CN115086103B - Slave station identification method based on EtherCAT technology - Google Patents
Slave station identification method based on EtherCAT technology Download PDFInfo
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- CN115086103B CN115086103B CN202210645261.3A CN202210645261A CN115086103B CN 115086103 B CN115086103 B CN 115086103B CN 202210645261 A CN202210645261 A CN 202210645261A CN 115086103 B CN115086103 B CN 115086103B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005516 engineering process Methods 0.000 title claims abstract description 9
- 238000004891 communication Methods 0.000 claims abstract description 59
- 230000006855 networking Effects 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 4
- 230000001360 synchronised effect Effects 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 8
- 230000003213 activating effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012217 deletion Methods 0.000 description 1
- 230000037430 deletion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/2866—Architectures; Arrangements
- H04L67/30—Profiles
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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
- H04L2012/40208—Bus networks characterized by the use of a particular bus standard
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Small-Scale Networks (AREA)
- Communication Control (AREA)
Abstract
The invention discloses a slave station identification method based on an EtherCAT technology, and relates to the technical field of communication. The configuration file ESI of the slave station can be loaded, the slave station of the current networking can be identified, the communication text of the master station and the slave station in the networking can be established according to the matched ESI file, and then the communication text is stored for the communication application of the current networking, and the slave station does not need to be identified again to establish a new communication text unless the networking is changed. Reading a locally stored secondary station configuration file ESI; secondary station information VendorID and ProductCode in the networking are acquired and matched with information in a local ESI file; generating a communication text of the current networking and storing the communication text; according to the site address of the slave station, the synchronous management configuration register of each slave station is addressed by setting, the FMMU configuration register and the DC clock are configured according to the generated communication text; and configuring the PDO objects of each slave station through a mailbox, and establishing a PDO communication mechanism and communication objects. The method makes the master station software more universal in use, and the supported slave stations are not limited.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a slave station identification method based on EtherCAT technology.
Background
Master station software for communicating with EtherCAT slave station products in the market at present 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, 1) the method can only be applied to the occasion that the EtherCAT networking is fixed; 2) The slave station software object has a change, so that the master station software needs to be synchronously updated; 3) When the equipment is updated and different demands are made on the networking, the master station software needs to be updated again to adapt to the change of the networking.
The method for establishing communication between 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 the configuration file of the EtherCAT slave station equipment, when the equipment is updated on the customer site, the technician needs to bring the updated equipment back, read the slave station ESI through the TwinCAT3 and generate an ENI file, then read the ENI file through a configuration tool, and then can go to the customer site to establish communication between the master station and the slave station. The method has the advantages of complex process, incapability of operating on site of clients, longer working period and lower working efficiency.
Disclosure of Invention
Aiming at the problems, the invention provides a slave station identification method based on EtherCAT technology, which comprises the steps of loading a slave station configuration file ESI, identifying a slave station of the current networking, establishing a communication text of a master station and the slave station in the networking according to the matched ESI file, and storing the communication text for the communication application of the current networking, wherein the slave station is not required to be identified again to establish a new communication text unless the networking is changed.
The technical scheme of the invention is as follows: the method comprises the following steps:
step 1, reading a locally stored secondary station configuration file ESI;
Step 2, obtaining the number of slave stations in the networking on line through a broadcast frame;
step 3, obtaining slave station information VendorID and ProductCode in the networking on line 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, reading the information of the slave station in the ESI file, and determining the object, the process data and the mailbox channel of the communication of the slave station;
Step 5, distributing a logic starting address and a bit length to the process data of each slave station, reading a mailbox receiving and transmitting address, mailbox capacity and PDO information in an ESI file, generating a communication text of the current networking, and storing the communication text;
Specifically, firstly determining a channel of a slave station RxPDO/TxPDO and an object contained in the channel, calculating RxPDO/TxPDO bit length, matching a logic starting address and a space, reading a mailbox receiving and sending address and a mailbox capacity in a local ESI file, determining initialization parameters of a mailbox of the slave station in networking, and when a plurality of slave stations are faced, carrying out the process one by one until the number of the slave stations to be processed=0, namely after the processing of all the slave stations is finished, 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 site address;
step 7, according to the site address of the slave station, setting a synchronous management configuration register, an FMMU configuration register and a DC clock of each slave station by setting addressing, and configuring according to the generated communication text;
step8, entering a Pre-OP through setting addressing switching communication state, and activating a mailbox;
and 9, configuring the PDO objects of each slave station through a mailbox, and establishing a PDO communication mechanism and a communication object.
