CN113385807B - Laser galvanometer control system and method of Ethernet gateway - Google Patents
Laser galvanometer control system and method of Ethernet gateway Download PDFInfo
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Abstract
The invention belongs to the field of laser galvanometer processing, and provides a laser galvanometer control system and method of an Ethernet gateway. The system comprises a controller, a gateway, a servo motor and an I/O module, wherein the controller is an Ethernet bus master station, and the gateway, the servo motor and the I/O module are all Ethernet bus slave stations, so that a master-slave architecture is formed; the controller is used for receiving the processing instruction and the parameters, calculating to obtain a control instruction of each Ethernet bus slave station, and issuing a network frame to the corresponding slave station through the Ethernet bus; the gateway is used for extracting the control related information of the galvanometer and the laser from the transmitted network frame and converting the control related information into an instruction meeting the control format requirements of the galvanometer and the laser; the servo motor is used for generating a driving action according to the received control instruction; the I/O module is used for controlling an air passage, a switch and other peripheral equipment in the laser processing process according to the received control instruction.
Description
Technical Field
The invention belongs to the field of laser galvanometer processing, and particularly relates to a laser galvanometer control system and method of an Ethernet gateway.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Laser processing is a process of utilizing high-energy laser beams to focus, quickly melt a base material or change the surface appearance to achieve a processing effect, is always a hot special processing technology in the field of mechanical processing, and is widely applied to high-end manufacturing industries such as aerospace, automobiles, ships, electronic elements and the like. The laser processing has the characteristics of non-contact processing, small stress influence area, small heat influence area, basically no processing tool loss, capability of processing high-brittleness or high-melting-point materials such as ceramics and the like, and is easy to integrate automatic control, safer, more efficient and more environment-friendly compared with the traditional mechanical processing mode. In recent years, with the localization of key products such as lasers, water cooling machines, powder feeders and the like and the promotion of high-end manufacturing requirements, laser processing technology is rapidly popularized in China, and application scenes are more diversified.
The working principle of the galvanometer is that a low-inertia high-frequency motor is used for driving the reflector to deflect in a small range, so that a light path is changed to cause a focus point (a processing point) to be rapidly changed in a large-breadth range. The laser galvanometer processing can give full play to the high-frequency characteristic of a galvanometer motor and the optical characteristic of laser, the working efficiency and the quality of finished products are greatly improved, and typical processing scenes comprise laser scanning welding, laser galvanometer marking, laser thinning, laser surface treatment and the like.
The existing laser galvanometer control mode in the current market is that a special control board card is matched with special control software, and a general control core is a single chip microcomputer or an FPGA and is responsible for real-time motion control logic operation and whole system resource scheduling; the upper computer is generally a PC or a PLC, runs special control software provided by manufacturers, issues laser and galvanometer control commands in a non-real-time mode such as a serial port, a USB or an Ethernet and the like, and is received by a related module chip on a special control board card and transmitted to the main control core; the main control core analyzes the command parameters, carries out motion planning, interpolates according to a control period and issues an external equipment control command, and the galvanometer motor motion control command follows an XY2-100 special protocol format. The existing laser galvanometer control system has the following technical defects: (1) the special software and hardware limit the expansibility and the editability of the system, the secondary development difficulty and the development cost of a user are increased, and the function and the structure of the whole system are single; (2) the complicated control logic core operation part is completed by a lower computer (board card), thereby not only limiting the openness of system performance design, but also wasting abundant and strong computing power of a CPU (central processing unit) of an upper computer (PC); (3) the laser galvanometer can only be accessed by a special board card and controlled by special software (or SDK) due to the uniqueness of the protocol, is difficult to be linked with other parts (such as a robot and a machine tool) of a processing system, has low system integration level, and can not be integrated into a real-time field bus topological structure commonly adopted in the current industrial control field.
