CN111061328B - Low-voltage direct current servo based on Ethernet/IP - Google Patents
Low-voltage direct current servo based on Ethernet/IP Download PDFInfo
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- CN111061328B CN111061328B CN201911346817.3A CN201911346817A CN111061328B CN 111061328 B CN111061328 B CN 111061328B CN 201911346817 A CN201911346817 A CN 201911346817A CN 111061328 B CN111061328 B CN 111061328B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
- G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
- G05F1/561—Voltage to current converters
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides a low-voltage direct current servo based on Ethernet/IP, which is characterized by comprising a controller, a pulse width adjusting module, a power driver, a current collecting circuit, a position feedback module and an Ethernet/IP Adapter (Adapter) module, wherein the controller is respectively connected with the pulse width adjusting module, the current collecting circuit, the position feedback module and the Ethernet/IP Adapter (Adapter) module. The invention realizes the Ethernet/IP communication protocol at the servo end, can directly communicate with the Ethernet/IP scanner, does not need a protocol conversion module, reduces the use cost and reduces the use difficulty. In particular, the method provides a solution for the interoperation between devices applying two different protocols, namely a CIP protocol and a CANopen protocol.
Description
Technical Field
The invention relates to the field of robot use, in particular to a low-voltage direct current servo based on Ethernet/IP.
Background
With the wide application of the robot in the fields of warehousing, logistics, service and the like, the robot often uses a mobile power supply (such as a battery pack) to provide energy, the input voltage of a traditional alternating current servo is generally AC220V or AC380V, and the servo is generally used in a fixed place (such as a factory workshop) and cannot be directly supplied with power by using the battery pack.
The Ethernet/IP protocol is widely used in industrial control situations, and many host controllers (such as PLCs) support the Ethernet/IP protocol. The CiA DSP402 protocol (hereinafter referred to as CiA402) aiming at motion control in the CANopen field bus is widely applied to communication between a controller and a servo driver, and other industrial Ethernet such as POWERLINK, EtherCAT and the like realize an application layer protocol of motion control according to the CiA402 protocol. At present, Ethernet/IP does not support CANopen protocol, so that devices applying two different protocols, namely CIP protocol and CANopen protocol, can not communicate with each other.
The traditional alternating current high-voltage servo uses a battery for power supply, a low-voltage direct current power supply of the battery needs to be inverted and boosted into a high-voltage alternating current power supply, and then the alternating current servo rectifies high-voltage alternating current into direct current to be used as input of a direct current bus. Currently, when Ethernet/IP is used as a host controller (such as PLC) to communicate with a server, a protocol conversion gateway is generally required to convert the Ethernet/IP protocol into a protocol supported by a server driver (such as converting Ethernet/IP into EtherCAT).
The existing alternating current servo needs to convert direct current low-voltage electricity into high-voltage alternating current electricity, a large number of intermediate conversion devices are added, and energy consumption in the conversion process also greatly reduces the energy use efficiency. The existing servo and Ethernet/IP main controller communication needs to utilize the protocol conversion gateway to convert the Ethernet/IP protocol into the protocol supported by the servo driver. This increases the cost and difficulty of use.
Disclosure of Invention
The invention mainly aims to provide a low-voltage direct-current servo based on Ethernet/IP, which is characterized by comprising a controller (MCU), a pulse width adjusting module, a power driver, a current collecting circuit, a position feedback module and an Ethernet/IP Adapter (Adapter) module, wherein the controller (MCU) is respectively connected with the pulse width adjusting module, the current collecting circuit, the position feedback module and the Ethernet/IP Adapter (Adapter) module, the pulse width adjusting module is connected with the power driver, the power driver is respectively connected with the current collecting circuit and an external low-voltage alternating-current motor, the position feedback module is connected with the external low-voltage alternating-current motor through an encoder, and the Ethernet/IP Adapter (Adapter) module is connected with a scanner interface through a network port and a gateway.
