CN115347985A - EtherCAT modular multi-axis servo driver and internal communication method - Google Patents
EtherCAT modular multi-axis servo driver and internal communication method Download PDFInfo
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- CN115347985A CN115347985A CN202211004012.2A CN202211004012A CN115347985A CN 115347985 A CN115347985 A CN 115347985A CN 202211004012 A CN202211004012 A CN 202211004012A CN 115347985 A CN115347985 A CN 115347985A
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L1/00—Arrangements for detecting or preventing errors in the information received
- H04L1/0001—Systems modifying transmission characteristics according to link quality, e.g. power backoff
- H04L1/0002—Systems modifying transmission characteristics according to link quality, e.g. power backoff by adapting the transmission rate
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- G06F15/00—Digital computers in general; Data processing equipment in general
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- G06F15/163—Interprocessor communication
- G06F15/173—Interprocessor communication using an interconnection network, e.g. matrix, shuffle, pyramid, star, snowflake
- G06F15/17306—Intercommunication techniques
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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]
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Abstract
The invention discloses an EtherCAT modular multi-axis servo driver and an internal communication method. The driver comprises an EtherCAT slave station chip, and also comprises a main shaft group module and at least one internal EtherMAC network formed by the auxiliary shaft group module. The EtherCAT slave chip also distributes the generated synchronous signals to each axis group module to execute synchronous tasks. During communication, the EtherCAT slave station chip and each axis group module complete data mapping conversion through the servo axis data description table, and data interaction is realized. The invention applies the EtherMAC independently researched and developed in China to the traditional EtherCAT bus equipment, widens the application field of the EtherMAC, not only has high-efficiency data transmission efficiency, but also does not influence the overall data interaction efficiency of the EtherCAT network, and simultaneously has the advantages of low cost, short development period and the like.
Description
Technical Field
The invention relates to a multi-axis servo driver and further relates to an internal bus communication method of the multi-axis servo driver.
Background
EtherCAT is a motion control bus using industrial Ethernet as a communication medium, and has the characteristics of high communication rate, strong real-time performance, small synchronous jitter and the like. The CANopen protocol is one of application layer protocols supported by EtherCAT, and the subprotocol of the CANopen protocol for drive and motion control allows an EtherCAT slave station to be provided with a plurality of servo motor control interfaces, so that a modular multi-axis servo driver supporting EtherCAT communication is realized.
Sufficient hardware resources are required to implement an EtherCAT modular multi-axis servo driver. However, in terms of hardware resources and operation performance, a single processor is difficult to meet the requirements of the multi-axis servo driver on functions and performance; however, with the technical solution of multiple processors, real-time communication between the processors must be ensured, and technical problems such as communication efficiency matching and synchronization signal jitter between the processors need to be solved.
In the prior art, there are several schemes for real-time communication between multiple processors in a modular multi-axis servo driver: the first is a common serial communication mode, the transmission rate of which is slow, and the efficiency of a point-to-point communication mechanism is low, which is difficult to meet the requirements. And the second is an ethernet communication mode, which can greatly improve the communication rate, but is still based on a point-to-point communication mechanism and cannot match the EtherCAT communication efficiency. Both the above two ways can significantly reduce the interaction efficiency of EtherCAT network data.
Disclosure of Invention
The invention provides an EtherCAT modular multi-axis servo driver and an internal communication method, and aims to provide an EtherCAT modular multi-axis servo driver and an internal communication method, wherein the EtherCAT modular multi-axis servo driver comprises the following steps: the problems that the real-time communication efficiency among a plurality of processors in a driver is not matched with the EtherCAT communication efficiency and the signal synchronism is poor are solved.
The technical scheme of the invention is as follows:
an EtherCAT modular multi-axis servo driver comprises an EtherCAT slave station chip, two net ports connected with the EtherCAT slave station chip and a plurality of axis group modules, wherein each axis group module comprises a main axis group module and at least one slave axis group module;
the main shaft group module comprises a first processor for realizing an EtherMAC master station; the first processor is in communication connection with the EtherCAT slave station chip;
each slave module comprises an EtherMAC slave station chip and a second processor which are in communication connection with each other;
the first processor is in communication connection with EtherMAC slave station chips in the slave module modules to form an EtherMAC network;
the EtherCAT slave station chip is also respectively connected with the first processor and each second processor and used for distributing the generated synchronous signals to the main shaft group module and each slave shaft group module.
