CN111901213A - IO slave station controller based on EtherCAT bus - Google Patents
IO slave station controller based on EtherCAT bus Download PDFInfo
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- CN111901213A CN111901213A CN202010703534.6A CN202010703534A CN111901213A CN 111901213 A CN111901213 A CN 111901213A CN 202010703534 A CN202010703534 A CN 202010703534A CN 111901213 A CN111901213 A CN 111901213A
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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
- H04L12/4013—Management of data rate on the bus
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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
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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
- H04L12/40169—Flexible bus arrangements
- H04L12/40176—Flexible bus arrangements involving redundancy
- H04L12/40195—Flexible bus arrangements involving redundancy by using a plurality of nodes
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Abstract
The invention relates to the field of industrial control and automation control, and provides an IO slave station controller based on an EtherCAT bus, aiming at the defect that the slave station is expanded based on the traditional communication modes such as MCU + RS232 or CAN and the like in the prior art and the transmission rate between the slave station and the slave station is low, comprising: the device comprises an EtherCAT communication module, a memory, a photoelectric isolation module, a signal input port, a signal output port, a first data transmission unit, a second data transmission unit and a power management module; the memory is connected with the EtherCAT communication module through I2C, communication for storing configuration data of the slave station controller; the photoelectric isolation module is connected with the EtherCAT communication module at one end and connected with the signal input port and/or the signal output port at the other end, and is used for realizing electric isolation and increasing the anti-interference capacity; the EtherCAT communication module is connected with the first data transmission unit and the second data transmission unit and is used for communicating with the EtherCAT main station and/or the EtherCAT slave station; and the power supply management module is used for supplying power to the slave station controller.
Description
Technical Field
The invention relates to the field of industrial control and automation control, in particular to an IO slave station controller based on an EtherCAT bus.
Background
With the rapid development of the industrial field, the automation equipment is continuously updated, and important indexes of actual production application to the equipment are as follows: the requirements for safety, speed, precision and the like are more and more strict, most IO slave stations in the market are shown in fig. 1, communication among the slave station 1, the slave station 2, the slave station 3 and the slave station n is realized in the modes of RS232 or CAN and the like, the expansion CAN be realized according to the requirements of equipment, and the internal structure of a general slave station with input and output is shown in fig. 2.
As can be seen from fig. 2, the slave stations are expanded by MCU + RS232 communication, which is characterized by convenient expansion and low price, but with the continuous forward development of the automation industry, the requirement for speed is higher and higher, and the disadvantages of this expansion mode are gradually shown: because of the adoption of the communication mode of MCU + RS232, the communication from the slave station 1, the slave station 2, the slave station 3 to the slave station n has delay time (more than 100ms), the more the slave station equipment modules are driven, the longer the data transmission time is, and the lower the data transmission rate is, which is unacceptable for some equipment with high precision and higher delay time requirement.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an IO slave station controller based on an EtherCAT bus, aiming at the defect that the slave station is extended based on the traditional MCU + RS232 communication mode in the prior art, so that the delay between the slave station and the slave station is too long.
EtherCAT (ethernet Control Automation Technology) is an open architecture, ethernet-based field bus system. The EtherCAT has the prominent characteristics of real-time performance and synchronization, the EtherCAT realizes synchronization by adopting a distributed clock concept, and through a calibration mechanism of a master clock and a slave clock in a system, the jitter of the clocks is far less than 1 mu s, and the synchronization is also in the mu s level. And because the synchronism is realized by hardware, the reliability of the EtherCAT is ensured to a great extent. The characteristic has obvious advantages in the high-end application field, such as a numerical control system, a motion control system and the like, so that the method has the beneficial effect of effectively ensuring the real-time property and the synchronism of communication.
