CN114039810B - Flexible automatic control system based on Ethernet - Google Patents
Flexible automatic control system based on Ethernet Download PDFInfo
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- CN114039810B CN114039810B CN202210018944.6A CN202210018944A CN114039810B CN 114039810 B CN114039810 B CN 114039810B CN 202210018944 A CN202210018944 A CN 202210018944A CN 114039810 B CN114039810 B CN 114039810B
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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
- H04L12/403—Bus networks with centralised control, e.g. polling
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L25/00—Baseband systems
- H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
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- H04L25/0272—Arrangements for coupling to multiple lines, e.g. for differential transmission
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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
- H04L2012/4026—Bus for use in automation systems
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention provides a flexible automatic control system based on Ethernet, comprising: a plurality of nodes; the plurality of nodes includes: a master control node and a plurality of slave control nodes; the node comprises a bus inlet port and a bus outlet port; each node is connected in series according to the prior sequence of the main control node to form a bus comprising a plurality of nodes; each node is integrated with a preset communication component; the preset communication component is obtained by packaging the communication function of the Ethernet control automation technology bus and is used for opening the control function of the Ethernet control automation technology bus to the outside through a dynamic link library function, so that the function of the Ethernet control automation technology bus can be integrated into other software. By the arrangement, the bus control function of the Ethernet control automation technology is opened to the outside based on the dynamic link library function, so that other software can be compatible with the flexible automation control system based on the Ethernet provided by the application, and the compatibility of the system is enhanced.
Description
Technical Field
The invention relates to the technical field of Ethernet, in particular to a flexible automatic control system based on Ethernet.
Background
In the field of current automation control, an EtherCAT (ethernet control automation technology) bus is widely applied due to high real-time performance and large bandwidth. The implementation of the EtherCAT technology is actually a closed pure software control scheme, the EtherCAT software adopts a centralized control method, all communication control functions on a bus must be implemented by the EtherCAT software, and hardware must also use components adopting an EtherCAT interface chip, so that the application occasion of the system is limited, the system is difficult to be applied to a control system with high complexity, and the system is more suitable for small-scale motion control. EtherCAT software is not compatible with automation components of various non-EtherCAT interfaces, and sensors, controllers or actuators of various other interfaces are often required in complex systems. The more complex the system, the poorer the compatibility of EtherCAT software.
Disclosure of Invention
The invention provides a flexible automatic control system based on an Ethernet, which is used for solving the problem that the more complex the system is in the prior art, the poorer the compatibility of EtherCAT software is.
The invention provides a flexible automatic control system based on Ethernet, comprising: a plurality of nodes; the plurality of nodes includes: a master control node and a plurality of slave control nodes;
the node comprises a bus inlet port and a bus outlet port; each node is connected in series according to the prior sequence of the main control node to form a bus comprising a plurality of nodes;
each node is integrated with a preset communication component; the preset communication component is obtained by packaging the communication function of the Ethernet control automation technology bus and is used for opening the control function of the Ethernet control automation technology bus to the outside through a dynamic link library function, so that the function of the Ethernet control automation technology bus can be integrated into other software.
Optionally, each slave control node serves as a communication site; the communication station includes: a communication master station and a communication slave station;
the slave control node connected with the master control node is a communication master station;
and the slave control node connected with the slave control node is a communication slave station.
Optionally, the communication station has a network segment IP address and a station IP address;
the communication site communicates with the master control node by using the network segment IP address; and the IP addresses of the communication sites are used between the communication sites.
Optionally, the site IP address includes: site byte 0, site byte 1, site byte 2, and site byte 3; wherein; site byte 0, site byte 1 and site byte 2 are fixed, and site byte 3 is settable;
segment byte 0, segment byte 1, segment byte 2 and segment byte 3 of the segment IP address; wherein, the network segment byte 0, the network segment byte 1 and the network segment byte 2 are fixed, and the network segment byte 3 can be set.
