CN110928243B - Method for configuring EtherCAT bus configuration through demonstrator - Google Patents
Method for configuring EtherCAT bus configuration through demonstrator Download PDFInfo
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- CN110928243B CN110928243B CN201911214557.4A CN201911214557A CN110928243B CN 110928243 B CN110928243 B CN 110928243B CN 201911214557 A CN201911214557 A CN 201911214557A CN 110928243 B CN110928243 B CN 110928243B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Abstract
The invention belongs to the technical field of EtherCAT bus common configuration, and discloses a method for configuring EtherCAT bus configuration through a demonstrator, wherein all information in a demonstrator configuration interface is developed for a user to set; the system automatically scans the latest slave station topological structure and information; setting a communication period and a synchronous mode, and filling a required system period in a communication period column; the demonstrator stores the setting information in the EtherCAT bus configuration interface as a file in an xml format; updating the topology and information of the slave station is realized; and exiting the EtherCAT configuration interface, restarting the demonstrator, and controlling the motion control system to operate according to the operation flow of the demonstrator. According to the invention, a user can freely change the topological structure of the EtherCAT bus according to the actual application requirements, and slave station product types, quantity and configuration information are obtained; the method realizes the updating of the topological structure and the information of the slave station, and has simple, flexible and quick operation.
Description
Technical Field
The invention belongs to the technical field of EtherCAT bus common configuration, and particularly relates to a method for configuring an EtherCAT bus through a demonstrator.
Background
Currently, the closest prior art: the EtherCAT bus is popular among various industrial robot development companies due to its remarkable characteristics of high speed, high precision, high synchronization, high reliability, etc., is the most extensive industrial ethernet bus communication used in the industrial robot market today, and is divided into an EtherCAT master station (motion controller, etc.) and an EtherCAT slave station (servo driver, IO module, etc.). Two common configuration modes of the EtherCAT bus are provided, one mode is that configuration tools of PC ends such as TwinCAT, KPA Studio, EC-enineeing and the like are used, after the topological structure and information of the slave station are changed, a user needs to reconnect the configuration tools of the PC ends, scan the information of the slave station and output an ENI file; this method is cumbersome, and the user must additionally configure a PC for configuration operation; another way is to directly solidify the configuration information in the master program, but once the topology and information of the slave station are changed, the master program must be updated again, and flexibility and universality are lacked.
In summary, the problems of the prior art are as follows:
(1) the conventional configuration method of the EtherCAT bus has complex operation.
(2) The conventional EtherCAT bus common configuration mode has the defects of lack of flexibility and universality.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a method for configuring an EtherCAT bus through a demonstrator.
The invention is realized in this way, a method for configuring EtherCAT bus configuration by a demonstrator, the method for configuring EtherCAT bus configuration by the demonstrator includes the following steps:
firstly, electrifying to enter an EtherCAT configuration interface, sending an on-configuration zone bit to a motion controller by a demonstrator, immediately opening a related configuration function in the motion controller, and developing all information in the demonstrator configuration interface to a user for setting.
And secondly, automatically scanning the latest slave station topological structure and information by the system.
And thirdly, after scanning out new slave station information, setting a communication period and a synchronous mode according to actual application requirements, and filling a required system period in a communication period column.
And fourthly, the demonstrator stores the setting information in the EtherCAT bus configuration interface into a file in an xml format, and writes the setting information into the motion controller through network transmission.
And fifthly, updating the topology and the information of the slave station, and after updating, testing by a user to judge whether the updating is correct.
And sixthly, after the configuration and test work is finished, quitting the EtherCAT configuration interface, restarting the demonstrator, and controlling the motion control system to operate according to the operation flow of the demonstrator.
Further, the configuration interface of the method for performing EtherCAT bus configuration through the demonstrator is used for updating slave station topology and information, an on/off configuration key is arranged in the interface, when the key is in on configuration, all information in the configuration interface is open, and a user performs setting; when the key is in off configuration, all information in the configuration interface is closed, the user setting is invalid, and the default is off configuration.