The technical scheme adopted by the invention for solving the technical problems is as follows: an IO slave station controller based on an EtherCAT bus is provided, which comprises: EtherCAT communication module, memory, optoelectronic isolation module, signal input portThe power supply management module comprises a signal output port, a first data transmission unit, a second data transmission unit and a power supply management module; the memory is connected with the EtherCAT communication module through I2C, communication for storing configuration data of the slave station controller; one end of the photoelectric isolation module is connected with the EtherCAT communication module, and the other end of the photoelectric isolation module is connected with the signal input port and/or the signal output port, so that electric isolation is realized and the anti-interference capacity is improved; the EtherCAT communication module is connected with the first data transmission unit and the second data transmission unit and is used for communicating with the EtherCAT main station and/or the EtherCAT slave station; and the power supply management module is used for supplying power to the slave station controller.
As a further improvement of the invention, the power management module is provided with a self-recovery fuse and a TVS transient suppression diode, wherein a first end of the self-recovery fuse is connected with the input power supply, a second end of the self-recovery fuse is connected with the negative electrode of the TVS transient suppression diode, and the positive electrode of the TVS transient suppression diode is connected with the ground.
As a further improvement of the present invention, the first data transmission unit includes a first network interface, a first network transformer, and a first transceiver, the first transceiver is connected to the EtherCAT communication module, the first network transformer, and the first network transformer is connected to the first network interface, respectively; the second data transmission unit comprises a second network interface, a second network transformer and a second transceiver, the second transceiver is respectively connected with the EtherCAT communication module and the second network transformer, and the second network transformer is connected with the second network interface.
As a further improvement of the invention, the number of the photoelectric isolation modules is at least 32.
As a further improvement of the invention, the number of the signal input ports is at least 16, and the number of the signal output ports is at least 16.
As a further improvement of the invention, the model of the EtherCAT communication module is Beifu 1200 chips.
As a further improvement of the invention, the memory is an EEPROM.
As a further improvement of the invention, the slave station controller also comprises a light emitting diode for indicating the working states of the power supply and the input/output ports.
As a further improvement of the invention, the slave station controller also comprises 2 groups of multi-path screw-free connectors, and the screw-free connectors are arranged at the signal input and output positions of the slave station circuit board and are connected with the signal input port and the signal output port.
The IO slave station controller based on the industrial Ethernet bus has the following beneficial effects: by adopting the slave station with multi-path input and output as the extension slave station of the control system, very convenient extension can be realized, each slave station can receive equipment signals input by a plurality of industrial equipment and drive the plurality of industrial equipment, and because the EtherCAT communication module is adopted to directly communicate with external equipment, the communication speed is greatly improved without the need of forwarding through a single chip microcomputer, the delay time is effectively shortened, and the equipment requirements of high precision and high delay time requirement can be met.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of an expansion of a prior IO slave station;
FIG. 2 is a schematic diagram of an internal structure of a conventional IO slave station;
FIG. 3 is a schematic structural diagram of a multi-IO slave station controller of the present invention;
FIG. 4 is an application diagram of the IO slave station controller based on the EtherCAT bus according to the present invention;
FIG. 5 is a schematic diagram of the optoelectronic isolation module of the present invention;
FIG. 6 is a schematic diagram of the reverse-connect prevention circuit of the present invention;
fig. 7 is a schematic view of the operating principle of the indicator light of the present invention.
In the figure: the system comprises a slave station controller 10, a first network interface 11, a second network interface 12, a first network transformer 13, a second network transformer 14, a first transceiver 15, a second transceiver 16, a first optoelectronic isolation module 17, a second optoelectronic isolation module 18, a signal input port 19, a signal output port 20, an EtherCAT communication module 21, a memory 22, a power management module 23, a self-recovery fuse F1 and a TVS transient suppression diode D1.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 3-7, in order to solve the problem that the traditional MCU + RS232 communication mode causes too long delay between the slave station and the slave station, the present invention provides an IO slave station controller based on EtherCAT bus, where the slave station controller 10 includes: the device comprises a first data transmission unit, a second data transmission unit, a first photoelectric isolation module 17, a second photoelectric isolation module 18, a signal input port 19, a signal output port 20, an EtherCAT communication module 21, a memory 22, a power management module 23, a self-recovery fuse F1 and a TVS transient suppression diode D1.