After the identification is finished, the communication between the master station and the slave station is started, and the established communication text is saved.
Further, the slave station profile ESI is read in step 1 using msxml a 4.
Further, in step 3, the master station reads the VendorID and ProductCode information of the slave station by sequentially addressing and reading the EEPROM of the slave station controller ESC, and matches the VendorID and ProductCode information in the local ESI file.
Furthermore, when the power-off restarting is met, the stored communication text is loaded to communicate with the current networking, if the previous networking is not changed, networking communication can be directly established, and the networking slave station does not need to be identified again.
Further, when the slave station device is updated, the corresponding slave station configuration file ESI needs to be added or deleted in advance before step 1.
Compared with the method for integrating the Information of the secondary station in the primary station and establishing communication, the method has the advantages that the Information source of the secondary station is the ESI (ETHERCAT SLAVE Information) of the configuration file of the secondary station, and the ESI file is stored locally and read by software, so that the secondary station can be flexibly updated without changing the primary station software; meanwhile, when networking is performed each time, the VendorID and ProductCode information of the slave station of the networking can be automatically identified and matched with corresponding ESI files, and the master station directly acquires communication and object information with the slave station from the ESI files; and finally, generating a network communication text according to the slave stations of the networking and ESI files corresponding to the slave stations, wherein the network communication text is used for communicating with the master station and each slave station in the networking, and simultaneously, the network communication text is saved for the current networking use, so that the current networking use is not required to be identified again, and even the similar slave stations are maintained or replaced, the network communication text is not affected.
The beneficial effects of the invention are as follows:
By adopting the method of the invention, the EtherCAT master station software can support the communication between the master station and the slave station only by updating the configuration file ESI of the slave station, and the addition or deletion of the support to the slave station is convenient, so that the master station software is more universal when in use, and the supported slave station is not limited. In addition, the defects of complicated process, long working period and low working efficiency in the prior art when the communication is established by means of the ESI of the slave station are overcome.
Drawings
Fig. 1 is a flow chart of the present case.
Detailed Description
In order to clearly illustrate the technical features of the present patent, the following detailed description will make reference to the accompanying drawings.
As shown in fig. 1, the following steps are performed:
Step 1, taking a computer as a master station, installing a 100 meganetwork card on the computer, connecting a computer networking with two slave stations of an EtherCAT bus servo and an EtherCAT coupler, and placing ESI configuration files of the EtherCAT bus servo and the EtherCAT coupler slave stations under a local folder of the computer;
Reading an EtherCAT bus servo and EtherCAT coupler slave station ESI file under a local folder by using msxml4 as reading software of the ESI file, and placing information of the EtherCAT bus servo and EtherCAT coupler slave station ESI file into a buffer area opened by a master station for standby;
Step 2, connecting two EtherCAT slave stations in the networking with a power supply;
the master station sends a broadcast frame, and according to 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 the VendorID and ProductCode information of the slave station through sequentially addressing and reading the EEPROM of the slave station Controller ESC (ETHERCAT SLAVE Controller), and the VendorID and ProductCode information in the local ESI file are matched and consistent;
step 4, reading FMMU (Fieldbus Memory Management Unit), SM (SyncManager), rxPD, txPD information in the local ESI file;
Step 5, distributing a logic starting address and a bit length to the process data of each slave station, simultaneously reading a mail receiving and transmitting address and a mail capacity in a local ESI file, generating a communication text of the current networking, and storing the communication text;
Step 6, initializing a slave station register by a master station in a sequential addressing mode, and configuring slave station addresses, wherein the two slave station addresses are 1001 and 1002 respectively;
Step 7, after the site address configuration of the slave station is completed, respectively configuring synchronous management configuration registers (SM) of each slave station through setting addressing, and configuring the FMMU configuration registers and the DC clock according to a communication text;
step 8, the master station switches the communication state between the master station and the slave station into a Pre-OP through setting an addressing mode, and activates a mailbox;
Step 9, the master station configures PDO objects 0x1C12, 0x1C13, 0x1A0x, 0x160x (x is the PDO channel number of the slave station) of the two slave stations through the mailbox, and establishes a PDO communication mechanism and a communication object.