Further, the first step specifically includes: entering an EtherCAT configuration interface, clicking an on/off configuration key, when the key is displayed as on configuration, sending an on-configuration zone bit to the motion controller by the demonstrator, immediately turning on a related configuration function in the motion controller, and developing all information in the dynamic configuration interface of the demonstrator to a user for setting.
Further, the third step specifically includes: filling the required system period in the communication period column, wherein the unit is mus; in the synchronous setting column, selecting whether to adopt a synchronous mode or not, and checking a DC mode; the DC mode is selected, with the master station as the reference clock or the slave station as the reference clock.
Further, the fifth step specifically includes: observing whether the slave station equipment can be normally switched to an OP state, and observing whether the slave station can normally operate; the slave station acts normally, then the topology and information updated by the user are correct; if the slave station can not act normally, the user checks whether the information of the configuration interface is consistent with the actual topology and information of the slave station.
Another object of the present invention is to provide a system for performing EtherCAT bus configuration through a teach pendant, which implements the method for performing EtherCAT bus configuration through the teach pendant, and the system for performing EtherCAT bus configuration through the teach pendant includes:
the configuration interface setting module is used for electrifying to enter an EtherCAT configuration interface, the demonstrator sends a configuration-opening zone bit to the motion controller, the relevant configuration function in the motion controller is immediately opened, and all information in the dynamic configuration interface of the demonstrator is developed to a user for setting;
the information scanning module is used for automatically scanning the latest slave station topological structure and information;
the period and mode setting module is used for setting a communication period and a synchronous mode according to actual application requirements after scanning new slave station information, and filling a required system period in a communication period column;
the setting information storage module is used for storing the setting information in the EtherCAT bus configuration interface into an xml-format file by the demonstrator and writing the setting information into the motion controller through network transmission;
the updating judgment module is used for realizing the updating of the slave station topology and the information, and after the updating, a user tests and judges whether the updating is correct;
and the system operation module is used for quitting the EtherCAT configuration interface after the configuration and test work is finished, restarting the demonstrator and controlling the motion control system to operate according to the operation flow of the demonstrator.
The invention also aims to provide an information data processing terminal for realizing the method for configuring the EtherCAT bus through the demonstrator.
Another object of the present invention is to provide a computer-readable storage medium, which includes instructions, when executed on a computer, cause the computer to execute the method for configuring EtherCAT bus by using a teach pendant.
The invention also aims to provide application of the method for configuring the EtherCAT bus through the demonstrator in the common configuration of the EtherCAT bus.
The invention also aims to provide an application of the method for configuring the EtherCAT bus by the demonstrator in a servo control system.
In summary, the advantages and positive effects of the invention are: the invention integrates the EtherCAT bus configuration function into the demonstrator, so that a user does not need external equipment when in need, and the slave station topology and information can be conveniently and rapidly updated anytime and anywhere. The invention integrates the configuration function of the EtherCAT bus into the demonstrator, when a user changes the topological structure or information of the slave station according to different requirements, the user does not need to change any connection mode, and the EtherCAT bus can be quickly and conveniently rescanned, configured and written into the motion controller through the EtherCAT bus configuration interface of the demonstrator. The operation is flexible and convenient, and the user experience is good.
When the topology structure or the information of the EtherCAT slave station is changed, a user needs to use a configuration tool of a PC (personal computer) end configuration or revise and update a master station program again to obtain new topology and information of the slave station; the conventional configuration implementation mode is complex in operation, lacks flexibility and universality and reduces the working efficiency.
The configuration function of the EtherCAT bus is integrated in the demonstrator, and a user can freely change the topological structure of the EtherCAT bus according to the actual application requirement, and slave station product types, quantity and specific configuration information; and then, the slave station topological structure and the information can be easily updated only by scanning, simply configuring and writing in the controller in the EtherCAT configuration interface of the demonstrator, and the operation is simple, flexible and quick.
