CN112711202A

CN112711202A - EtherCAT slave station module

Info

Publication number: CN112711202A
Application number: CN201911025559.9A
Authority: CN
Inventors: 林浩; 赵德政; 陈海; 郭佳; 郭肖旺; 张彪; 肖超; 霍玉鲜
Original assignee: Cec Intelligent Technology Co ltd
Current assignee: Cec Intelligent Technology Co ltd
Priority date: 2019-10-25
Filing date: 2019-10-25
Publication date: 2021-04-27

Abstract

The invention provides an EtherCAT slave station module which comprises hardware and a drive program loaded on the hardware, wherein the hardware comprises a microcontroller, a slave station controller, an EEPROM, an optical coupler isolator and a drive circuit, and the drive program is an MCU interface drive program. The EtherCAT slave station module can realize output in multiple pulse modes through the MCU interface driving program.

Description

EtherCAT slave station module

Technical Field

The invention relates to an EtherCAT slave station module, in particular to an EtherCAT slave station module based on a SPARCMCU.

Background

EtherCAT is proposed by the company beifu in germany, and has been widely used at present due to its characteristics of high network real-time performance, flexible topological structure, simple system configuration, etc. EtherCAT adopts a master-slave mode structure, and a master station can be a common PC. The control period is sent from the master station, which sends downlink telegrams. The data frame traverses all the slave station devices, each device analyzes a message addressed to a local machine when the data frame passes through, reads data or writes data into a specified position in the message according to a command in a message header, and the slave station hardware adds 1 to a working counter of the message to indicate that the data is processed. After accessing the last slave station located in the logical position of the whole system, the slave station directly transmits the processed data frame to the master station as an uplink telegram. And after receiving the uplink telegram, the master station processes the return data and finishes one-time communication.

As EtherCAT industrial ethernet is valued by more and more industry developers, EtherCAT-based slave products have emerged. However, most of existing EtherCAT slave station products output in a single pulse mode, and EtherCAT slave station products output in multiple pulse modes do not exist yet.

Disclosure of Invention

In order to solve the technical problem, the invention provides an EtherCAT slave station module which comprises hardware and a driver loaded on the hardware, wherein the hardware comprises a microcontroller, a slave station controller, an EEPROM, an optical coupler isolator and a driver circuit, and the driver is an MCU interface driver.

The EtherCAT slave station module can realize output in multiple pulse modes through the MCU interface driving program.

Drawings

Fig. 1 shows the timing of the output of an embodiment of the present invention in the pulse output mode.

Fig. 2 shows the timing of the output of an embodiment of the present invention in the pulse width modulation mode.

Fig. 3 shows the number of bursts, the output period, and the time arrangement of outputting a high level in the burst mode according to the embodiment of the present invention.

Fig. 4 shows the function of starting/closing output after the specified delay time in the On/Off delay mode according to the embodiment of the present invention.

Fig. 5 illustrates the principle of channel coupling isolation according to an embodiment of the present invention.

Fig. 6 shows a layout diagram of an LED panel of an EtherCAT slave station module according to an embodiment of the present invention.

Fig. 7 shows an architecture diagram of an EtherCAT slave station module according to an embodiment of the present invention.

Fig. 8 shows an application diagram of the ethercat slave station module according to the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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.

The invention aims to overcome the defects of the prior art and provides an EtherCAT slave station module which comprises hardware and a drive program loaded on the hardware, wherein the hardware comprises a microcontroller, a slave station controller, an EEPROM, an optical coupler isolator and a drive circuit. The improvement points of the invention are that: the driving program is an MCU interface driving program. The MCU driver comprises a timer driver, a serial port driver, a special timer driver and an interrupt driver so as to realize the function of the EtherCAT slave station module. Through the MCU interface driving program, the EtherCAT slave station module can generate four pulse signals to control a controlled object.