In the prior art, only the problem (3) is partially optimized, the control of a galvanometer shaft, a dynamic focusing shaft and a servo shaft is integrated, and an interface is expanded in a splicing mode. However, the method is still a special board card control mode, an upper computer issues laser and galvanometer control commands in a non-real-time mode through special control software, the core operation function is still completed by lower computer hardware, the software and hardware resources of the upper computer are not fully utilized, the whole system is isolated from an industrial field bus, the expansion form is limited, the cost is high, and an interface for synchronously adjusting the laser power and the galvanometer movement in real time is not considered. In summary, the inventors found that the current laser galvanometer motion control system has the technical problems of poor universality, low integration level, non-openness and non-expansibility.
Disclosure of Invention
In order to solve the technical problems in the background art, a first aspect of the present invention provides a laser galvanometer control system for an ethernet gateway, which is capable of breaking through an industrial fieldbus barrier, integrating and optimizing a laser processing control system from two aspects of software and hardware on the premise of ensuring processing performance and being compatible with the existing protocol.
In order to achieve the purpose, the invention adopts the following technical scheme:
a laser galvanometer control system of an Ethernet gateway comprises a controller, the gateway, a servo motor and an I/O module, wherein the controller is an Ethernet bus master station, and the gateway, the servo motor and the I/O module are all Ethernet bus slave stations, so that a master-slave multi-slave architecture is formed;
the controller is used for receiving the processing instruction and the parameters, calculating to obtain a control instruction of each Ethernet bus slave station, and issuing a network frame to the corresponding slave station through the Ethernet bus;
the gateway is used for extracting the related information of the control of the galvanometer and the laser from the transmitted network frame and converting the related information into an instruction which meets the control format requirements of the galvanometer and the laser;
the servo motor is used for generating a driving action according to the received control instruction;
and the I/O module is used for controlling a gas circuit, a switch and other peripheral equipment in the laser processing process according to the received control instruction.
The controller comprises a user layer and a kernel layer, wherein the user layer is used for providing a human-computer interaction interface and processing non-real-time task scheduling; the kernel layer is used for periodic cycle execution and processing real-time task scheduling.
In one embodiment, the gateway is provided with a physical interface.
In one embodiment, the physical interface includes an RJ45 bus port, a clock differential port, a synchronous differential port, and a galvanometer position differential port.
As an implementation manner, an I/O interface, an analog interface, and a PWM interface are further disposed in an output port of the gateway, so as to implement real-time synchronous control on the power and the position of the laser.
As an implementation manner, the gateway is configured to receive a network frame once, and sequentially convert the network frame into the galvanometer position command for multiple times, so as to implement interconversion from an ethernet bus protocol to a galvanometer control protocol.
As an implementation manner, the controller, the gateway, the servo motor and the I/O module in the laser galvanometer control system of the ethernet gateway adopt a bus communication manner.
A second aspect of the present invention provides a method for controlling a laser galvanometer control system based on the ethernet gateway, which includes:
the controller receives the processing instruction and the parameters, calculates to obtain a control instruction of each Ethernet bus slave station, and transmits a network frame to the corresponding slave station through the Ethernet bus;
and receiving and analyzing the bus instruction by each slave station device to execute the processing process.
As an implementation mode, the slave station acquires the processing state, the equipment state, the sensor data and the alarm information in the processing process, packages the data into a frame and transmits the frame back to the master station.
As an implementation mode, the gateway aligns the cycle time in a one-to-many switching mode; the gateway receives the network frame once, and sequentially converts the network frame into instructions for sending the instructions for multiple times.
As one embodiment, the laser power is dynamically adjusted in real time according to the position of the galvanometer and the scanning speed.
Compared with the prior art, the invention has the beneficial effects that:
(1) The laser galvanometer control system adopts an industrial Ethernet bus 'one master multiple slave' framework, has high integration level and good expansibility, and the controller conveniently performs mixed interpolation and linkage control on galvanometer/servo motor movement and laser power adjustment and is used as unique master station equipment to be responsible for real-time master control logic operation; the gateway, the servo motor and the I/O module are used as slave station equipment for access, are only responsible for analyzing, issuing and packaging uploaded data, release the operation pressure of a slave station control chip, and meanwhile, the gateway is also used as direct control equipment for the galvanometer motor and the laser.