Drawings
Fig. 1 is a flowchart of a method for configuring an EtherCAT bus through a teach pendant according to an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a system for performing EtherCAT bus configuration by using a teach pendant according to an embodiment of the present invention;
in the figure: 1. configuring an interface setting module; 2. an information scanning module; 3. a period and mode setting module; 4. setting an information storage module; 5. an update judgment module; 6. and a system operation module.
Fig. 3 is a block diagram of an EtherCAT motion control system according to an embodiment of the present invention.
Fig. 4 is a schematic diagram of an EtherCAT configuration interface according to an embodiment of the present invention.
Fig. 5 is a flowchart of updating slave station information through a configuration interface according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a method for configuring an EtherCAT bus by using a teach pendant, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for configuring an EtherCAT bus by using a teach pendant according to an embodiment of the present invention includes the following steps:
s101: and electrifying to enter an EtherCAT configuration interface, sending a configuration opening zone bit to the motion controller by the demonstrator, immediately opening a related configuration function in the motion controller, and developing all information in the configuration interface of the demonstrator to a user for setting.
S102: the system automatically scans the latest slave station topology and information.
S103: and after scanning out new slave station information, setting a communication period and a synchronous mode according to actual application requirements, and filling a required system period in a communication period column.
S104: the demonstrator stores the setting information in the EtherCAT bus configuration interface as a file in an xml format, and writes the setting information into the motion controller through network transmission.
S105: and updating the slave station topology and the information, and after updating, testing by a user to judge whether the updating is correct.
S106: and after the configuration and test work is finished, the EtherCAT configuration interface is withdrawn, the demonstrator is restarted, and the motion control system can be controlled to operate according to the normal operation flow of the demonstrator.
Fig. 2 is a system for performing EtherCAT bus configuration by using a teach pendant according to an embodiment of the present invention, including:
the configuration interface setting module 1 is used for electrifying to enter an EtherCAT configuration interface, the demonstrator sends a configuration-opening zone bit to the motion controller, the relevant configuration function in the motion controller is immediately opened, and all information in the dynamic configuration interface of the demonstrator is developed to a user for setting.
And the information scanning module 2 is used for automatically scanning the latest slave station topological structure and information.
And the period and mode setting module 3 is used for setting a communication period and a synchronous mode according to actual application requirements after scanning out new slave station information, and filling a required system period in a communication period column.
And the setting information storage module 4 is used for storing the setting information in the EtherCAT bus configuration interface into an xml format file by the demonstrator, and writing the setting information into the motion controller through network transmission.
And the updating judgment module 5 is used for realizing the updating of the slave station topology and the information, and after the updating, a user tests and judges whether the updating is correct or not.
And the system operation module 6 is used for quitting the EtherCAT configuration interface after the configuration and test work is finished, restarting the demonstrator and controlling the motion control system to operate according to the normal operation flow of the demonstrator.
The technical solution of the present invention is further described below with reference to the accompanying drawings.
As shown in fig. 3, a block diagram of a system for performing EtherCAT bus configuration by using a teach pendant according to an embodiment of the present invention is provided, where the teach pendant is connected to a motion controller by using Ethernet, and the motion controller is connected to a slave station, and the slave station is connected to the slave station by using EtherCAT. The teaching device is characterized in that an EtherCAT bus configuration interface and functions are integrated in the teaching device (the development environment of the interface is consistent with the development environment of other interfaces in the teaching device, the development platform is not limited and can be any platform supporting interface development such as QT and VS), the teaching device is connected with the motion controller through Ethernet, the motion controller receives related commands of the teaching device configuration interface, and corresponding interactive operation is carried out between the EtherCAT bus and each slave station.
The development platform of the EtherCAT bus configuration interface is not limited, and the development environment is transplanted with other interfaces in the demonstrator, and can be any environment supporting interface development, such as QT and VS. Meanwhile, the configuration interface is mainly used for updating the slave station topology and information and does not need to operate all the time, so that an 'on/off configuration' key is arranged in the interface, when the key is 'on configuration', the information in the configuration interface is completely opened, a user can set the key, when the key is 'off configuration', the information in the configuration interface is completely closed, the user setting is invalid, and the default is 'off configuration'. As shown in fig. 3.