The EtherCAT slave station module has four pulse output modes: pulse output mode, Pulse Width Modulation (PWM) mode, burst mode, and On/Off delay mode. The following is a description of the four modes of pulses. Referring to fig. 1, in the pulse output mode, a pulse with a given width is output, the output time and the output delay are configured by software programming, and in the case of hardware enabling, the output timing is as shown in fig. 1. Referring to fig. 2, in the pulse width modulation mode (PWM), EtherCAT slave station module periodically outputs PWM with a given frequency and duty ratio, and when the hardware is enabled, the output timing is as shown in fig. 2. Referring to fig. 3, in the burst mode, the EtherCAT slave station module may output a burst with a given number of pulses, and the number of the bursts, the output period, and the time for outputting a high level are configurable. Referring to fig. 4, in this mode, the EtherCAT slave station module starts outputting after catching a rising edge of the hardware enable, closes outputting after catching a falling of the hardware enable signal, and if the start delay and the close delay are configured, the EtherCAT slave station module executes a start output/close output function after a specified delay time.

The microprocessor realizes an application layer protocol of an EtherCAT slave station module, communicates with the slave station controller through an SPI bus, responds to a slave station protocol data packet, and changes field data output by setting general interface data. The microprocessor of the invention adopts a SPARC V8 type 32-bit MCU. The system is communicated with an ASIC (application specific integrated circuit) through an SPI (serial peripheral interface) bus and controls 8 paths of field data output through 8 paths of GPIOs (general purpose input/output). The MCU expands the SRAM and the FLASH through a 16-bit data address bus.

The slave station controller realizes the physical layer protocol and the data link layer protocol of the EtherCAT slave station module. The slave station controller provides at least 2 communication interfaces, the physical layers of the communication interfaces all adopt an EBUS low-voltage differential form, and data streams are input from one communication interface and output from the other communication interface. The slave station controller employs an ASIC. The ASCI operates in 00 mode, i.e. 2 communication interfaces are provided: port0 and port1, and the physical layers of both communication interfaces are in EBUS form (data transfer standard for LVDS used by befu, germany), data streams are input from port0 and output from port 1. In order to improve the capability of resisting common mode and differential mode electromagnetic interference of the EBUS communication, common mode and differential mode inductors are boosted on the EBUS low-voltage differential transmission line pair.

The EEPROM is connected with the slave station controller ASIC through an IIC bus to realize the ASIC working mode configuration information.

The optical coupling isolator is used for achieving electrical isolation between the field side and the EtherCAT slave station module side, and the electromagnetic interference resistance of the EtherCAT slave station module is improved.

The drive circuit is connected with the optical coupling isolator and used for improving the drive capability of data output. Referring to fig. 5, the channel coupling isolation principle is shown. EtherCAT gives the controlled equipment to PWM signal output of corresponding frequency and duty ratio through the break-make of opto-coupler, through the protection of solid state relay according to the on-the-spot demand, by the instruction of host computer assigned between 2 way pulse output signal of station module each other physical isolation, output, controller.

The drive circuit adopts a MOSFET driver, and the drive current of each channel can reach 500 mA.

And the EtherCAT slave station module is in data communication with the EtherCAT master station through the EBUS bus, so that the communication with the upper bus configuration management software is realized.

The EtherCAT slave station module comprises an LED panel, and the layout diagram of the LED panel is shown in fig. 6.

Please refer to fig. 7 and 8, which are architecture diagrams of the slave station module of EtherCAT. EtherCAT, as a network communication technology, supports the application layer (CoE) of the row standard CiA402 protocol in the CANopen protocol, and the communication between the module and the master station is based on CoE protocol (fully complying with the CANopen protocol), and the partition definition of the object dictionary with reference to the ETG.5001 standard is as shown in the following table 1. Wherein EtherCAT slave station module is at first to external interface and hardware initialization after the electricity to and protocol stack initialization back, get into free running mode, and the master station mainly sends configuration data and process data for the slave station, and the slave station sends feedback data for the master station, and all COEs accomplish still to be responsible for the state scheduling of slave station simultaneously: init, Pre-Op, Safe-Op, Op.

Table 1 partition definition of object dictionary.