(2) The gateway serves as slave station equipment, the period time is aligned in a one-to-many switching mode in the network frame design, namely in a communication period guided by a standard Ethernet real-time synchronization mechanism, the gateway receives a network frame once, and sequentially switches the network frame for multiple times to send instructions, so that the mutual conversion from an Ethernet bus protocol to a galvanometer control protocol is realized, a galvanometer shaft can also serve as an Ethernet bus node to access a control circuit topological structure, and the integration degree of the whole laser processing control system is improved.
(3) The system of the invention adds the real-time follow-up adjustment function of the laser power, integrates the laser control interface and the galvanometer control interface on a gateway, synchronously interpolates the laser power and the galvanometer motion, respectively encapsulates the interpolation results in corresponding segments of network frames, optimizes the laser processing technology from the software and hardware level, improves the real-time property and the synchronism of the power adjustment, and further improves the system performance and ensures the processing quality.
Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic layout diagram of a laser galvanometer control system of an ethernet gateway according to an embodiment of the present invention;
FIG. 2 is a diagram of an Ethernet frame structure according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of a gateway according to an embodiment of the present invention;
fig. 4 is a flowchart of a laser galvanometer control method of an ethernet gateway according to an embodiment of the present invention.
The reference numerals in the drawings refer to the meanings: the system comprises a main controller, a servo driver, a servo motor, a 4I/O module, a peripheral device, a gateway, a vibrating mirror motor and a laser, wherein the main controller is 1, the servo driver is 2, the servo motor is 3, the I/O module is 4, the peripheral device is 5, the gateway is 6, the vibrating mirror motor is 7, and the laser is 8.
Detailed Description
The invention is further described with reference to the following figures and examples.
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly connected", "connected", and the like should be understood broadly, and mean that they may be fixedly connected, or may be integrally connected or detachably connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The embodiment provides a bus type laser galvanometer motion control system of an Ethernet gateway, which solves the problems of universality, openness and expansibility of the existing laser galvanometer control system and optimizes a software control algorithm and a hardware topological structure.
The embodiment provides that the galvanometer and the laser control interface are integrated by means of gateway protocol conversion and are designed to be a node of an Ethernet bus by means of real-time Ethernet, and the whole system has the advantages of strong real-time performance, high stability, convenience in expansion, high integration level and the like, and has a wide market prospect.
The upper computer software runs on an industrial computer pre-installed with a Windows system, and the Windows non-real-time system is expanded into a real-time system through a Kithara real-time expansion suite. Wherein Kithara is a suite tool developed by Kithara software corporation in Germany, and can extend a general Windows operating system into two parallel 'operating systems': one is a Windows non-real-time subsystem with rich software and hardware platform resources; the other is a real-time subsystem KRTS-Kernel meeting the synchronization of motion control. A two-shaft galvanometer motor and a plurality of shaft servo motors are connected in the field bus, and the master station of the upper computer exchanges data with the galvanometer or the servo by calling the ID number of the slave station. In a control period, uniformly planning a track and an acceleration and deceleration plan for each axis by a real-time interpolation, and performing mixed interpolation; if the laser power is required to be dynamically adjusted along with the speed, the power is also subjected to hybrid interpolation adjustment.
The laser galvanometer control system of the ethernet gateway in this embodiment adopts an EtherMAC real-time ethernet bus structure (standard JB/T13075-2017) and is composed of a master station and a plurality of slave stations, the system is arranged as shown in fig. 1, the laser galvanometer control system of the ethernet gateway includes a controller, a gateway, a servo motor and an I/O module, the controller is the ethernet bus master station, and the gateway, the servo motor and the I/O module are all ethernet bus slave stations, thereby forming a master-slave architecture.
The controller is used for receiving the processing instruction and the parameters, calculating to obtain the control instruction of each Ethernet bus slave station, and issuing a network frame to the corresponding slave station through the Ethernet bus.
