CN111272127A - Method for measuring and controlling synchronization through EtherCAT bus - Google Patents
Method for measuring and controlling synchronization through EtherCAT bus Download PDFInfo
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- CN111272127A CN111272127A CN202010110308.7A CN202010110308A CN111272127A CN 111272127 A CN111272127 A CN 111272127A CN 202010110308 A CN202010110308 A CN 202010110308A CN 111272127 A CN111272127 A CN 111272127A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04J—MULTIPLEX COMMUNICATION
- H04J3/00—Time-division multiplex systems
- H04J3/02—Details
- H04J3/06—Synchronising arrangements
- H04J3/0635—Clock or time synchronisation in a network
- H04J3/0638—Clock or time synchronisation among nodes; Internode synchronisation
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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
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
- H04L69/22—Parsing or analysis of headers
Abstract
A method for measuring and controlling synchronization through an EtherCAT bus comprises the steps that a motion control command sent by a master station is transmitted to a plurality of servo drive slave stations, a driver controls a motor to move so as to control the movement of a workbench, an encoder in the servo motor can represent the position of the workbench, and position data are input to the EtherCAT master station through the EtherCAT bus according to the triggering of a synchronous signal of a Distributed Clock (DC). Meanwhile, a sampling instruction sent by the main station is sent to the position measuring device, the position measuring device triggers sampling according to the synchronous signal, obtains the height data of the surface of the part at the current position, converts the measured value into EtherCAT data and inputs the EtherCAT data to the EtherCAT main station through an EtherCAT bus. By using the method, the high-precision synchronism of the height signal of the part to be measured and the position signal of the part on the workbench can be achieved, so that the high-precision measurement of the part outline is realized.
Description
Technical Field
The invention belongs to the technical field of synchronous measurement and control of industrial measurement and control, and particularly relates to a method for realizing measurement and control synchronization through an EtherCAT bus.
Background
In the field of part profiling, synchronization of motion data and measurement data is required. The method comprises the following steps of placing a part to be measured on a moving XY workbench, vertically installing a height sensor above the workbench (parallel to a Z axis), moving the part to be measured along the XY directions along with the movement of the workbench, and continuously collecting height data of the surface of the current position of the part to be measured by the height sensor in the moving process of the workbench. Most of the existing schemes are that the measured height data is obtained in a TCP or USB mode, the position data of a workbench is obtained through a motion control interface library, then the collected position data and the part surface height data are subjected to 3D reconstruction through a complex algorithm, and a whole measured part surface model is restored. Under the condition of high speed, the height information of the displacement sensor and the position information of the measurement and control platform lack a strict synchronization relation in time. In this way, the height information and the position information of the surface of the part are not matched, so that a large error exists after the 3D reconstruction of the part, and the requirement of precise measurement is difficult to meet.
Disclosure of Invention
The invention discloses a method for realizing measurement and control synchronization through an EtherCAT bus.
The technical scheme of the invention is as follows: the method for realizing measurement and control synchronization through the EtherCAT bus utilizes the EtherCAT bus Distributed Clock (DC) and a measurement and control system to realize the synchronization of the position of the measurement and control process and the height data of a measured part, and the measurement and control system comprises the following steps: the height sensor, the sensor controller, the EtherCAT measuring slave station, the X-axis EtherCAT servo driving slave station, the Y-axis EtherCAT servo driving slave station and the EtherCAT master station; the EtherCAT measuring slave station, the X-axis EtherCAT servo driving slave station and the EtherCAT master station are connected in series through an EtherCAT bus and connected with the EtherCAT master station; the method specifically comprises the following steps:
s1 construction of measurement and control system
The X-axis EtherCAT servo driving slave station and the Y-axis EtherCAT servo driving slave station respectively drive an X-axis servo motor and a Y-axis servo motor to enable the workbench to move, an encoder in the servo motors is used for representing the position of the workbench, and the position data is input to the EtherCAT master station through an EtherCAT bus when each synchronous periodic signal arrives;
the height measurement system realizes the sampling of the surface height data of the measurement object and forwards the surface height data to the EtherCAT main station. The EtherCAT measurement slave station is provided with a trigger signal IO interface and an Ethernet interface for acquiring measurement data; sampling is triggered through an IO signal, data are obtained through an Ethernet TCP protocol and are transmitted to an EtherCAT main station through an EtherCAT bus.