Optionally, the site IP address includes: site byte 0, site byte 1, site byte 2, and site byte 3; wherein; site byte 0, site byte 1 and site byte 2 are fixed, and site byte 3 is settable;
segment byte 0, segment byte 1, segment byte 2 and segment byte 3 of the segment IP address; wherein, the network segment byte 0, the network segment byte 1 and the network segment byte 2 are fixed, and the network segment byte 3 can be set.
Optionally, a knob switch is arranged on the communication station;
the knob switch is used for setting the site byte 3 and the network segment byte 3.
Optionally, a communication protocol of the bus is divided into a physical layer, a link layer, a network segment layer, and a station AP layer; wherein the physical layer conforms to the IEEE 802.3 standard.
Optionally, the electrical interface of the physical layer of the bus is compatible with direct connection and cross connection cables, and the physical link layer automatically judges the connection form of the physical layer and establishes a correct data link.
The invention provides an Ethernet-based flexible automatic control system, which comprises: a plurality of nodes; the plurality of nodes includes: a master control node and a plurality of slave control nodes; the node comprises a bus inlet port and a bus outlet port; each node is connected in series according to the prior sequence of the main control node to form a bus comprising a plurality of nodes; each node is integrated with a preset communication component; the preset communication component is obtained by packaging the communication function of the Ethernet control automation technology bus and is used for opening the control function of the Ethernet control automation technology bus to the outside through a dynamic link library function, so that the function of the Ethernet control automation technology bus can be integrated into other software. By the arrangement, the bus control function of the Ethernet control automation technology is opened to the outside based on the dynamic link library function, so that other software can be compatible with the flexible automation control system based on the Ethernet provided by the application, and the compatibility of the system is enhanced.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an Ethernet-based flexible automation control system provided by the invention;
FIG. 2 is an IP address setting switch of the Ethernet-based flexible automation control system provided by the present invention;
FIG. 3 is a diagram of the physical layer electrical interface of the Ethernet-based flexible automation control system provided by the present invention;
FIG. 4 is a protocol layer structure diagram of the Ethernet-based flexible automation control system provided by the invention;
fig. 5 is a diagram of a node message processing method in the flexible automation control system based on ethernet according to the present invention.
Reference numerals:
1. a master control node; 2. and a slave control node.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
First, an application scenario of the embodiment of the present invention is described, and in the field of current automation control, an EtherCAT (ethernet control automation technology) bus is widely applied because of high real-time performance and large bandwidth. The implementation of the EtherCAT technology is actually a closed pure software control scheme, the EtherCAT software adopts a centralized control method, all communication control functions on a bus must be implemented by the EtherCAT software, and hardware must also use components adopting an EtherCAT interface chip, so that the application occasion of the system is limited, the system is difficult to be applied to a control system with high complexity, and the system is more suitable for small-scale motion control. EtherCAT software is not compatible with automation components of various non-EtherCAT interfaces, and sensors, controllers or actuators of various other interfaces are often required in complex systems. The more complex the system, the poorer the compatibility of EtherCAT software. The software centralized control method of EtherCAT mainly depends on the real-time performance of an operating system to ensure the real-time performance of the whole system, and even the operating system with higher real-time performance can increase the scale of the system, and the transactions needing to be processed increase the processing time of the operating system, so that the real-time performance is deteriorated. The present application proposes a corresponding solution to the above-mentioned problem. The application provides a flexible automation control technology EtherFAC based on Ethernet to solve the problems of poor system real-time performance, poor openness and poor expandability in the prior art along with system scale enlargement. Wherein openness and extensibility are collectively referred to herein as flexibility.
