CN115086103A

CN115086103A - Slave station identification method based on EtherCAT technology

Info

Publication number: CN115086103A
Application number: CN202210645261.3A
Authority: CN
Inventors: 宋春桃
Original assignee: Nanjing Estun Automation Co Ltd
Current assignee: Nanjing Estun Automation Co Ltd
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2022-09-20
Anticipated expiration: 2042-06-08

Abstract

The invention discloses a slave station identification method based on an EtherCAT technology, and relates to the technical field of communication. The method can load the configuration file ESI of the slave station, can identify the slave station of the current networking, establishes a communication text of the master station and the slave station in the networking according to the matched ESI file, then stores the communication text for the communication application of the current networking, and does not need to re-identify the slave station to establish a new communication text unless the networking is changed. Reading a slave station configuration file ESI stored locally; acquiring slave station information VendorID and ProductCode in networking, and matching information in a local ESI file; generating a communication text of the current networking, and storing the communication text; according to the site addresses of the slave stations, a synchronous management configuration register, an FMMU configuration register and a DC clock of each slave station are configured through setting addressing; and configuring PDO objects of all the slave stations through the mailbox, and establishing a PDO communication mechanism and a communication object. Therefore, the master station software is more universal when in use, and the supported slave stations are not limited.

Description

Slave station identification method based on EtherCAT technology

Technical Field

The invention relates to the technical field of communication, in particular to a slave station identification method based on an EtherCAT technology.

Background

The master station software which is currently in the market and communicates with the EtherCAT slave station product needs to integrate slave station communication information in the master station software, and the master station software can only be used for communication and control operation of the slave stations. The application has great limitation, and 1) the method can be only applied to the fixed and unchangeable situation of the EtherCAT networking; 2) if the slave station software object changes, the master station software must be synchronously updated; 3) when the device is updated and has different requirements for the networking, the software of the main station needs to be updated again to adapt to the change of the networking.

The communication establishing method of the master station and the Slave station is that the Slave station ESI is used, the Slave station equipment description file ESI (EtherCAT Slave information) is a configuration file of EtherCAT Slave station equipment, when equipment is updated on a client site, as the client site does not have TwinCAT3, technicians need to bring back the updated equipment, read the Slave station ESI through TwinCAT3 and generate an ENI file, then read the ENI file through a configuration tool, and then go to the client site to establish communication between the master station and the Slave station. The process is complicated, the operation can not be carried out on the client site, the working period is long, and the working efficiency is low.

Disclosure of Invention

The invention provides a slave station identification method based on EtherCAT technology, which aims at the problems, and comprises the steps of loading a slave station configuration file ESI, identifying a slave station of the current networking, establishing communication texts of the master station and the slave station in the networking according to the matched ESI file, storing the communication texts, applying the communication texts to the current networking, and establishing a new communication text without re-identifying the slave station unless the networking is changed.

The technical scheme of the invention is as follows: the method comprises the following steps:

step 1, reading a slave station configuration file ESI stored locally;

step 2, acquiring the number of slave stations in the network online through the broadcast frame;

step 3, acquiring slave station information VendorID and ProductCode in networking online in a sequential addressing mode, matching information in a local ESI file, and if the information is not matched, failing to establish normal networking communication;

step 4, slave station information in the ESI file is read, and a slave station communication object, process data and a mailbox channel are determined;

step 5, allocating a logic starting address and a bit length to the process data of each slave station, reading a mailbox transceiving address, mailbox capacity and PDO information in the ESI file, generating a communication text of the current networking, and storing the communication text;

specifically, firstly determining a slave station RxPDO/TxPDO channel and an included object, calculating the length of the RxPDO/TxPDO bit, matching a logic initial address and a logic initial space, reading a mailbox transceiving address and mailbox capacity in a local ESI file, determining initialization parameters of a slave station mailbox in networking, and when facing a plurality of slave stations, performing the process one by one until the number of the slave stations to be processed =0, namely after all the slave stations are processed, generating a communication text of the current networking, and storing the communication text;

step 6, initializing a slave station register in a sequential addressing mode, and configuring a slave station address;

step 7, according to the site addresses of the slave stations, setting and addressing a synchronous management configuration register, an FMMU configuration register and a DC clock of each slave station to configure according to the generated communication texts;

step 8, entering Pre-OP by setting an addressing switching communication state, and activating a mailbox;

and 9, configuring PDO objects of all the slave stations through the mailboxes, and establishing a PDO communication mechanism and a communication object.

And after the identification is finished, the communication between the master station and the slave station is started, and the established communication text is stored.

Further, in step 1, slave station configuration file ESI is read by using msxml 4.

Further, in step 3, the master station reads and writes the EEPROM of the slave station controller ESC through sequential addressing, reads the VendorID and the ProductCode information of the slave station, and matches the VendorID and the ProductCode information in the local ESI file.

Furthermore, when the network is in outage and restarted, the stored communication text can be loaded to communicate with the current networking, if the networking is not changed, networking communication can be directly established, and the networking slave stations do not need to be identified again.

Further, when the slave device is updated, the corresponding slave configuration file ESI needs to be added or deleted in advance before the step 1.