S2 synchronous measurement and control process establishment
After the measurement and control system is started, the EtherCAT master station scans the servo drive slave stations and the measurement slave stations of the X axis and the Y axis in sequence, configures the slave stations, configures a Distributed Clock (DC), switches the states of the slave stations to an operation mode, and periodically exchanges data with the slave stations in the operation mode. As shown in fig. 3, the dashed lines depict the message passing. And in each communication period, the EtherCAT master station packs the data into an EtherCAT data message and sends the EtherCAT data message to the EtherCAT bus. When the message goes down, the message sequentially passes through EtherCAT slave stations on the bus, such as an X-axis EtherCAT servo drive slave station, a Y-axis EtherCAT servo drive slave station and an EtherCAT measurement slave station. Each time a slave station passes through it, it extracts the input data from the data message and inserts the output data into the message. For example, the slave station of the servo drive extracts input data such as a command position and inserts the feedback position as output data into the EtherCAT message. EtherCAT measurement extracts input data such as measurement control words from a station, and inserts the measured data such as height into a data packet as output data. And the message passes through the last slave station and then becomes an uplink message to be returned to the master station. Therefore, in a one-time periodic communication process, the EtherCAT master station can acquire process data synchronously latched by all the EtherCAT servo drive slave stations and the EtherCAT measurement slave stations.
In order to ensure that the acquired position data and the height data are latched at the same time, the EtherCAT servo drive slave station and the height measuring system need to latch the data at the same time and update the data into the process data of the bus in one period.
The distributed clocking mechanism of EtherCAT provides consistent time and synchronization signals. After the slave stations are synchronized, each slave station has a consistent system time, and after the system time Ti comes, a synchronization bias time is waited for to generate a synchronization signal, and the synchronization signal can be used as a reference signal for realizing synchronization of each slave station, so that synchronous latching of data of a plurality of slave stations is realized. For example, when the synchronization signal arrives, the X-axis and Y-axis servo drives acquire input data such as a command position, and insert output data such as a feedback position into the data packet. And when the synchronous signal arrives, the measurement slave station triggers a sampling latch signal and inserts height data into a message. Synchronization of the position data and the altitude data is achieved.
S3 synchronous altitude data sampling
After the distributed clock is successfully prepared, the X-axis EtherCAT servo driving slave station and the Y-axis EtherCAT servo driving slave station generate synchronous signals according to set distributed clock parameters, and the time of the synchronous signals is the system time plus synchronous offset. For the EtherCAT measuring slave station, when a synchronous signal arrives, links such as triggering sampling, acquiring a height data frame, analyzing data, updating process data and the like are sequentially performed.
Because there is a delay between the trigger sampling and the actual sampling data of the sensor, in order to make the sampling latch time and the servo position latch time be the same time, the DC offset of the measuring device needs to be adjusted, and the DC offset is set through the synchronization parameter. As shown in fig. 7, after the proper DC offset of the slave station for X-axis Y-axis servo drive and the slave station for EtherCAT measurement is set, synchronous latching of the position data and the height data can be ensured at the same time.
The method realizes synchronous sampling of the height information of the displacement sensor and the position of the measurement and control platform at the same time by constructing a motion control and measurement system based on the EtherCAT master and slave stations and utilizing a distributed clock synchronization mechanism of the EtherCAT, ensures that the height information and the position information of the surface of a part are strictly matched, and finally realizes high-precision measurement.
Drawings
FIG. 1 is a schematic diagram of the measurement and control system of the present invention.
FIG. 2 is a schematic view of the measurement and control synchronization process of the present invention.
Fig. 3 is a schematic diagram of EtherCAT data transmission according to the present invention.
Fig. 4 is a diagram illustrating the synchronization of distributed clocks of slave stations according to the present invention.
Fig. 5 is a hardware structure diagram of an EtherCAT measuring slave station.
Fig. 6 is a flow chart illustrating a communication initialization configuration according to the present invention.
FIG. 7 is a schematic diagram of the synchronous latch of the present invention
Fig. 8 is a schematic diagram of the sampling process state of the present invention.
FIG. 9 is a data dictionary definition of the present invention.
Detailed Description
The invention provides a measurement and control synchronization method based on an EtherCAT bus. In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific 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.