The first data transmission unit comprises a first network interface 11, a first network transformer 13 and a first transceiver 15; the second data transmission unit comprises a second network interface 12, a second network transformer 14, a second transceiver 16.
The first transceiver 15 is respectively connected with the EtherCAT communication module 21 and the first network transformer 13, the first network transformer 13 is connected with the first network interface 11, and the first network interface 11 is connected with an external EtherCAT master station or other EtherCAT slave stations; the second transceiver 16 is respectively connected with the EtherCAT communication module 21 and the second network transformer 14, the second network transformer 14 is connected with the second network interface 12, and the second network interface 12 is connected with an external EtherCAT master station or other EtherCAT slave stations.
In an embodiment of the present invention, the first network interface 11 and the network interface 12 are RJ45 sockets.
In an embodiment of the present invention, the first network transformer 13 and the second network transformer 14 may be selected as H1200 NL.
The first transceiver 15 and the second transceiver 16 may be KSZ8721BL in one embodiment of the invention.
The memory 22 is connected with the EtherCAT communication module 21 through I2C communication for storing configuration data of the slave station controller.
In an embodiment of the present invention, the Memory is an EEPROM (Electrically erasable programmable Read-Only Memory), the EEPROM is a repeatedly erasable programmable Read-Only Memory, and data in the EEPROM is not lost after the EEPROM is powered off, so that the last configuration data can be effectively stored.
The EtherCAT communication module 21 is connected to the first data transmission unit and the second data transmission unit, and is configured to communicate with the EtherCAT master station and/or the EtherCAT slave station.
In an embodiment of the invention, one end of the first photoelectric isolation module 17 is connected with the EtherCAT communication module 21, the other end of the first photoelectric isolation module 17 is connected with the signal input port 19, the external device of the signal input port 19 is connected, the encoder feedback signal is output to the slave station controller 10, the signal input port 19 is coupled through the first photoelectric isolation module 17 and received by the EtherCAT communication module 21, and the EtherCAT communication module 21 connects the received data through the first data transmission unit or the second data transmission unit and forwards the received data to the high-speed EtherCAT master station or other EtherCAT slave stations;
one end of the second photoelectric isolation module 18 is connected with the EtherCAT communication module 21, the other end is connected with the signal output port 20, a control signal sent by the EtherCAT main station is received by the EtherCAT communication module 21 through the EtherCAT bus and the first data transmission unit or the second data transmission unit, the EtherCAT communication module 21 forwards the control signal, couples the control signal through the second photoelectric isolation module 18, and outputs the control signal to the driver through the signal output port 20.
In an embodiment of the present invention, the number of the optoelectronic isolation modules is 32, the number of the signal input ports 19 is 16, and the number of the signal output ports 20 is 16.
In an embodiment of the present invention, the number of the optoelectronic isolation modules is 64, the number of the signal input ports 19 is 32, and the number of the signal output ports 20 is 32.
Fig. 5 is a schematic diagram of the principle of the optoelectronic isolation module in the present invention, in which the optical coupler transmits electrical signals through light as a medium, and has a good isolation effect on the electrical signals at the input end and the output end, and the optoelectronic isolation module is composed of a light emitting diode and a phototransistor packaged in the same package, and they are arranged in a structure so that the radiation energy of the LED is effectively coupled to the phototransistor. The beneficial effects are that effectively realized electrical apparatus isolation, increased interference immunity, can tolerate 2500Vpp interference pulse, further improve the job stabilization performance of system.
The power management module 23 is used to supply power to the slave station controller.