The flexible automation control system based on the Ethernet of the invention is described in conjunction with FIGS. 1-5; the flexible automation control system of the Ethernet provided by the application comprises: a plurality of nodes; the plurality of nodes includes: a master control node 1 and a plurality of slave control nodes 2; the node comprises a bus inlet port and a bus outlet port; each node is connected in series according to the prior sequence of the main control node to form a bus comprising a plurality of nodes; each node is integrated with a preset communication component; the preset communication component is obtained by packaging the communication function of the Ethernet control automation technology bus and is used for opening the control function of the Ethernet control automation technology bus to the outside through a dynamic link library function, so that the function of the Ethernet control automation technology bus can be integrated into other software.
By the arrangement, the bus control function of the Ethernet control automation technology is opened to the outside based on the dynamic link library function, so that other software can be compatible with the flexible automation control system based on the Ethernet provided by the application, and the compatibility of the system is enhanced.
Furthermore, the EtherFAC bus has high flexibility of a component control system, and can adopt a strong master control weak slave control mode or a strong slave control weak master control mode. When the strong master control and weak slave control mode is adopted, the function of the system is similar to that of EthrecAT, and all control functions are integrated into master control software. When a strong slave control and weak master control mode is adopted, the slave control nodes have complete control functions required by the nodes, the calculation processing is completed by the slave control nodes, the master control is only responsible for communication with the slave control nodes, the control of the slave control nodes does not occupy master control resources, the processing capacity of each slave control node is fully utilized by dispersing the calculation processing to each slave control node, the processing time of the master control nodes is reduced, and the system real-time performance during system scale expansion is improved.
Specifically, one bus must include one master node, and 1 … 256 expandable slave nodes, that is, one bus has at most 257 nodes, each node includes two communication ports, one IN and one OUT, which are an IN port and an OUT port, respectively, IN is a bus IN port, OUT is a bus OUT port, the node is connected with the OUT port of another node through the IN port, and is connected with the IN port of another node through the OUT port, the slave station is connected with the OUT port of another node through the IN port, and is connected with the IN port of another node through the OUT port, and the OUT port of the end node can be suspended. The main control node is a unit with computing ability, such as a computer or a server, with an ethernet communication network card. In the EtherFAC bus, only the master node can initiate message communication, and other slave nodes can only receive messages or forward messages to the upper level or the lower level.
In practical application, each slave control node is used as a communication station; the communication station includes: a communication master station and a communication slave station; the slave control node connected with the master control node is a communication master station; and the slave control node connected with the slave control node is a communication slave station. Illustratively, in the EtherFAC bus, the master computer is a master control node, and the other nodes are slave control nodes. The slave control nodes are divided into a communication master station and a communication slave station, the slave control node connected with the master control node is the communication master station, other slave control nodes are communication slave stations, each node can be used as the communication master station or the communication slave station, and the judgment standard is whether the slave control node is connected with the master control node or not.
Further, the communication station has a network segment IP address and a station IP address; the communication site communicates with the master control node by using the network segment IP address; and the IP addresses of the communication sites are used between the communication sites. Specifically, the site IP address includes: site byte 0, site byte 1, site byte 2, and site byte 3; wherein; site byte 0, site byte 1 and site byte 2 are fixed, and site byte 3 is settable; segment byte 0, segment byte 1, segment byte 2 and segment byte 3 of the segment IP address; wherein, the network segment byte 0, the network segment byte 1 and the network segment byte 2 are fixed, and the network segment byte 3 can be set. Further, a knob switch is arranged on the communication station; the knob switch is used for setting the site byte 3 and the network segment byte 3.
Referring to fig. 2, the IP address setting switch includes two circular switches of a high address switch and a low address switch, each switch has sixteen positions of 0, 1, 2, …, E, and F, and the two switch combinations have 16x16=256 positions, so that 256 IP addresses can be set, each slave node has one IP address, and the master node and the slave nodes can set the same IP address. Each slave node has two IP addresses, a network segment address and a slave station address. The network segment address is used for communicating with the master control, and the slave station address is used for communicating with the slave station.