Referring to fig. 1 and 2, a part to be measured is placed on an XY table, a height sensor is vertically installed above the table (parallel to the Z axis), and the part to be measured can move along the XY direction along with the table. The XY-direction movement of the workbench is respectively driven by X, Y-axis EtherCAT servo driving slave stations, the sampling control and data acquisition of the height sensor are controlled by an EtherCAT measuring slave station, and the X, Y-axis EtherCAT servo driving slave station and the EtherCAT measuring slave station are connected in series through an EtherAT bus and are connected with an EtherCAT master station.
The working table controls the sampling process of the height sensor through an Ethernet interface and IO signals of the EtherCAT measuring slave station in the movement process, obtains sampling data in real time, converts the sampling data into EtherCAT data messages when each synchronous periodic signal arrives, and inputs the EtherCAT data messages into the EtherCAT master station through an EtherCAT bus. Meanwhile, the position data of the workbench is also input to the EtherCAT master station through the EtherCAT bus from the slave station via the X, Y axis EtherCAT servo drive when each synchronous periodic signal arrives. The synchronism of the height signal of the part to be measured and the position data of the part to be measured on the workbench can be achieved by utilizing the synchronism of the EtherCAT bus, so that the high-precision measurement of the contour of the part is realized. The method comprises the following specific steps:
s1 construction of measurement and control system
As shown in fig. 1, the measurement and control system is composed of a height sensor, a sensor controller, an EtherCAT measuring slave station, an X-axis EtherCAT servo driving slave station, a Y-axis EtherCAT servo driving slave station, an EtherCAT master station and an XY workbench. And the X-axis and Y-axis EtherCAT servo driving slave stations drive the XY-axis servo motors to enable the workbench to move in XY directions, encoders in the XY servo motors can represent XY positions of the workbench, and position data are input into the EtherCAT master station through an EtherCAT bus when each synchronous periodic signal arrives. As shown in fig. 1, the height measurement system is comprised of a discrete height sensor, sensor controller and EtherCAT measurement slave station, shown in phantom. The height measurement system realizes the sampling of the surface height data of the measurement object and forwards the surface height data to the EtherCAT main station. The height measuring system is composed of a height sensor, a sensor controller and an EtherCAT measuring slave station. The EtherCAT measurement slave station is provided with a trigger signal IO interface and an Ethernet interface for acquiring measurement data. Sampling is triggered through IO signals, height data are obtained through the Ethernet and are transmitted to the EtherCAT main station through the EtherCAT bus.
As shown in fig. 5, the hardware of the measurement slave station mainly comprises a microprocessor STM32F104, an EtherCAT slave station protocol chip LAN9252, an ethernet communication module W5100 module and a GPIO. The STM32F104 is a main control unit and is responsible for controlling and managing the whole measuring slave station, and the GPIO and the W5100 are connected with the sensor controller to realize the control of the measuring process and the receiving and sending of data. The LAN9252 is connected to the EtherCAT bus through 2 data transceiving interfaces PHY and a connector RJ45, and has functions of inputting and transferring data frames, thereby implementing processing of the EtherCAT protocol and transceiving of data frames.
The EtherCAT measuring slave station defines EtherCAT data objects such as control words, state words, measuring data, measuring control parameters and the like, and is used for controlling the measuring process and acquiring the measured state and data; PDO mappings are defined for periodically accessible data. As shown in particular in fig. 9.
S2: and establishing a synchronous measurement and control process.
After the measurement and control system is started, the EtherCAT master station scans the servo drive slave stations and the measurement slave stations of the X axis and the Y axis in sequence, configures the slave stations, configures a Distributed Clock (DC), switches the states of the slave stations to an operation mode, and periodically exchanges data with the slave stations in the operation mode. As shown in fig. 3, the dashed lines depict the message passing. And in each communication period, the EtherCAT master station packs the data into an EtherCAT data message and sends the EtherCAT data message to the EtherCAT bus. When the message goes down, the message sequentially passes through the EtherCAT slave stations on the bus, such as the EtherCAT servo drive slave station and the EtherCAT measurement slave station on the X axis and the Y axis in the figure. Each time a slave station passes through it, it extracts the input data from the data message and inserts the output data into the message. For example, the slave station of the servo drive extracts input data such as a command position and inserts the feedback position as output data into the EtherCAT message. EtherCAT measurement extracts input data such as measurement control words from a station, and inserts the measured data such as height into a data packet as output data. And the message passes through the last slave station and then becomes an uplink message to be returned to the master station. Therefore, in a one-time periodic communication process, the EtherCAT master station can acquire process data synchronously latched by all the EtherCAT servo drive slave stations and the EtherCAT measurement slave stations.