As a further improvement of the EtherCAT modular multi-axis servo driver described above: the EtherMAC network operates in an asynchronous periodic mode.
As a further improvement of the EtherCAT modular multi-axis servo driver described above: and each shaft group module corresponds to all EtherCAT operation interfaces of the modular multi-shaft servo driver one by one.
The invention also provides an internal communication method based on the EtherCAT modular multi-axis servo driver, which comprises the following steps: when the multi-axis servo driver communicates through an EtherCAT network, the mapping conversion between EtherCAT data and EtherMAC data is completed through a servo axis data description table established inside the main axis group module, and therefore data interaction between an EtherCAT slave station chip and each axis group module is achieved.
As a further improvement of the above communication method: when the multi-axis servo driver communicates through an EtherCAT network: etherCAT data received by the EtherCAT slave station chip are mapped to the servo axis data description table, converted into EtherMAC data and then issued to each axis group module by the main axis group module through an EtherMAC network; the feedback data of each slave axis group module is uploaded to the master axis group module through the EtherMAC network, all the EtherMAC feedback data are mapped to the servo axis data description table through the master axis group module and converted into EtherCAT data, and the EtherCAT data are transmitted out from the slave station chip through the EtherCAT network.
As a further improvement of the above communication method: the periodic data in the EtherCAT data interact with the servo axis data description table in a PDO mode, and the non-periodic data in the EtherCAT data interact with the servo axis data description table in an SDO mode.
As a further improvement of the above communication method: and each axis group module triggers and executes a synchronization task based on a synchronization signal sent by the EtherCAT slave station chip.
As a further improvement of the above communication method: before the multi-axis servo driver communicates through an EtherCAT network, a main axis group module enumerates the types of all slave axis group modules through an initialization data packet of an EtherMAC protocol to construct an actual slave axis group type table, and simultaneously an EtherCAT master station configures the multi-axis servo driver serving as an EtherCAT slave station in the initialization process to issue a configured slave axis group type table; the multi-axis servo driver compares the actual slave axis group type table with the configured slave axis group type table, if the actual slave axis group type table is consistent with the configured slave axis group type table, communication is started, and otherwise, an error state is entered.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention provides an internal communication bus based on EtherMAC for an EtherCAT modular multi-axis servo driver, and the EtherMAC and EtherCAT have the same data transmission rate and the same lumped frame data communication mode, so that the EtherMAC and EtherCAT modular multi-axis servo driver has high-efficiency data transmission efficiency and does not influence the overall data interaction efficiency of an EtherCAT network.
(2) The invention integrates the synchronization mechanisms of EtherCAT and EtherMAC, and the EtherMAC network works in the asynchronous cycle mode, thereby not only solving the problem of synchronization signal conflict between different buses, but also ensuring that the synchronization signal performance of each axis group module is consistent with that of EtherCAT, realizing the rapid forwarding of data between each axis group module and ensuring the data transmission efficiency.
(3) Compared with a plurality of independent single-axis EtherCAT servo drivers, the modularized multi-axis servo driver has equivalent communication efficiency, and can greatly reduce systematic cost due to the fact that part of hardware resources are shared.
(4) The data transmission part of the bus is realized based on domestic autonomously developed EtherMAC, and the bus has the advantages of simple implementation structure, short development period and the like.
(5) The invention applies the EtherMAC independently researched and developed in China to the traditional EtherCAT bus equipment, and widens the application field of the EtherMAC.
In conclusion, the internal bus is realized based on the EtherMAC technology independently developed in China, an efficient data transmission mode is provided for data interaction between the shaft group modules in the EtherCAT modular multi-shaft servo driver, and synchronous signal jitter between the main shaft group module and the driven shaft group module is kept consistent. Compared with a plurality of independent single-shaft EtherCAT servo drivers, the single-shaft EtherCAT servo driver has equivalent data communication efficiency, can greatly reduce the cost, can effectively expand the application space of the EtherMAC technology independently developed in China, and has better independent intellectual property value and application prospect.
Drawings
Fig. 1 is a schematic structural diagram of an EtherCAT modular multi-axis servo driver.
Fig. 2 is a corresponding relationship diagram among the EtherCAT operation interface, each shaft group module, and the servo motor.
Fig. 3 is a flowchart of initialization configuration of the external bus EtherCAT and the internal bus EtherMAC.
