bus data and convert the first bus data into Sercos II bus extractable data;
the first processor is connected with the programmable logic device and runs the SercosII bus to extract data and acquire periodic communication data of the SercosII bus, wherein the periodic communication data comprises servo periodic position control data and a servo enabling command;
the second processor is connected with the first processor and converts the periodic communication data into second bus data based on an Ethernet communication protocol architecture;
and the second data bus interface is connected with the second processor and outputs the second bus data to the servo driver.
2. The bus communication conversion device of claim 1, wherein the ethernet protocol architecture of the second bus data comprises one of an EtherCAT bus, a Powerlink bus, and a mechtolink-III bus.
3. The bus communication conversion device according to claim 1 or 2, further comprising a dual port random access memory, which is connected to the programmable logic device and the first processor, respectively, and transmits the SercosII bus extractable data received from the programmable logic device to the first processor.
4. The bus communication conversion device of claim 3, further comprising a first network controller connected to the second processor and the second data bus interface, respectively, wherein the first network controller transmits the second bus data to the servo driver through the second data bus interface.
5. The bus communication conversion device as claimed in claim 4, further comprising a second network controller connected to the second processor, wherein the second network controller receives an application program from an external computer or an ethernet protocol architecture slave station and transmits the application program to the second processor.
6. The bus communication conversion device as claimed in claim 5, wherein the first processor is connected to the second processor via an AXI bus.
7. The bus communication conversion device as claimed in claim 6, further comprising an SD card and a DDR connected to the ZYNQ XC7Z020 chip, wherein the SD card loads data files required for the operation of the ZYNQ XC7Z020 chip to the DDR and configures the ZYNQ XC7Z020 chip.
8. The bus communication conversion device according to claim 1 or 2, wherein the first processor comprises a Microblaze soft core processor.
9. A bus communication conversion system, comprising a nc system upper computer, a plurality of servo drivers, and the bus communication conversion apparatus according to any one of claims 1 to 7 provided between the nc system upper computer and any one of the servo drivers.
10. A bus communication conversion circuit provided in the bus communication conversion apparatus according to any one of claims 1 to 7, comprising: the device comprises a first data bus interface, a programmable logic device, a second data bus interface and a ZYNQ XC7Z020 chip integrating a double-port random access memory, a first processor, a second processor, a first network controller and a second network controller, wherein the programmable logic device is respectively connected with the first data bus interface and the double-port random access memory of the ZYNQ XC7Z020 chip.
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| CN110427206B (en) * | 2019-07-18 | 2022-10-28 | 中国船舶重工集团公司第七0七研究所 | ZYNQ-based algorithm dynamic updating method |
| CN110687843B (en) * | 2019-10-14 | 2021-09-28 | 北京长峰天通科技有限公司 | 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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| CN101677280A (en) * | 2008-09-17 | 2010-03-24 | 中国科学院自动化研究所 | Optical fiber field bus communication system |
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| CN100568130C (en) * | 2007-01-15 | 2009-12-09 | 大连光洋科技工程有限公司 | Buss-type full digital servo-driver |
| DE102008050102B4 (en) * | 2008-10-06 | 2010-11-04 | Phoenix Contact Gmbh & Co. Kg | Communication entity for communication via a bus-oriented communication network |
| CN102170430B (en) * | 2011-03-24 | 2013-06-19 | 华中科技大学 | Multi-port multi-network protocol converter |
| CN202282789U (en) * | 2011-08-24 | 2012-06-20 | 上海三一精机有限公司 | SOE (SERCOS OVER EtherCAT) communication conversion card for servo driver |
| CN203761420U (en) * | 2014-03-18 | 2014-08-06 | 安徽工程大学 | SERCOS or CAN bus interface card |
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| CN101677280A (en) * | 2008-09-17 | 2010-03-24 | 中国科学院自动化研究所 | Optical fiber field bus communication system |
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