In order to ensure that the acquired position data and the height data are latched at the same time, the EtherCAT servo drive slave station and the height measuring system need to latch the data at the same time and update the data into the process data of the bus in one period.
As shown in fig. 4, the distributed clocking mechanism of EtherCAT provides consistent timing and synchronization signals. After the slave stations are synchronized, each slave station has a consistent system time, and after the system time Ti comes, a synchronization bias time is waited for to generate a synchronization signal, and the synchronization signal can be used as a reference signal for realizing synchronization of each slave station, so that synchronous latching of data of a plurality of slave stations is realized. For example, when the synchronization signal arrives, the X-axis and Y-axis servo drives acquire input data such as a command position, and insert output data such as a feedback position into the data packet. And when the synchronous signal arrives, the measurement slave station triggers a sampling latch signal and inserts height data into a message. Synchronization of the position data and the altitude data is achieved.
The specific synchronous measurement and control process establishment process of the EtherCAT master station and the EtherCAT slave stations (the X-axis servo drive slave station, the Y-axis servo drive slave station and the measurement slave station) is shown in fig. 6. In the whole configuration process, the master station and the slave station are subjected to transition of stages such as initialization (Init state), Pre-operation (Pre-Op state), safe operation (safe-Op state), operation (Op state) and the like, and in each stage, the master station and the slave station complete corresponding operation. After the operation stage, each slave station generates a synchronous signal periodically, and the signal is used for synchronizing the data updating time of each slave station.
In the initialization phase, the master station clears the bus memory management unit (FMMU), the Synchronization Manager (SM) and the registers related to the Distributed Clock (DC), calculates the offset and delay of the distributed clock, and sets the distributed clock.
And in the pre-operation stage, the main station completes the configuration of the object dictionary by using the mailbox and mailbox communication. The slave station checks whether the addresses of the mailbox and the mailbox are overlapped, the master station configures the process data communication of the mailbox and the mailbox, and the configuration is completed according to the set object dictionary. The master station sets a parameter related to periodic communication, and the slave station checks whether the periodic communication time is allowed. The master station sets the starting time of periodic communication, the slave station starts a watchdog timer, mailbox process data is enabled to be input into the mailbox, and relevant shielding bits for writing application layer events are configured according to the relevant parameters of the periodic communication.
In the safe operation stage, the master station delays and starts a master station periodic communication clock according to the reference clock value, and the slave station checks whether the output is accepted and enables the mailbox process data to output the mailbox.
In the operation stage, the slave station and the master station periodically carry out data interaction according to the configured process data object.
S3 synchronizing sensor data sampling
In the operation stage, after the X-axis servo drive slave station and the Y-axis servo drive slave station receive the synchronous signals, the current actual position is latched and updated into process data; and when the synchronous signal arrives, the measurement slave station triggers a processing program, and sequentially performs trigger sampling in the processing program to acquire data and analyze the data. As shown in fig. 7, since there is a delay between the trigger sampling and the actual height data sampling, it is necessary to adjust the DC offset of the measurement slave station so that the sampling latch time and the servo position latch time are the same, and the DC offset is set by the synchronization parameter.
The EtherCAT measurement is shown in figure 8 from the station specific sampling process state machine.
In the initialization state, hardware initialization tasks of the Ethernet module W1500, GPIO and an EtherCAT protocol chip LAN9252 are carried out, the Ethernet module W1500, the GPIO and the EtherCAT protocol chip LAN9252 are matched with an EtherCAT master station and switched to an operation state, and the Ethernet module W1500, the GPIO and the EtherCAT protocol chip LAN9252 enter an idle state after the.
In an idle state, when a synchronous signal arrives, a measurement control word issued by a master station is checked, and if a control word sampling start mark is 1, a data requesting state is entered.
And in the data requesting state, setting the GPIO trigger signal, triggering the sensing unit to sample, and entering a data waiting state after the sampling is finished.
In a data waiting state, after delaying to a set conversion time, the GPIO triggers the signal to reset, and enters a data acquisition state.