Main index	Object dictionary area
		0x0000…0x0FFF	Data type area
0x1000…0x1FFF	Communication area
		0x6000…0x6FFF	Input area
0x7000…0x7FFF	Output area
		0x8000…0x8FFF	Configuration area
0x9000…0x9FFF	Information area
		0xA000…0xAFFF	Diagnostic region
0xF000…0xFFFF	Equipment area

The input area in table 1 is a data storage area fed back to the EtherCAT master station by the EtherCAT slave station module. The output area is the configuration that the EtherCAT master station sends to the EtherCAT slave station module through process data, and mainly comprises output time configuration, pulse width configuration, pulse string configuration, turn-off delay configuration and enabling signals. The configuration area is an initialization configuration data area of the EtherCAT master station to the EtherCAT slave station module, and mainly comprises a channel output mode, a time base, a period time and a channel opening output delay. The diagnosis area is a diagnosis data storage area reported to the EtherCAT main station from the EtherCAT slave station module.

The EtherCAT slave station module provided by the invention can realize the following functions:

the EtherCAT slave station module can output 2 paths of 24V pulse signals with adjustable duty ratio and adjustable frequency to an actuator of a field layer according to a binary control signal transmitted by the bottom connector EBUS;

the second mode comprises a pulse output mode, a pulse width modulation mode, a pulse string mode and an On/Off delay mode;

thirdly, the output can be diagnosed to be broken, short-circuited and the like; and

and the function of inputting the DI digital quantity can be used as a common input and hardware enabling.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. The EtherCAT slave station module is characterized by comprising hardware and a driver loaded on the hardware, wherein the hardware comprises a microcontroller, a slave station controller, an EEPROM, an optical coupler isolator and a driver circuit, and the driver is an MCU interface driver.

2. The EtherCAT slave module of claim 1, wherein the MCU interface driver includes a timer driver, a serial driver, a dedicated timer driver and an interrupt driver.

3. The EtherCAT slave module of claim 1, further comprising an LED panel comprising a System area, an EtherCAT area and a functional area.

4. The EtherCAT slave module of claim 1, wherein the two pulsed output signals output by the EtherCAT slave module are physically separated from each other, and the output terminal provides a 24V power input.

5. The EtherCAT slave module of claim 1, wherein the partitioning of the EtherCAT slave module into the object dictionary is: a data type region, a communication region, an input region, an output region, a configuration region, an information region, a diagnostic region, and a device region.

6. The EtherCAT slave station module of claim 5, wherein the input area is a data storage area fed back to the EtherCAT master station by the EtherCAT slave station module; the output area is the configuration of the EtherCAT master station sending process data to the EtherCAT slave station module, and the configuration comprises output time configuration, pulse width configuration, pulse string configuration, turn-off delay configuration and enabling signals; the configuration area is an initialization configuration data area of the EtherCAT master station to the EtherCAT slave station module, and data of the data area comprises a channel output mode, a time base, cycle time and channel opening output delay; the diagnosis area is a diagnosis data storage area reported to the EtherCAT main station from the EtherCAT slave station module.

7. The EtherCAT slave module of claim 1, wherein the microprocessor implements EtherCAT slave application layer protocols, communicates with the slave station controller over an SPI bus, responds to slave station protocol packets, and changes field data output by setting generic interface data;

the slave station controller realizes the physical layer and data link layer protocols of the EtherCAT slave station;

the EEPROM is connected with a slave station controller of a slave station controller through an IIC bus and used for storing configuration data of the slave station controller; and

the optical coupling isolator is connected with a general interface of the microprocessor and outputs data to the site through a driving circuit.

8. The EtherCAT slave module of claim 1, wherein the slave station controller provides at least two communication interfaces, the physical layers of which are both in EBUS low voltage differential form, data streams being input from one of the communication interfaces and output from the other communication interface.

9. The EtherCAT slave module of claim 1, wherein the slave station controller employs an ASIC.

10. The EtherCAT slave module of claim 9, wherein the slave station controller is in data communication with the master station via the EBUS.