Further, referring to FIG. 3, the physical electrical signals on the bus are transmitted over two pairs of differential signal lines RX +, RX-, TX +, TX-. Wherein, the RX + and RX-two signals form a receiving differential signal pair, and the TX + and TX-two signals form a transmitting differential signal pair. The receiving and transmitting differential pair signals may be direct or cross-connected. If the nodes are directly connected, the RX +, RX-, TX +, TX-of the previous node is correspondingly connected to the RX +, RX-, TX +, TX-of the next node; if cross-connected, the RX +, RX-of the previous node is connected to the TX +, TX-of the next node, the TX +, TX-of the previous node is connected to the RX +, RX-of the next node. The differential signal pair is isolated from the node internal circuit through a network transformer. The data link of the node has an autonomous linking mechanism, the physical electrical connection type is autonomously judged through handshake communication, and a correct data link is established. Physical direct connection or crossing of the electrical signals is compatible with the nodes, normal transmission of data is not affected, upper and lower node data links are established through link handshake, and disconnection and tail nodes of a physical line can be judged autonomously.
It should be noted that, referring to fig. 4, the communication protocol of the bus is divided into a physical layer, a link layer, a network segment layer, and a station AP layer; wherein the physical layer conforms to the IEEE 802.3 standard. Specifically, the physical electrical layer defines the type and connection form of electrical signals, the data link layer defines the transmission form of electrical signals, the network layer defines the initial format of data messages, and the application layer defines the message data format related to specific applications. The EtherFAC uses a special Ethernet data frame type definition to transport Ethernet data frame EtherFAC packets. One EtherFAC packet may consist of multiple EtherFAC sub-packets. The EtherFAC slave station does not process non-EtherFAC data frames, and other types of Ethernet application data can be packaged in a segmented mode to be EtherFAC data sub-messages which are transmitted transparently in a network segment, so that corresponding communication services are achieved.
Furthermore, the electrical interface of the physical layer of the bus is compatible with direct connection and cross connection cables, and the physical link layer automatically judges the connection form of the physical layer and establishes a correct data link. Illustratively, referring to fig. 5, the EtherFAC bus node i has two network ports, i.e., a network interface 1 and a network interface 2. The network port 1 is connected with an EtherFAC node i-1, the network port 2 is connected with an EtherFAC node i +1 through a network cable, namely the network port 1 is communicated with the node i-1, and the network port 2 is communicated with the node i + 1. Both port 1 and port 2 may send and receive data frames. The received frame of the network port 1 is a received frame 1, the transmitted frame of the network port 1 is a transmitted frame 1, the received frame of the network port 2 is a received frame 2, and the transmitted frame of the network port 2 is a transmitted frame 2. The message processing circuit structure is composed of a plurality of processing units, and specifically comprises the following steps: the device comprises a network interface, a frame processing unit, a packet unpacking unit, a message analysis unit, a Buffer REC, a Buffer TRAN, a Buffer RECt, a Buffer TRANt, a PROTOTOL analysis unit, a Buffer Pro, a DATA processing unit and the like. The network interface is a network port with an isolation transformer, and the network interface is used for being connected with other nodes through network cables. The frame processing unit is a physical level conversion circuit, and is used for converting a physical level into binary data, converting the binary data into a data frame with bytes as a basic unit, and converting the data frame into the physical level and transmitting the physical level to a network cable. The packet unpacking unit is used for parsing the message data from the data frames. The message analysis unit is used for analyzing the IP address information from the message. Buffer REC is the receiving storage area of network port 1, Buffer TRAN is the sending storage area of network port 1, Buffer RECt is the receiving storage area of network port 2, Buffer TRANt is the sending storage area of network port 2, PROTOL parsing unit is used for parsing DATA information from the message, Buffer Pro is the storage area of DATA information, and DATA processing unit is the processing logic block of DATA information.