And in the data acquisition state, reading the TCP port data, analyzing the data and updating the process data. And re-entering the idle state after the completion.
Claims (4)
1. A method for realizing measurement and control synchronization through an EtherCAT bus is characterized in that: the position of the measurement and control process and the height data of the measured part are synchronized by utilizing an EtherCAT bus distributed clock and a measurement and control system, wherein the measurement and control system comprises: the height sensor, the sensor controller, the EtherCAT measuring slave station, the X-axis EtherCAT servo driving slave station, the Y-axis EtherCAT servo driving slave station and the EtherCAT master station; the EtherCAT measuring slave station, the X-axis EtherCAT servo driving slave station and the EtherCAT master station are connected in series through an EtherCAT bus and connected with the EtherCAT master station; the method specifically comprises the following steps:
s1 construction of measurement and control system
The X-axis EtherCAT servo driving slave station and the Y-axis EtherCAT servo driving slave station respectively drive an X-axis servo motor and a Y-axis servo motor to enable the workbench to move, an encoder in the servo motors is used for representing the position of the workbench, and the position data is input to the EtherCAT master station through an EtherCAT bus when each synchronous periodic signal arrives;
the height measurement system realizes the sampling of the height data of the surface of the measurement object and forwards the height data to the EtherCAT main station; the EtherCAT measurement slave station is provided with a trigger signal IO interface and an Ethernet interface for acquiring measurement data; triggering sampling through an IO signal, acquiring data through an Ethernet TCP protocol, and transmitting the data to an EtherCAT master station through an EtherCAT bus;
s2 synchronous measurement and control process establishment
After the measurement and control system is started, the EtherCAT master station sequentially scans the servo drive slave stations and the measurement slave stations of the X axis and the Y axis, all the slave stations are configured, wherein the configuration comprises the configuration of a distributed clock, the states of all the slave stations are switched to an operation mode, and the EtherCAT master station periodically exchanges data with all the slave stations in the operation mode; in each communication period, the EtherCAT master station packs the data into EtherCAT data messages and sends the EtherCAT data messages to the EtherCAT bus; when the message goes down, the message sequentially passes through all slave stations on the bus; every time the slave station passes through one slave station, the slave station extracts input data from the data message and inserts the output data into the message; the EtherCAT measurement slave station extracts input data of the measurement control word and inserts the measured height and other data into the data message as output data; the message passes through the last slave station and then becomes an uplink message to be returned to the master station;
after all slave stations are synchronized, each slave station has consistent system time, and after the system time (Ti) arrives, a synchronization bias time is waited for to generate a synchronization signal, the synchronization signal is used as a reference signal for realizing synchronization of each slave station, and synchronous latching of data of a plurality of slave stations is realized;
s3 synchronous altitude data sampling
After the distributed clock is successfully prepared, the X-axis EtherCAT servo drive slave station, the Y-axis EtherCAT servo drive slave station and the EtherCAT measurement slave station generate synchronous signals according to set distributed clock parameters, and the time of the synchronous signals is the system time plus synchronous offset; for the EtherCAT measuring slave station, when a synchronous signal arrives, the steps of triggering sampling, acquiring a height data frame, analyzing data and updating to process data are sequentially carried out.
2. The method for realizing measurement and control synchronization through the EtherCAT bus according to claim 1, characterized in that: in order to ensure that the acquired position data and the acquired height data are latched at the same time, the X-axis EtherCAT servo drive slave station, the Y-axis EtherCAT servo drive slave station and the height measurement system need to latch the data at the same time and update the data into the process data of the bus in one period.
3. The method for realizing measurement and control synchronization through the EtherCAT bus according to claim 1 or 2, characterized in that: the X-axis servo driving slave station and the Y-axis servo driving slave station acquire input data such as an instruction position when a synchronous signal arrives, and insert output data such as a feedback position into a data message; and when the synchronous signal arrives, the measurement slave station triggers a sampling latch signal and inserts height data into a message.
4. The method for realizing measurement and control synchronization through the EtherCAT bus according to claim 1 or 2, characterized in that: because there is a delay between the trigger sampling and the actual sampling data of the sensor, in order to make the sampling latch time and the servo position latch time be the same time, the DC offset of the measuring device needs to be adjusted, and the DC offset is set through the synchronization parameter.
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