When the topology structure or the information of the slave station changes, the specific operation flow is as follows:
the method comprises the following steps that firstly, a system is powered on, an EtherCAT configuration interface is entered, an 'on/off configuration' button is clicked, when the button is displayed as 'on configuration', a demonstrator sends an on-configuration zone bit to a motion controller, relevant configuration functions in the motion controller are immediately turned on, and at the moment, all information in the demonstrator configuration interface is developed to a user for setting.
And secondly, clicking a scanning key, and automatically scanning the latest slave station topological structure and information by the system to display in a slave station information column of a configuration interface of the demonstrator.
And thirdly, after scanning out new slave station information, setting a communication period and a synchronization mode according to actual application requirements. Fill in the required system cycle, such as 500/1000/2000/8000, in units of μ s in the communication cycle column; in the synchronization setting column, whether the synchronization mode is adopted or not is selected, and the lower two options can be selected only if the DC mode is selected, otherwise, the lower two options are gray and are not allowed to be set by the user. If the DC mode is selected, it is also necessary to select whether to use the master as a reference clock or the slave as a reference clock.
And fourthly, after the steps are completed, clicking to write, and storing the setting information in the EtherCAT bus configuration interface into an xml format file by the demonstrator, and writing the setting information into the motion controller through network transmission. At this time, the user realizes the updating of the slave station topology and the information.
And fifthly, updating the topology and the information of the slave station in the first step to the fourth step. After the update, the user can simply test to determine whether the update is correct. Clicking a 'start' button to observe whether the slave station equipment can be normally switched to an OP state, and then clicking a 'run' button to observe whether the slave station can be normally operated (such as motor rotation, I/O module action and the like). If the slave station can act normally after clicking the 'start' button and the 'run' button, the updated topology and information of the user are proved to be correct, and if the slave station cannot act normally, the user is required to check whether the information of the configuration interface is consistent with the actual topology and information of the slave station.
And sixthly, after the configuration and test work is finished, the EtherCAT configuration interface is quitted, the demonstrator is restarted, and the motion control system can be controlled to operate according to the normal operation flow of the demonstrator.
Therefore, the master station user can easily and quickly identify and update the information after the EtherCAT slave station changes the topology or the information, and flexible and universal control is realized.
It should be noted that the embodiments of the present invention can be realized by hardware, software, or a combination of software and hardware. The hardware portion may be implemented using dedicated logic; the software portions may be stored in a memory and executed by a suitable instruction execution system, such as a microprocessor or specially designed hardware. Those skilled in the art will appreciate that the apparatus and methods described above may be implemented using computer executable instructions and/or embodied in processor control code, such code being provided on a carrier medium such as a disk, CD-or DVD-ROM, programmable memory such as read only memory (firmware), or a data carrier such as an optical or electronic signal carrier, for example. The apparatus and its modules of the present invention may be implemented by hardware circuits such as very large scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., or by software executed by various types of processors, or by a combination of hardware circuits and software, e.g., firmware.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A method for configuring an EtherCAT bus through a demonstrator is characterized by comprising the following steps:
firstly, electrifying to enter an EtherCAT configuration interface, sending an on-configuration zone bit to a motion controller by a demonstrator, immediately opening a related configuration function in the motion controller, and developing all information in the demonstrator configuration interface to a user for setting;
secondly, the system automatically scans the latest slave station topological structure and information;
thirdly, after scanning out new slave station information, setting a communication period and a synchronous mode according to actual application requirements, and filling a required system period in a communication period column;
fourthly, the demonstrator stores the setting information in the EtherCAT bus configuration interface as a file in an xml format and writes the setting information into the motion controller through network transmission;
fifthly, updating the topology and the information of the slave station is realized, and after updating, a user tests and judges whether the updating is correct;
and sixthly, after the configuration and test work is finished, quitting the EtherCAT configuration interface, restarting the demonstrator, and controlling the motion control system to operate according to the operation flow of the demonstrator.