The EtherFAC node i has three message transmission paths, wherein the network port 1 of the first path node i receives the message of the node i-1, and sends the message to the node i-1 through the network port 1 after internal data processing, and the second transmission path is that the network port 1 of the node i receives the message of the node i-1, and sends the message to the node i +1 through the network port 2 after internal data processing; the third transmission path is that the network port 2 of the node i receives the message of the node i +1, and the message is sent to the node i-1 through the network port 1 after internal data processing.
The first method for processing the message sent by the transmission path network port 1 receiving network port 2 is as follows: the network port 1 of the node i receives a data frame, namely a received frame 1, sent by the node i-1, unpacks the received frame 1 and analyzes message data, the address judgment circuit judges whether the message IP address is a local machine IP address, if the message IP address is the local machine IP address, the message is stored in a Buffer REC storage area, the Buffer REC storage area is first-in first-out, and the Protocol analysis unit starts a Protocol analysis after detecting the data in the Buffer REC storage area and analyzes the data content and stores the data content in a Buffer Pro storage area. The Data Process unit 1 processes the Data of the Buffer Pro1 storage area at idle time and stores the processing result to the Buffer TRAN storage area. The group package circuit unit packages the data into a sending frame 1 after detecting the data in the Buffer TRAN storage area, and sends the sending frame 1 to the frame processing unit, and the frame processing unit converts the data frame into level according to bits and sends the level to the node i-1 through the network interface 1.
The second method for processing the message sent by the network port 2 received by the transmission path network port 1 is as follows: the network port 1 of the node i receives the data frame sent by the node i-1, namely the received frame 1, the received frame 1 is unpacked and then the message data is analyzed, the address judgment circuit judges whether the IP address of the message is the IP address of the local machine, and if the IP address is not the IP address of the local node, the message is stored in the Buffer RECt storage area. The Buffer RECt storage area is first in first out, and the Protocol analysis unit starts Protocol analysis after detecting the data in the Buffer RECt storage area, analyzes the data content and stores the data content in the Buffer Pro storage area. The Data Process unit 2 processes the Data of the Buffer Pro2 storage area at idle time and stores the processing result into the Buffer TRANt storage area. The group package circuit unit packages the data into a sending frame 2 after detecting the data in the Buffer TRANt storage area, and sends the sending frame 2 to the frame processing unit, and the frame processing unit converts the data frame into the level according to the bit and sends the level to the node i +1 through the network interface 2.
The third method for processing the message sent by the network port 1 received by the network port 2 of the transmission path is as follows: and the network port 2 of the node i receives the data frame sent by the node i +1, namely the received frame 2, unpacks the received frame 2, analyzes the message data and stores the message in a Buffer RECt storage area. The Buffer RECt storage area is first-in first-out, and the Protocol analysis unit starts Protocol analysis after detecting the data in the Buffer RECt storage area, analyzes the data content and stores the data content in the Buffer Pro2 storage area. The Data Process unit 2 processes the Data of the Buffer Pro2 storage area at idle time and stores the processing result to the Buffer TRAN storage area. The group package circuit unit packages the data into a sending frame 1 after detecting the data in the Buffer TRAN storage area, and sends the sending frame 1 to the frame processing unit, and the frame processing unit converts the data frame into level according to bits and sends the level to the node i-1 through the network interface 1.
In summary, the present invention provides an ethernet flexible automation control system, in which an EtherFAC bus communication function is encapsulated as a communication component, the communication component can be arbitrarily integrated into other software in a form of a dynamic link library DLL, and the EtherFAC bus control function is opened to the outside by a dynamic link library function, so that the EtherFAC bus function can be integrated into other software, thereby implementing the EtherFAC bus function flexibility.