Fig. 4 is a timing chart of the external bus EtherCAT and the internal bus EtherMAC.
Fig. 5 is a schematic diagram of a mapping relationship when data forwarding is performed between the external bus EtherCAT and the internal bus EtherMAC.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
the embodiment provides an EtherCAT modular multi-axis servo driver and an internal communication method.
The EtherCAT modular multi-axis servo driver in the embodiment is used as EtherCAT slave station equipment, is used for communicating with an EtherCAT master station and other EtherCAT slave stations, and controls a plurality of connected servo motors.
As shown in fig. 1, the EtherCAT modular multi-axis servo driver includes an EtherCAT slave station chip and two network ports connected to the EtherCAT slave station chip, and is used for accessing an EtherCAT network.
Furthermore, a plurality of shaft group modules are further arranged in the EtherCAT modular multi-shaft servo driver. As shown in fig. 1 and 2, each axis group module is divided according to the subprotocol of the application layer protocol CANopen of EtherCAT and the corresponding relationship between the subprotocol and the servo motor, and corresponds to all EtherCAT operation interfaces of the modular multi-axis servo driver one by one. Each shaft group module can be respectively used for controlling servo motors with different numbers and different configurations.
The shaft group module comprises a main shaft group module and at least one auxiliary shaft group module. Data communication is realized between the shaft group modules through an EtherMAC bus, and meanwhile, the consistency of synchronous signals is realized through a signal synchronous interface and an EtherCAT bus.
Specifically, the spindle group module comprises a first processor for implementing an EtherMAC master station; the first processor is in communication connection with the EtherCAT slave chip. And each slave axis group module comprises an EtherMAC slave station chip and a second processor which are mutually communicated and connected. The first processor is in communication connection with the EtherMAC slave station chips in the slave axis group modules to form an EtherMAC network, wherein the master axis group module is an EtherMAC master station, and the slave axis group modules are EtherMAC slave stations.
EtherMAC is an industrial real-time synchronous Ethernet independently developed in China, is gradually improved through technical precipitation for many years, and has been widely applied to multiple industry fields. The same points between EtherMAC and EtherCAT include: based on a standard industrial Ethernet physical layer, the data transmission rate is 100Mbps, a communication mode of a collective frame is adopted, data between slave stations are rapidly transmitted through a specially designed slave station protocol stack chip, and the time certainty of data forwarding is guaranteed. It can be seen that EtherMAC has data transmission efficiency with equal performance to EtherCAT. In addition, an application layer protocol of the EtherMAC is simpler and more flexible, and software and hardware resources realized by the master station are smaller.
In this embodiment, the EtherMAC network operates in an asynchronous periodic mode, that is, the EtherMAC chip is prohibited from generating periodic synchronization signals and sending out periodic synchronization data frames, thereby avoiding the problem of collision with EtherCAT synchronization signals. It should also be noted that the synchronization signal interface of the EtherMAC slave chip of each slave axis stack module cannot be connected to a processor inside the slave axis stack module. When the Ethernet MAC slave station operates in the asynchronous periodic mode, the collective frame type data packet sent by the EtherMAC master station is quickly sent to each EtherMAC slave station, and the data packet fed back by each EtherMAC slave station is immediately obtained. Since the communication rate and the data frame composition form are consistent with EtherCAT, therefore, the system can have equivalent data transmission efficiency with the external bus EtherCAT, and has high communication efficiency and less time consumption.
Further, the EtherCAT slave chip is further connected to the first processor and each second processor respectively, and is configured to dispatch the generated synchronization signal to the master axis group module and each slave axis group module.
As shown in fig. 3, before the multi-axis servo driver communicates through the EtherCAT network, the main axis group module enumerates the types of each slave axis group module through the initialization data packet of the EtherMAC protocol, so as to construct an "actual slave axis group type table", and the EtherCAT master station configures the multi-axis servo driver serving as the slave station of the EtherCAT in the initialization process, and issues the "configured slave axis group type table". The multi-axis servo driver compares the actual slave axis group type table with the configured slave axis group type table, if the actual slave axis group type table is consistent with the configured slave axis group type table, the communication is started, otherwise, an error state is entered.
Further, when the EtherCAT master station configures PDO periodic communication data of the EtherCAT slave station, the EtherMAC periodic communication data of the slave station from the hub module can be configured at the same time, and periodic communication can be performed only when the configuration is correct, otherwise, an error is reported.