In an embodiment of the present invention, referring to fig. 6, the power management module 23 is provided with a self-recovery fuse F1 and a TVS transient suppression diode D1, a first end of the self-recovery fuse F1 is connected to the input power, a second end of the self-recovery fuse F1 is connected to a negative electrode of the TVS transient suppression diode D1, and a positive electrode of the TVS transient suppression diode D1 is connected to ground. The current of the self-recovery fuse F1 is 2A, when the fuse passes a large current exceeding 2A, the fuse is disconnected, and the circuit is effectively protected; when the TVS transient suppression diode D1 is reversely connected, the current can be directly bypassed, a rear-stage circuit is protected, and the TVS transient suppression diode D1 and the self-recovery fuse F1 effectively protect the slave station controller from two aspects.
In an embodiment of the present invention, the slave station controller further includes a light emitting diode for indicating the operating states of the power supply and the input/output ports. When the LED is in the working state, the LED can twinkle. In fig. 7, the led D10 is used to indicate the network data transceiving status, and flashes if there is data transceiving, otherwise goes out; the led D10 is used to indicate whether the network is connected, and is turned on if the network is connected, and turned off if the network is not connected. The first end of the resistor R10 is connected with the EtherCAT communication module 21, the second end of the resistor R10 is connected with the anode of the light emitting diode D10, the cathode of the light emitting diode D10 is connected with the EtherCAT communication module 21, the first end of the resistor R11 is connected with the EtherCAT communication module 21, the second end of the resistor R10 is connected with the anode of the light emitting diode D10, the cathode of the light emitting diode D11 is connected with the EtherCAT communication module 21, the first end of the resistor R10 is connected with the C end of the EtherCAT communication module 21, the EtherCAT communication module 21 defaults to the high level, the cathode of the light emitting diode D10 is connected with the A end of the Et, can realize the high and low level change according to the state of the controller, when the network has data transmission, the high and low level of the A end changes periodically, the period is 500ms, so the led D10 flickers, the cathode of the led D11 is connected to the B terminal of the EtherCAT communication module 21, and when the network connection is normal, the B terminal is at a low level, so the led D11 emits light.
In an embodiment of the invention, the model of the EtherCAT communication module 21 is a Dunfu 1200 chip, the Dunfu 1200 chip directly outputs and receives signals, and nanosecond-level communication speed can be realized. The number of ports of the double-circuit 1200 chip can meet the requirements of most occasions, the high-speed performance of the double-circuit 1200 chip can quickly complete high-speed EtherCAT, high-speed IO control and ADC, and the double-circuit 1200 chip has the advantages of high-speed response and low time delay and is suitable for the communication requirement of high-precision equipment.
In an embodiment of the invention, the connector further comprises 2 sets of multi-channel screw-free connectors, the screw-free connectors are arranged at the driving output positions of the slave station circuit board, each screw-free connector comprises any one of 16-channel input/output and 32-channel input/output, and the screw-free connectors are German screw-free connectors, do not need tools and can conveniently connect input signals and output signals.
Fig. 4 is a schematic diagram of an IO slave station controller based on an EtherCAT bus according to the present invention, in which a first multi-channel input/output slave station 1 is connected to a master station, and a connection line is a first communication line 30. The second communication line 40 is a communication line connecting slave 1 and slave 2, slave 2 and slaves 3 and … …, and slave n-1 and slave n in fig. 4. Optionally, in the embodiment of the present invention, the first communication line 30 and the second communication line 40 may be the same communication line, and both of them may be ultra-five or more types of network lines, so that the extension between the slave station and the slave station may be convenient.
As shown in fig. 3, in the embodiment of the present invention, each slave station 10 includes an EtherCAT communication module 21, a multipath signal input port 17 and a signal output port 18, where the signal input port 17 is used for receiving a feedback signal input by an external device, such as being connected to an encoder; the signal output port 18 is used for outputting a driving signal to drive an external device, such as a driver connected to a servo motor. And receiving feedback signals of the multipath input equipment from the slave station controller, and transmitting the equipment signals to other EtherCAT bus equipment until the equipment signals are transmitted to the master station.