Compared with the method that the Slave station information is integrated in the master station and the communication is established, the Slave station information source of the method is the Slave station configuration file ESI (EtherCAT Slave information), the ESI file is stored locally and read by software, and the ESI file can be flexibly updated without changing the master station software; meanwhile, when networking is carried out each time, VendorID and ProductCode information of the slave station of the networking can be automatically identified and matched with a corresponding ESI file, and the master station directly obtains communication and object information with the slave station from the ESI file; finally, according to the slave stations of the networking and the ESI files corresponding to the slave stations, a network communication text is generated and used for communication between the master station and each slave station in the networking, and meanwhile, the network communication text is stored and used for current networking, re-identification is not needed, and even if the same slave stations are maintained or replaced, the network communication text is not influenced.

The invention has the beneficial effects that:

by adopting the method, the EtherCAT master station software can support the communication between the master station and the slave station only by updating the slave station configuration file ESI, and the addition or deletion of the support for the slave station is very convenient, so that the master station software is more universal in use, and the supported slave stations are not limited. And the defects of complex process, long working period and low working efficiency when the communication is established by the slave station ESI in the prior art are overcome.

Drawings

Fig. 1 is a work flow diagram of the present disclosure.

Detailed Description

In order to clearly explain the technical features of the present patent, the following detailed description of the present patent is provided in conjunction with the accompanying drawings.

As shown in fig. 1, the method comprises the following steps:

step 1, taking a computer as a master station, installing a 100-million network card on the computer, connecting a computer network with two slave stations of an EtherCAT bus servo and an EtherCAT coupler, and placing ESI configuration files of the slave stations of the EtherCAT bus servo and the EtherCAT coupler under a local folder of the computer;

reading an EtherCAT bus servo and an EtherCAT coupler slave station ESI file in a local folder by using msxml4 as reading software of the ESI file, and putting the information of the slave station ESI file in a buffer area opened by a master station for later use;

step 2, connecting two EtherCAT slave stations in the network with a power supply;

the master station sends a broadcast frame, and according to the message frame information Working Cnt =2 responded by the slave stations, the number of the slave stations in the networking is 2;

step 3, the master station reads and writes EEPROM of the Slave station controller ESC (EtherCAT Slave controller) through sequential addressing, reads VendorID and ProductCode information of the Slave station, and matches with the VendorID and ProductCode information in the local ESI file;

step 4, reading information of FMMU (Fieldbus Memory Management Unit), SM (SyncMarager), RxPDO and TxPDO in the local ESI file;

step 5, allocating a logic starting address and a bit length to the process data of each slave station, reading a mailbox transceiving address and mailbox capacity in the local ESI file at the same time, generating a communication text of the current networking, and storing the communication text;

step 6, the master station initializes the slave station registers in a sequential addressing mode and configures slave station addresses, wherein the two slave station addresses are 1001 and 1002 respectively;

step 7, after the slave station site address configuration is completed, a synchronous management configuration register (SM), an FMMU configuration register and a DC clock of each slave station can be respectively configured through setting addressing;

step 8, the master station switches the communication state between the master station and the slave station to Pre-OP and activates the mailbox by setting an addressing mode;

and 9, configuring PDO objects 0x1C12, 0x1C13, 0x1A0x and 0x160x (x is a slave station PDO channel number) of two slave stations by the master station through a mailbox, and establishing a PDO communication mechanism and a communication object.

Verification begins with:

reading an object 0x607a served by the EtherCAT bus through a master station, wherein the read value is 0, the written object value is 100, the read value when reading the object is 100, and the read-write is normal and indicates that normal communication connection is established;

the master station and the slave station are powered off and then powered on, and the master station and the slave station can read and write normally to indicate that the communication between the master station and the slave station is normal;

after the master station and the slave station are powered off, the same EtherCAT bus servo is replaced, and after the master station and the slave station are powered on, normal reading and writing can be carried out, so that the normal communication between the master station and the slave station is represented.

While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

Claims

1. A slave station identification method based on the EtherCAT technology is characterized by comprising the following steps:

step 1, reading a slave station configuration file ESI stored locally;

step 3, acquiring slave station information VendorID and ProductCode in the networking online in a sequential addressing mode, and matching information in a local ESI file;

2. The slave station identification method based on the EtherCAT technology as claimed in claim 1, wherein the slave station configuration file ESI is read by using msxml4 in step 1.

3. The slave station identification method based on the EtherCAT technology as claimed in claim 1, wherein the master station reads the VendorID and ProductCode information of the slave station by reading and writing the EEPROM of the slave station controller ESC in the step 3 through sequential addressing, and matches the VendorID and ProductCode information in the local ESI file.

4. A slave station identification method based on EtherCAT technology according to any of claims 1-3, characterized in that when a power failure and a restart are encountered, the stored communication text is loaded to communicate with the current networking, and if the previous networking is not changed, networking communication is directly established.

5. A slave station identification method based on EtherCAT technology according to any of claims 1-3, characterized in that when the slave station equipment is updated, the corresponding slave station configuration file ESI is added or deleted in advance before step 1.