The controller software architecture is divided into a user layer and a kernel layer. The User layer mainly comprises a system GUI (graphical User Interface), provides an HMI (Human Machine Interface) for a User, and processes non-real-time task scheduling; the kernel layer work comprises track planning, speed planning, interpolation, laser power control, ethernet real-time communication and the like, and is executed periodically and circularly to process real-time task scheduling.
The controller selects an industrial computer (IPC) and is responsible for running an upper computer (controller) program, is provided with a CPU (central processing unit) above I5 and a memory above 8G to ensure enough computing capability and computing speed, and provides a man-machine interaction interface by peripheral I/O (input/output) equipment (such as a mouse, a keyboard, a display screen and the like). The core interface of the master station is an RJ45 network port provided with a standard network adapter (network card) and is responsible for issuing frames and recovering frames to the network section formed by all the slave station devices.
The slave stations are terminal execution devices in a topological structure, and all the slave stations in the same network section are linearly connected and are independent in sequence. Each device is provided with an IN/OUT two RJ45 network ports which are respectively connected with front and rear slave station devices, the IN port of the first slave station device IN the network segment is directly connected with the network port of the master station, the OUT port of the last slave station device IN the network segment is vacant, and the last slave station device automatically initiates a return frame after processing the received frame.
In this embodiment, the slave device specifically includes a gateway, a servo motor, and an I/O module.
And the gateway is used for extracting the information related to the galvanometer control from the transmitted network frame and converting the information into an instruction which meets the requirements of the galvanometer control format, namely protocol conversion.
Specifically, the gateway is responsible for converting the content of the EtherMAC protocol frame into an XY2-100 protocol time sequence and providing a differential interface for controlling the positions of the two-axis galvanometers.
An I/O interface (a control optical gate), an analog quantity (a regulation continuous laser) and a PWM interface (a regulation pulse laser) are added to an output port of the gateway, so that the real-time synchronous control of the power and the position of the laser is realized.
In the gateway device, an FPGA chip is used to perform protocol conversion, and the functional module thereof is designed as shown in fig. 3. And the EtherMAC Ethernet receiving module and the EtherMAC Ethernet sending module complete the receiving and sending of real-time Ethernet network data frames according to an Ethernet standard real-time synchronization mechanism. The EtherMAC Ethernet analysis storage module is responsible for analyzing out the galvanometer protocol control data in the transmitted frame and storing the data in the dual-port RAM for waiting to be transmitted; and the EtherMAC Ethernet encapsulation storage module is responsible for encapsulating the galvanometer protocol return data stored in the other double-port RAM into a return frame. The data interaction mechanism special for the galvanometer motor is responsible for issuing four paths of control signals and receiving a STATUS return state signal according to the XY2-100 protocol requirements. And finally, processing the five paths of signals by a differential chip, and communicating with the motor to exchange data.
At present, the XY2-100 protocol is mostly adopted for controlling the galvanometer, and the control period is 10us; the bus mostly adopts a real-time Ethernet protocol, the communication period can be adjusted and set according to actual needs, the set range is usually dozens of microseconds to one millisecond, and the control instruction and the return data are all packaged in a frame segment corresponding to the designated control word. Because the two protocols have different contents and different cycle times, direct communication cannot be realized, and an intermediate gateway is required to be connected with a real-time Ethernet and a galvanometer motor. The gateway, namely the protocol converter, adopts a single FPGA chip to develop corresponding functions, is an equipment slave node for the whole Ethernet bus, is a direct controller for the galvanometer, is responsible for converting a control command in a transmitted network frame into XY2-100 protocol time sequence waveform to control the galvanometer motor through the hardware analysis of the FPGA on one hand, and packages equipment state information into a returned network frame on the other hand.
The gateway protocol conversion steps are as follows:
(1) the controller is used as a main node to embed the galvanometer position data into the effective area of the real-time Ethernet frame data and send the data to the gateway;
(2) the FPGA at the gateway analyzes the whole section of position data and stores the whole section of position data in a corresponding memory;
(3) the FPGA converts the position data into time sequence waveforms in sequence according to a galvanometer control protocol and sends the time sequence waveforms to a galvanometer motor;
(4) the motor returns the running state information of the galvanometer to the gateway;
(5) the gateway embeds the return data into the effective area of the real-time Ethernet frame data and uploads the return data to the main node of the controller;
(6) and repeating the steps to complete the periodic communication of the real-time Ethernet.