The EtherFAC bus has high flexibility of a component control system, and can adopt a strong master control weak slave control mode or a strong slave control weak master control mode. When the strong master control and weak slave control mode is adopted, the function of the system is similar to that of EthrecAT, and all control functions are integrated into master control software. When a strong slave control and weak master control mode is adopted, the slave control nodes have the complete control function required by the nodes, the calculation processing is completed by the slave control nodes, the master control is only responsible for communication with the master control nodes, the control of the slave control nodes does not occupy master control resources, the processing capacity of each slave control node is fully utilized in a mode of dispersing the calculation processing to each slave control node, the processing time of the master control nodes is reduced, and the real-time performance of the system when the scale of the system is enlarged is improved.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. An ethernet-based flexible automation control system, comprising: a plurality of nodes; the plurality of nodes includes: a master control node and a plurality of slave control nodes;
the node comprises a bus inlet port and a bus outlet port; all the nodes are connected in series according to the prior sequence of the main control node to form a flexible automatic control system bus based on the Ethernet, which comprises a plurality of nodes;
each node is integrated with a preset communication component; the preset communication component is obtained by packaging the communication function of the Ethernet control automation technology bus, and is used for opening the control function of the Ethernet control automation technology bus to the outside through a dynamic link library function, so that the function of the Ethernet control automation technology bus can be integrated into other software;
each slave control node is used as a communication station; the communication station includes: the communication master station and the communication slave station;
the slave control node connected with the master control node is a communication master station;
the slave control node connected with the slave control node is a communication slave station;
each communication station can be used as a communication master station or a communication slave station, and the judgment standard is whether the communication station is connected with a master control node or not;
the flexible automatic control system bus based on the Ethernet is realized in a manner of strong master control and weak slave control, or strong slave control and weak master control; the strong master control and the weak slave control have control functions in the software of the master control node; the strong slave controls the weak master control, the control function is in the software of the slave control node, and the master control node is responsible for communicating with the slave control node.
2. The ethernet-based flexible automation control system of claim 1, wherein the communication site has a segment IP address and a site IP address;
the communication site communicates with the master control node by using the network segment IP address; and the IP addresses of the communication sites are used between the communication sites.
3. The ethernet-based flexible automation control system of claim 2, wherein the site IP address comprises: site byte 0, site byte 1, site byte 2, and site byte 3; wherein; site byte 0, site byte 1 and site byte 2 are fixed, and site byte 3 is settable;
segment byte 0, segment byte 1, segment byte 2 and segment byte 3 of the segment IP address; wherein, the network segment byte 0, the network segment byte 1 and the network segment byte 2 are fixed, and the network segment byte 3 can be set.
4. An Ethernet based flexible automation control system as claimed in claim 3 wherein said communication station is provided with a rotary switch;
the knob switch is used for setting the site byte 3 and the network segment byte 3.
5. The ethernet-based flexible automation control system of claim 1, wherein the communication protocol of the bus is divided into a physical layer, a link layer, a network segment layer, a site AP layer; wherein the physical layer conforms to the IEEE 802.3 standard.
6. The ethernet-based flexible automation control system of claim 1, wherein the bus physical layer electrical interface is compatible with direct and cross-connect cables, the physical link layer automatically determines the physical layer connection form and establishes the correct data link.
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| CN211375414U (en) * | 2019-11-25 | 2020-08-28 | 大族激光科技产业集团股份有限公司 | Height adjustment control device and system of laser processing head |
| CN111290337B (en) * | 2020-04-28 | 2020-09-15 | 佛山市宏石激光技术有限公司 | Intelligent numerical control IO device based on EtherCAT bus |
| CN111740643B (en) * | 2020-07-17 | 2021-02-12 | 之江实验室 | Multi-axis servo motor control system and method based on EtherCAT P bus technology |
| CN213399563U (en) * | 2020-11-24 | 2021-06-08 | 武汉华中华昌能源电气科技有限公司 | IP address coding circuit |
| CN112642733B (en) * | 2020-12-07 | 2023-05-09 | 广东弓叶科技有限公司 | Robot one-to-many grabbing method, device and system |
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