2. The method for EtherCAT bus configuration through the teach pendant according to claim 1, wherein the configuration interface of the method for EtherCAT bus configuration through the teach pendant is used for updating slave station topology and information, an on/off configuration button is arranged in the interface, when the button is on configuration, all information in the configuration interface is open, and a user sets the configuration; when the key is in off configuration, all information in the configuration interface is closed, the user setting is invalid, and the default is off configuration.
3. The method for EtherCAT bus configuration via a teach pendant of claim 1, wherein the first step comprises: entering an EtherCAT configuration interface, clicking an on/off configuration key, when the key is displayed as on configuration, sending an on-configuration zone bit to the motion controller by the demonstrator, immediately turning on a related configuration function in the motion controller, and developing all information in the dynamic configuration interface of the demonstrator to a user for setting.
4. The method for EtherCAT bus configuration via a teach pendant of claim 1, wherein the third step comprises: filling the required system period in the communication period column, wherein the unit is mus; in the synchronous setting column, selecting whether to adopt a synchronous mode or not, and checking a DC mode; the DC mode is selected, with the master station as the reference clock or the slave station as the reference clock.
5. The method for EtherCAT bus configuration via a teach pendant of claim 1, wherein the fifth step comprises: observing whether the slave station equipment can be normally switched to an OP state, and observing whether the slave station can normally operate; the slave station acts normally, then the topology and information updated by the user are correct; if the slave station can not act normally, the user checks whether the information of the configuration interface is consistent with the actual topology and information of the slave station.
6. A system for configuring EtherCAT bus through a teach pendant for implementing the method for configuring EtherCAT bus through the teach pendant of any one of claims 1 to 5, wherein the system for configuring EtherCAT bus through the teach pendant comprises:
the configuration interface setting module is used for electrifying to enter an EtherCAT configuration interface, the demonstrator sends a configuration-opening zone bit to the motion controller, the relevant configuration function in the motion controller is immediately opened, and all information in the dynamic configuration interface of the demonstrator is developed to a user for setting;
the information scanning module is used for automatically scanning the latest slave station topological structure and information;
the period and mode setting module is used for setting a communication period and a synchronous mode according to actual application requirements after scanning new slave station information, and filling a required system period in a communication period column;
the setting information storage module is used for storing the setting information in the EtherCAT bus configuration interface into an xml-format file by the demonstrator and writing the setting information into the motion controller through network transmission;
the updating judgment module is used for realizing the updating of the slave station topology and the information, and after the updating, a user tests and judges whether the updating is correct;
and the system operation module is used for quitting the EtherCAT configuration interface after the configuration and test work is finished, restarting the demonstrator and controlling the motion control system to operate according to the operation flow of the demonstrator.
7. An information data processing terminal for realizing the method for configuring the EtherCAT bus through the demonstrator according to any one of claims 1-5.
8. A computer readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the method of EtherCAT bus configuration by a teach pendant of any of claims 1 to 5.
9. An EtherCAT bus common configuration for realizing the method for EtherCAT bus configuration through the demonstrator according to any one of claims 1-5.
10. A servo control system for realizing the method for configuring the EtherCAT bus through the demonstrator according to any one of claims 1-5.
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| CN112247985B (en) * | 2020-09-21 | 2021-12-14 | 珠海格力电器股份有限公司 | Clock synchronization method, robot control system and robot |
| CN113507387B (en) * | 2021-06-30 | 2022-07-01 | 深圳市杰美康机电有限公司 | Master-slave station protocol-based control system and method |
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| US20130173868A1 (en) * | 2011-12-29 | 2013-07-04 | Texas Instruments Incorporated | Generation of Activation List for Memory Translation and Memory Access Protection in Industrial Ethernet Standard |
| CN104635633A (en) * | 2013-11-08 | 2015-05-20 | 沈阳高精数控技术有限公司 | Multi bus industrial robot control system with WiFi wireless communication function |
| CN104820403B (en) * | 2015-04-08 | 2018-04-27 | 华南理工大学 | A kind of 8 axis robot control systems based on EtherCAT buses |
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