In a specific implementation, the servo motor is used for generating a driving action according to the received control command.
The servo motor is an Ethernet bus slave station, controls a large-stroke freedom unit, is generally determined by the design of a mechanical structure, and can be a motion motor of each joint of a robot or a drive motor of each shaft of a machine tool and the like.
In the embodiment, a six-degree-of-freedom robot is used as a main operation device, correspondingly, six servo motor drivers are required to be connected into a bus to be used as slave stations, and a control motor drives a joint to move.
In a specific implementation, the I/O module is configured to control an air path, a switch, and other peripheral devices in the laser processing process according to the received control command.
The I/O module is an Ethernet bus slave station and is generally provided with a plurality of output points and a plurality of input points. The output point can control the on-off of the relay, and then control other peripheral equipment, or control the on-off of the electromagnetic valve, and then control the gas circuit in the laser processing process. The input point can be connected with an emergency stop switch, a travel switch, a limit switch and the like.
The EtherMAC Ethernet frame design works at a data link layer, and a master station and a slave station can encapsulate and analyze control instructions and state data according to control words. The ethernet frame structure is divided into three parts, i.e., a frame header, frame data, and a frame trailer, as shown in fig. 2. The frame header comprises information such as a source address, a target address, a network type, a communication mode, a frame number and the like, and mainly has the functions of addressing, frame filtering and identification, real-time data frame and non-real-time data frame distinguishing, frame dropping, repeated frame detection and the like in the communication process; the frame data comprises control instruction data or state information data, slave station ID partition fragments are used for representing data ranges corresponding to different slave stations, and each slave station data is further divided into fragments by control words and represents data information of different types or functions; the frame end is mainly a frame check sequence and is responsible for checking the integrity of frame data and whether errors occur in the frame transmission process.
The system control software is developed based on a Kithara real-time expansion suite, adopts a design framework with double-thread parallel of a user layer and a control kernel, and coordinates galvanometer/servo control and laser control in a unified manner. The user layer is mainly responsible for non-real-time task scheduling, including man-machine interaction, data visualization, soft real-time equipment control, operation history records, alarm records and the like; the control kernel is mainly responsible for scheduling and circularly executing real-time tasks, and processing (packaging, transmitting, receiving and analyzing) complete Ethernet frames in a communication period guided by a standard Ethernet real-time synchronization mechanism. The kernel program generally executes the steps as shown in fig. 4, wherein the gateway control program is characterized in that:
(1) and aligning the cycle time by adopting a one-shot multi-turn mode: the Ethernet protocol communication period is long, the galvanometer protocol communication period is short, in order to align the periods, the Ethernet period needs to be adjusted to be integral multiple of the galvanometer period, and similarly, galvanometer control data of corresponding multiple needs to be calculated in each upper computer kernel cycle and packaged in the same network frame;
(2) the laser power is dynamically adjusted in real time along with the position of the galvanometer and the scanning speed: laser switch control and power adjustment are carried out through gateway I/O and analog quantity, in order to enable laser power to be automatically adjusted to a proper process range, synchronous interpolation of the laser power and the movement of a galvanometer is needed, and interpolation results are respectively packaged in corresponding segments of network frames.
In summary, in the embodiment, the galvanometer and the laser control interface are integrated based on the ethernet via the FPGA gateway protocol conversion, and are designed as a node of the ethernet bus, so that the computing performance of the CPU of the upper computer and the advantages of high bus real-time performance, high integration level, strong expansibility and the like are fully exerted, the defects of the conventional board type controller are overcome, the optimization is performed from the software and hardware level, the system real-time performance, stability and expansibility are improved, and the guarantee is provided for the high-quality laser galvanometer processing.