The controller (MCU) is used for controlling the whole servo system;
the power driver is used for directly inverting 48V low-voltage direct current into low-voltage alternating current according to a Pulse Width Modulation (PWM) control signal of a controller (MCU) and inputting the low-voltage alternating current into the low-voltage alternating current motor for driving;
the current acquisition circuit is used for acquiring UV two-phase current between the power driver and the motor and controlling a servo current loop;
the position feedback module is used for processing the motor position information fed back by the encoder, calculating the actual speed and controlling a position loop and a speed loop;
the Ethernet/IP Adapter (Adapter) communication module is used for realizing the Ethernet/IP application layer protocol (CIP) and running in a controller (MCU) real-time environment. Using a standard Ethernet physical layer interface (PHY) to realize communication with a Scanner (Scanner) of an upper controller;
the braking resistance module limits the voltage of the direct current bus to 56V according to the voltage grade of the battery pack, and protects servo electronic devices from being damaged.
The Physical Layer hardware of the Ethernet/IP Adapter (Adapter) communication module comprises a Direct Access register (DMA) inside a controller (MCU), a Media Access Controller (MAC), a Physical Layer interface (Physical Layer, PHY) and an RJ45 network port, wherein the controller (MCU) is connected with the Media Access controller, the Media Access controller is connected with the Physical Layer interface, and the Physical Layer interface is connected with the network port.
The Ethernet/IP Adapter (Adapter) communication module network model is divided into an application layer, a transmission layer, a network layer and a data link layer physical layer from top to bottom.
The Ethernet/IP uses IP protocol in network layer, and adopts standard Ethernet technique in data link layer and physical layer, which makes the Ethernet/IP can be deployed rapidly on different platforms and media, and greatly improves the universality.
Ethernet/IP uses TCP and UDP protocols at the transport layer to transport data. TCP (transmission control Protocol) is a connection-oriented Protocol, i.e., a reliable connection must be established with the other party before data is transmitted and received. A TCP connection must be established through three "sessions", which is very complicated, and therefore, the TCP communication efficiency is low, and the TCP connection can only be used to transmit data (such as parameter setting, configuration and diagnosis) with low real-time requirement. UDP (User Data Protocol) is a non-connection-oriented Protocol, can work in unicast and multicast modes, only provides the capability of sending Data messages between devices, and can send I/O Data, motion control Data and functional safety Data with high real-time requirements by using UDP/IP Protocol.
Ethernet/IP employs Common Industrial Protocol (CIP), which is a media-independent, connection-based and object-oriented Protocol designed specifically for automation applications, as an application layer Protocol. The CIP protocol integrates an application layer, a presentation layer, and a session layer in the open System interconnection osi (open System interconnect) 7-layer model. Because the mechanism for solving the data collision in the IEEE802.3 standard EtherNet brings the delay of data transmission, the EtherNet/IP synchronously distributes IEEE 1588-compliant clock information to the whole network by using CIPSync in order to achieve real-time performance. The CIP application protocol is divided into 'implicit' I/O message information and 'explicit' message information, the implicit I/O message is control information with harsh requirements on time, and is transmitted through UDP/IP; the Explicit message is point-to-point information with no strict time requirement and can be transmitted by TCP/IP. The explicit message is used for configuration, downloading and fault diagnosis; the implicit messages are used for transmission of real-time I/O data.
The CANopen field bus is another widely used application layer protocol in industrial automation, wherein the CiA402 protocol for motion control is widely used for communication between a controller and a servo driver. Currently, the CIP protocol does not support the CANopen protocol for Ethernet/IP communication.
The invention has the beneficial effects that: the invention directly uses the low-voltage DC power supply as the servo DC input, reduces the intermediate conversion devices required by the servo, reduces the failure rate of servo hardware and improves the utilization efficiency of energy. The invention realizes the Ethernet/IP communication protocol at the servo end, can directly communicate with the Ethernet/IP scanner, does not need a protocol conversion module, reduces the use cost and reduces the use difficulty. In particular, the method provides a solution for the interoperation between devices applying two different protocols, namely a CIP protocol and a CANopen protocol.