Verification begins as follows:
reading an object 0x607a of the EtherCAT bus servo through a master station, wherein the read value is 0, writing the object value into the master station to be 100, reading the object when the read value is 100, and reading and writing are normal, which means 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, so 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 similar EtherCAT bus servo is replaced, and after the master station and the slave station are powered on, the master station and the slave station can read and write normally, so that the communication between the master station and the slave station is normal.
While there have been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that many more modifications are possible without departing from the principles of the invention.
Claims (4)
1. The slave station identification method based on the EtherCAT technology is characterized by comprising the following steps of:
step 1, reading a locally stored secondary station configuration file ESI;
Step 2, obtaining the number of slave stations in the networking on line through a broadcast frame;
step 3, obtaining slave station information VendorID and ProductCode in the networking on line in a sequential addressing mode, and matching information in a local ESI file;
in the step 3, the master station reads the VendorID and ProductCode information of the slave station through sequentially addressing and reading the EEPROM of the slave station controller ESC, and matches with the VendorID and ProductCode information in the local ESI file;
Step 4, reading the information of the slave station in the ESI file, and determining the object, the process data and the mailbox channel of the communication of the slave station;
Step 5, distributing a logic starting address and a bit length to the process data of each slave station, reading a mailbox receiving and transmitting address, mailbox capacity and PDO information in an ESI file, 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 site address;
step 7, according to the site address of the slave station, setting a synchronous management configuration register, an FMMU configuration register and a DC clock of each slave station by setting addressing, and configuring according to the generated communication text;
step8, entering a Pre-OP through setting addressing switching communication state, and activating a mailbox;
and 9, configuring the PDO objects of each slave station through a mailbox, and establishing a PDO communication mechanism and a communication object.
2. The slave station identification method based on EtherCAT technology of claim 1, wherein the slave station configuration file ESI is read using msxml to 4 in step 1.
3. The slave station identification method based on the EtherCAT technology according to any one of claims 1-2, wherein when a power-off restart is encountered, the stored communication text is loaded to communicate with the current network, and if the previous network has not been changed, the network communication is directly established.
4. The method for identifying a slave station based on EtherCAT technology according to any one of claims 1-2, wherein when the slave station device is updated, the corresponding slave station configuration file ESI is added or deleted in advance before step 1.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210645261.3A CN115086103B (en) | 2022-06-08 | 2022-06-08 | Slave station identification method based on EtherCAT technology |
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| CN202210645261.3A CN115086103B (en) | 2022-06-08 | 2022-06-08 | Slave station identification method based on EtherCAT technology |
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| CN115086103A CN115086103A (en) | 2022-09-20 |
| CN115086103B true CN115086103B (en) | 2024-05-10 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814657A (en) * | 2015-12-02 | 2017-06-09 | 沈阳高精数控智能技术股份有限公司 | Embedded real-time EtherCAT main websites construction method based on ARM |
| CN110166335A (en) * | 2019-04-02 | 2019-08-23 | 深圳市汇川技术股份有限公司 | EtherCAT slave station and slave station synchronous communication method, control system, equipment and storage medium |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102017214893A1 (en) * | 2017-08-25 | 2019-02-28 | Lenze Automation Gmbh | Method for operating an EtherCAT fieldbus system and EtherCAT fieldbus system |
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- 2022-06-08 CN CN202210645261.3A patent/CN115086103B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106814657A (en) * | 2015-12-02 | 2017-06-09 | 沈阳高精数控智能技术股份有限公司 | Embedded real-time EtherCAT main websites construction method based on ARM |
| CN110166335A (en) * | 2019-04-02 | 2019-08-23 | 深圳市汇川技术股份有限公司 | EtherCAT slave station and slave station synchronous communication method, control system, equipment and storage medium |
Non-Patent Citations (2)
| Title |
|---|
| 基于FPGA的EtherCAT从站控制器FMMU模块设计;姚旺君等;信息技术与网络安全;第1-2章 * |
| 基于X86平台的EtherCAT主站设计;蒋杰;高军礼;徐超蓝;张小花;;机床与液压(第07期);全文 * |
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