The control system architecture adopts a real-time Ethernet bus topological structure, and is mainly characterized in that: (1) a master multiple slave: an industrial computer (IPC) is used as a unique master station device, a CPU of the IPC is responsible for main control logic operation, ethernet frames are transmitted/received through a network port in a lumped frame mode, other execution devices (a galvanometer, a servo, an I/O and the like) are used as slave stations and are connected in series in a bus mode, control instructions are extracted from the Ethernet frames in sequence and state information is inserted, and the whole control circuit can be regarded as a network segment; (2) the communication physical layer is a universal network adapter (network card) and a universal network twisted pair (five types of network cables with shielding layers), the standardization of the hardware of the master station is ensured, and the transmission content is an Ethernet frame formed by frame headers, frame data, frame verification and the like; (3) the real-time performance is ensured by a real-time subsystem of a master station operating system and slave station hardware, and clock synchronization between the master station and the slave station is realized through a distributed clock mechanism; (4) expansibility: by adopting a bus topology structure, slave stations are linearly connected and are independent in sequence, so that newly added equipment can be inserted at any position of tail connection or middle of bus topology; (5) stability: under specific conditions, in order to increase the working stability of the real-time Ethernet, a redundant ring connection method can be adopted, namely, the last device of the bus is connected into an IPC (inter-processor communication) vacant network port, and when a certain device or line in the middle is disconnected due to a fault, the network topology can be automatically divided into two paths of buses to normally operate.
The present embodiment further provides a control method of a laser galvanometer control system based on the ethernet gateway, which includes:
the controller receives the processing instruction and the parameters, calculates to obtain a control instruction of each Ethernet bus slave station, and transmits a network frame to the corresponding slave station through the Ethernet bus;
and (4) receiving and analyzing the bus instruction from each slave station device of the slave station, and executing the processing process.
All functional modules of the laser galvanometer control system of the Ethernet gateway of the embodiment cooperate to complete processing tasks together. Firstly, a controller user layer receives a processing instruction and parameters, structuralizes information and transmits the structuralized information to a real-time control kernel. The real-time kernel of the controller circularly operates according to a fixed control period, core logic operation is carried out, and an instruction is issued through a bus. And each slave station device receives and analyzes the bus instruction and executes the processing process. In the processing process, the processing state, the equipment state, the sensor data and some alarm information are packaged to frames by the slave station and transmitted back to the master station to be displayed to a user.
Because the cycle time of the two protocols is not equal, the cycle time is aligned by adopting a one-to-many transfer mode in the design of network frames. Real-time Ethernet communication is a long-period event, XY2-100 galvanometer positions are synchronously driven to be a short-period event, and in order to align periods, the Ethernet periodic communication time needs to be adjusted to be integral multiple of the galvanometer periodic control time; correspondingly, the data volume of the galvanometer position encapsulated in the network frame is also integral multiple of the data volume of one galvanometer position. The gateway receives the network frame once, and sequentially converts the network frame into the command for sending the command for multiple times.