Drawings
Fig. 1 shows an overall scheme of the servo power supply and communication of the present invention.
FIG. 2 shows the low voltage DC servo scheme based on Ethernet/IP.
FIG. 3 is a diagram of the hardware schematic of the standard Ethernet physical layer of the present invention.
FIG. 4 is a diagram of the Ethernet/IP communication network model of the present invention.
FIG. 5 is a flowchart illustrating a communication connection between a server and a host controller according to the present invention.
Detailed Description
The application is illustrated by the following figures and examples:
example 1
The invention relates to an Ethernet/IP-based low-voltage direct current servo which comprises a controller, a pulse width adjusting module, a power driver, a current collecting circuit, a position feedback module and an Ethernet/IP Adapter (Adapter) module, wherein the controller is respectively connected with the pulse width adjusting module, the current collecting circuit, the position feedback module and the Ethernet/IP Adapter (Adapter) module, the pulse width adjusting module is connected with the power driver, the power driver is respectively connected with the current collecting circuit and an external low-voltage alternating current motor, the position feedback module is connected with the external low-voltage alternating current motor through an encoder, and the Ethernet/IP Adapter (Adapter) module is connected with a scanner interface through a network port and a gateway. The controller (MCU) is used for controlling the whole servo system; the power driver is used for directly inverting 48V low-voltage direct current into low-voltage alternating current according to a Pulse Width Modulation (PWM) control signal of a controller (MCU) and inputting the low-voltage alternating current into the low-voltage alternating current motor for driving; the current acquisition circuit is used for acquiring UV two-phase current between the power driver and the motor and controlling a servo current loop; the position feedback module is used for processing the motor position information fed back by the encoder, calculating the actual speed and controlling a position loop and a speed loop; the Ethernet/IP Adapter (Adapter) communication module is used for realizing the Ethernet/IP application layer protocol (CIP) and running in the MCU real-time environment of the main controller. Using a standard Ethernet physical layer interface (PHY) to realize communication with a Scanner (Scanner) of an upper controller; the braking resistance module limits the voltage of the direct current bus to 56V according to the voltage grade of the battery pack, and protects servo electronic devices from being damaged. The Physical Layer hardware of the Ethernet/IP Adapter (Adapter) communication module comprises a Direct Access register (DMA) inside a controller (MCU), a Media Access Controller (MAC), a Physical Layer interface (Physical Layer, PHY) and an RJ45 network port, wherein the MCU is connected with the Media Access controller, the Media Access controller is connected with the Physical Layer interface, and the Physical Layer interface is connected with the network port. The Ethernet/IP Adapter (Adapter) communication module network model is divided into an application layer, a transmission layer, a network layer and a data link layer physical layer from top to bottom.
Example 2
Based on CIP protocol, the invention realizes Object Dictionary (OD) of CiA402 protocol according to motion control module subprotocol in CANopen protocol, and uses Electronic data document (EDS), namely EDS file describes property and parameter Object information of low voltage DC servo device based on Ethernet/IP. The Object Dictionary (OD) is an ordered set of objects, each addressed with a 16-bit index value, and defines an 8-bit sub-index in order to allow access to individual elements in the data structure, as shown in table 1.
TABLE 1 CANopen object dictionary Structure
The invention uses the object dictionary to realize the communication between the service Data object SDO (service Data object) and the process Data object PDO (process Data object). The SDO is used for accessing an object dictionary of one device, communication is carried out in a Client-Server communication mode, namely a question-answer mode, wherein a visitor is called a Client (Client), CANopen devices which are accessed by the object dictionary and provide requested services are called servers (servers), the servo driver is used as a CANopen slave station, the Server is used for realizing the purpose, and the SDO communication efficiency is low. The Process Data Object (PDO) transmission follows a producer-consumer model, and is used for transmitting real-time data, which is the most important data transmission mode in CANopen. The transmission speed is high because the transmission of the PDO does not need to be answered and the length of the PDO can be less than 8 bytes.