The IO slave station controller based on the industrial Ethernet bus has the following beneficial effects: by adopting the slave station controller with multi-path input and output, the expansion can be realized conveniently, each slave station can receive equipment signals input by a plurality of industrial equipment and drive the industrial equipment, because the EtherCAT communication module is adopted to directly communicate with external equipment, the communication speed is greatly improved without being forwarded by a singlechip, the delay time is effectively shortened, the equipment requirements of high precision and high delay time requirement can be met, compared with the traditional MCU (microcontroller) + RS232 connection method, the actual measurement of the network port speed is more than 100mb/s, the equipment signals of each slave station and the equipment driving each slave station are directly received after the EtherCAT communication module is used for communication, 1000 IO signals can be processed in 100us time, and the real-time is greatly reduced.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes and modifications made within the scope of the claims of the present invention should be covered by the claims of the present invention.
It will be understood that modifications and variations can be made by persons skilled in the art in light of the above teachings and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (9)
1. An IO slave station controller based on an EtherCAT bus, comprising:
the device comprises an EtherCAT communication module (21), a memory (22), a photoelectric isolation module, a signal input port (19), a signal output port (20), a first data transmission unit, a second data transmission unit and a power management module (23); the memory (22) is connected with the EtherCAT communication module (21) through I2C communication for storing configuration data of the slave station controller;
the photoelectric isolation module is connected with the EtherCAT communication module (21) at one end and connected with the signal input port and/or the signal output port at the other end, and is used for realizing electric isolation and increasing the anti-interference capacity;
the EtherCAT communication module (21) is connected with the first data transmission unit and the second data transmission unit and is used for communicating with an EtherCAT master station and/or an EtherCAT slave station;
the power management module (23) is used for supplying power to the slave station controller.
2. The EtherCAT bus-based IO slave station controller according to claim 1, characterized in that the power management module (23) is provided with a self-recovery fuse (F1), a TVS transient suppression diode (D1), the self-recovery fuse (F1) first end is connected with the input power, the self-recovery fuse (F1) second end is connected with the TVS transient suppression diode (D1) negative pole, and the TVS transient suppression diode (D1) positive pole is connected with ground.
3. An EtherCAT bus-based IO slave station controller according to claim 1, characterized in that the first data transmission unit comprises a first network interface (11), a first network transformer (13), a first transceiver (15) connected to the EtherCAT communication module (21), the first network transformer (13), and the first network transformer (13) connected to the first network interface (11), respectively;
the second data transmission unit comprises a second network interface (12), a second network transformer (14) and a second transceiver (16), wherein the second transceiver (16) is respectively connected with the EtherCAT communication module (21) and the second network transformer (14), and the second network transformer (14) is connected with the second network interface (12).
4. The EtherCAT bus-based IO slave station controller according to claim 1, wherein the number of the optoelectronic isolation modules is at least 32.
5. EtherCAT bus based IO slave station controller according to claim 4, characterized in that the number of signal input ports (19) is at least 16, and the number of signal output ports (20) is at least 16.
6. The EtherCAT bus-based IO slave station controller according to claim 1, wherein the model of the EtherCAT communication module (21) is a Chinfu 1200 chip.
7. The EtherCAT bus-based IO slave station controller according to claim 1, wherein said memory (22) is EEPROM.
8. The EtherCAT bus-based IO slave station controller according to claim 1, further comprising a light emitting diode for indicating the power supply and the operation status of each input/output port.
9. The EtherCAT bus-based IO slave station controller according to claim 1, further comprising 2 sets of multi-channel screw-free connectors, wherein the screw-free connectors are installed at signal input and output positions of the slave station circuit board and connected with the signal input port (19) and the signal output port (20).
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| CN202010703534.6A CN111901213A (en) | 2020-09-16 | 2020-09-16 | IO slave station controller based on EtherCAT bus |
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| CN202010703534.6A CN111901213A (en) | 2020-09-16 | 2020-09-16 | IO slave station controller based on EtherCAT bus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115390496A (en) * | 2022-09-19 | 2022-11-25 | 深圳大学 | Multi-mode air pressure control device and control method based on EtherCAT bus interface |
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Application publication date: 20201106 |