In order to dynamically adjust the laser power in real time along with the scanning speed of the galvanometer and improve the real-time property and the precision of follow-up adjustment as much as possible, the FPGA gateway additionally designs a digital quantity, an analog quantity and a PWM interface for controlling the laser. The laser light control logic and the power follow-up adjustment logic are completed by upper computer software, and the FPGA gateway is only responsible for analyzing and issuing instructions in network frames transmitted by the controller.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The laser galvanometer control system of the Ethernet gateway is characterized by comprising a controller, the gateway, a servo motor and an I/O module, wherein the controller is an Ethernet bus master station, and the gateway, the servo motor and the I/O module are all Ethernet bus slave stations, so that a master-slave multi-slave architecture is formed;
the Ethernet bus slave station is terminal execution equipment IN a topological structure, all the Ethernet bus slave stations IN the same network segment are linearly connected and are independent IN sequence, each equipment is provided with two RJ45 network ports of IN/OUT, the two RJ45 network ports are respectively connected with front and rear Ethernet bus slave station equipment, the IN port of the first Ethernet bus slave station equipment IN the network segment is directly connected with the network port of the Ethernet bus master station, the OUT port of the last Ethernet bus slave station equipment IN the network segment is vacant, and a return frame is automatically initiated after the last Ethernet bus slave station equipment finishes processing a received frame;
the controller is used for receiving the processing instruction and the parameters, calculating to obtain a control instruction of each Ethernet bus slave station, and issuing a network frame to the corresponding Ethernet bus slave station through the Ethernet bus;
the controller comprises a user layer and a kernel layer, wherein the user layer is used for providing a human-computer interaction interface and processing non-real-time task scheduling; the kernel layer work comprises track planning, speed planning, interpolation, laser power control and Ethernet real-time communication and is used for periodic cycle execution and real-time task scheduling processing;
the gateway is used for extracting the control related information of the galvanometer and the laser from the transmitted network frame and converting the control related information into an instruction meeting the control format requirements of the galvanometer and the laser; an I/O interface, an analog quantity interface and a PWM interface are also arranged in an output port of the gateway so as to realize real-time synchronous control on the power and the position of the laser; the gateway is used for receiving a network frame once and sequentially converting the network frame for multiple times to issue instructions so as to realize the interconversion from the Ethernet bus protocol to the galvanometer control protocol;
the controller, the gateway, the servo motor and the I/O module in the laser galvanometer control system of the Ethernet gateway adopt an Ethernet bus communication mode; the laser galvanometer control system adopts an industrial Ethernet bus 'one master multiple slave' framework, has high integration level and good expansibility, and the controller conveniently performs mixed interpolation and linkage control on galvanometer/servo motor movement and laser power adjustment and is used as unique Ethernet bus master station equipment to be responsible for real-time master control logic operation; the gateway, the servo motor and the I/O module are accessed as Ethernet bus slave station equipment and only responsible for analyzing, issuing and packaging uploaded data, the operation pressure of a control chip of the Ethernet bus slave station is released, and meanwhile, the gateway is also direct control equipment for the galvanometer motor and the laser;
increasing the real-time follow-up adjustment function of laser power, integrating a laser control interface and a galvanometer control interface on a gateway, controlling a laser switch and adjusting the power through gateway I/O and analog quantity, synchronously interpolating the laser power and the galvanometer motion, and respectively packaging interpolation results in corresponding segments of network frames;
the servo motor is used for generating a driving action according to the received control instruction; the servo motors are motors for moving joints of the robot or driving motors for shafts of the machine tool;
and the I/O module is used for controlling a gas circuit, a switch and other peripheral equipment in the laser processing process according to the received control instruction.
2. The laser galvanometer control system of an ethernet gateway, wherein said gateway is configured with physical interfaces comprising RJ45 bus ports, clock differential ports, synchronous differential ports, and galvanometer position differential ports.
3. A control method of a laser galvanometer control system based on the ethernet gateway according to any one of claims 1 to 2, comprising:
and the Ethernet bus slave station receives and analyzes the Ethernet bus command from each Ethernet bus slave station device and executes the processing process.
4. The control method of claim 3, wherein the Ethernet bus slave station obtains the processing state, the equipment state, the sensor data and the alarm information in the processing process, packages the data into a frame and transmits the frame back to the Ethernet bus master station.
5. The control method of claim 3, wherein the gateway aligns the cycle time in a "one-to-many-turn" manner; the gateway receives the network frame once, and sequentially converts and transmits the network frame to the command in multiple times.
6. The control method of claim 3, wherein the laser power is dynamically adjusted in real time with the position of the galvanometer and the scanning speed.
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Effective date of registration: 20231126 Address after: Room 4004-11, Building M7, Huanghe Digital Economy Industry Center, No. 600 Niujia Village, Cuizhai Street, Xianxian District, Jinan City, Shandong Province, 251400 Patentee after: Shandong Zhijian Intelligent Electronic Technology Co.,Ltd. Address before: 250061, No. ten, No. 17923, Lixia District, Ji'nan City, Shandong Province Patentee before: SHANDONG University |