The invention realizes SDO read-write object dictionary parameters in CANopen by displaying an Explicit message by utilizing the equipment manufacturer self-defined Class ID, Attribute ID and Service Code in the CIP protocol. Similarly, the implicit I/O message is used for realizing the data transmission of the periodic PDO process. Further, according to the user's command and the servo drive internal failure information, the State machine (State machine) defined in CiA402 protocol is realized
Example 3
In industrial control, the real-time performance of communication between a host controller (PLC) and a servo driver is required to be very high. Although the application layer adopts Sync to synchronously distribute IEEE1588 compatible clock information to ensure the real-time performance of communication, the communication task needs to be ensured to be scheduled in real time, and therefore the CANopen communication based on the CIP protocol adopts an embedded real-time operating system mu C/OS-II to schedule the communication task in real time. The flow of establishing communication connection between the CANopen server and the upper controller (such as PLC) based on Ethernet/IP communication is shown in FIG. 5.
The first step and the second step: the upper controller Scanner initiates a TCP connection request, the servo Adapter responds after receiving the TCP request, and the TCP connection is established until three times of handshake is completed;
thirdly, the step of: on the basis of TCP connection establishment, the Scanner and the Adapter can perform Explicit communication of the Explicit;
sixthly, the step of seventh: the Scanner and the Adapter utilize display communication to complete the connection between the registry and the Forwardopen, and establish a foundation for UDP and I/O communication; (in standard Ethernet/IP communication, communication connection is established, so that Scanner and Adapter can make periodic implicit I/O communication, and in the invention the steps of r to r need to be continuously executed).
Ninthly: the upper controller serves as a CANopen master station, parameters of a servo communication object are configured through the SDO, SDO messages are packaged through Explicit display communication and sent to servo CANopen slave stations, and the servo slave stations feed back configuration results to the upper controller through the SDO.
And step (c), after the configuration in the last step is successfully completed, the upper controller can send the PDO parameters, and the PDO parameters are transmitted to the servo through the implicit I/O message and UDP communication, so that the motor control can be carried out, and the fusion of the CIP protocol and the CANopen protocol is realized.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The low-voltage direct-current servo based on the Ethernet/IP is characterized by comprising a controller, a pulse width adjusting module, a power driver, a current collecting circuit, a position feedback module and an Ethernet/IP Adapter (Adapter) module, wherein the controller (MCU) is respectively connected with the pulse width adjusting module, the current collecting circuit, the position feedback module and the Ethernet/IP Adapter (Adapter) module;
the controller (MCU) is used for controlling the whole servo system;
the power driver is used for directly inverting 48V low-voltage direct current into low-voltage alternating current according to a Pulse Width Modulation (PWM) control signal of a controller (MCU) and inputting the low-voltage alternating current into the low-voltage alternating current motor for driving;
the current acquisition circuit is used for acquiring UV two-phase current between the power driver and the motor and controlling a servo current loop;
the position feedback module is used for processing the motor position information fed back by the encoder, calculating the actual speed and controlling a position loop and a speed loop;
the Ethernet/IP Adapter (Adapter) communication module is used for realizing the Ethernet/IP application layer protocol (CIP) and running in the real-time environment of the controller (MCU), and uses the standard Ethernet physical layer interface (PHY) to realize the communication with the Scanner (Scanner) of the upper controller.
2. An Ethernet/IP based low voltage dc servo according to claim 1, wherein the Physical Layer hardware of the Ethernet/IP Adapter (Adapter) communication module comprises a direct Access register (DMA) inside the controller (MCU), a Media Access Controller (MAC), a Physical Layer interface (Physical Layer, PHY), and an RJ45 network port, the controller (MCU) is connected to the Media Access controller, the Media Access controller is connected to the Physical Layer interface, and the Physical Layer interface is connected to the network port.
3. The Ethernet/IP-based low voltage DC servo of claim 1, wherein the Ethernet/IP Adapter (Adapter) communication module network model is divided into an application layer, a transport layer, a network layer and a data link layer from top to bottom.
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