When the multi-axis servo driver communicates through an EtherCAT network, the mapping conversion between EtherCAT data and EtherMAC data is completed through a servo axis data description table established inside the main axis group module, and therefore data interaction between an EtherCAT slave station chip and each axis group module is achieved. The EtherCAT data which are periodically transmitted and received comprise two parts of periodic data and non-periodic data. Aperiodic data is conditionally triggered, and data interaction is performed only when needed. The periodic data in the EtherCAT data interact with the servo axis data description table in a PDO mode, and the non-periodic data in the EtherCAT data interact with the servo axis data description table in an SDO mode.
Specifically, as shown in fig. 4 and 5, in the communication process, after receiving the EtherCAT data packet from the station chip, the EtherCAT extracts the periodic data and the non-periodic data in the EtherCAT data of the node from the EtherCAT data packet. Wherein:
1. and the periodic data in the EtherCAT data is put into an output area of each servo axis corresponding to a PDO cache area in a data area of the main shaft group module, then is mapped to a servo axis data description table, is converted into EtherMAC data and is added into an EtherMAC data packet. Meanwhile, output data (feedback data) of each axis in the EtherMAC data packet is mapped to a servo axis data description table, converted into EtherCAT data, stored in an input area of each axis in the PDO buffer area and added into the EtherCAT data packet.
2. The non-periodic data in the EtherCAT data interact with the servo axis data description table in an SDO mode, the non-periodic data in the EtherCAT data are converted into EtherMAC data and are placed into an EtherMAC data packet, and the non-periodic data in the EtherMAC data packet are converted into the EtherCAT data and are added into the EtherCAT data packet.
And then the EtherCAT slave station chip sends the EtherCAT data packet out through the EtherCAT network and waits for receiving the next EtherCAT data packet. Meanwhile, the main shaft group module issues the EtherMAC data packet to each shaft group module through the EtherMAC network, and waits for each shaft group module to return a new EtherMAC data packet.
On the other hand, when the processors in the axis group modules receive the synchronous signals sent by the EtherCAT slave station chip, the processors are triggered to execute synchronous tasks.
Claims (8)
1. The utility model provides a etherCAT modularization multiaxis servo driver, includes etherCAT slave station chip and two net gapes that are connected with etherCAT slave station chip, its characterized in that: the device also comprises a plurality of shaft group modules, wherein each shaft group module comprises a main shaft group module and at least one auxiliary shaft group module;
the main shaft group module comprises a first processor for realizing an EtherMAC master station; the first processor is in communication connection with the EtherCAT slave station chip;
each slave axis group module comprises an EtherMAC slave station chip and a second processor which are mutually communicated and connected;
the first processor is in communication connection with the EtherMAC slave station chips in the slave axis group modules to form an EtherMAC network;
the EtherCAT slave station chip is also respectively connected with the first processor and each second processor and used for distributing the generated synchronous signals to the main shaft group module and each slave shaft group module.
2. The EtherCAT modular multi-axis servo drive of claim 1, wherein: the EtherMAC network operates in an asynchronous periodic mode.
3. An EtherCAT modular multi-axis servo drive as claimed in claim 2 wherein: and all EtherCAT operation interfaces of the modular multi-axis servo driver correspond to the axis group modules one to one.
4. An internal communication method of an EtherCAT modular multi-axis servo driver of claim 3, characterized in that: when the multi-axis servo driver communicates through an EtherCAT network, the mapping conversion between EtherCAT data and EtherMAC data is completed through a servo axis data description table established inside the main axis group module, and therefore data interaction between an EtherCAT slave station chip and each axis group module is achieved.
5. The communication method of claim 4, wherein: when the multi-axis servo driver communicates through the EtherCAT network: etherCAT data received by the EtherCAT slave station chip are mapped to the servo axis data description table, converted into EtherMAC data and then transmitted to each axis group module by the main axis group module through the EtherMAC network; the feedback data of each slave axis group module is uploaded to the master axis group module through the EtherMAC network, all the EtherMAC feedback data are mapped to the servo axis data description table through the master axis group module, converted into EtherCAT data, and then sent out from the slave station chip through the EtherCAT network through the EtherCAT.
6. The communication method of claim 5, wherein: the periodic data in the EtherCAT data interact with the servo axis data description table in a PDO mode, and the non-periodic data in the EtherCAT data interact with the servo axis data description table in an SDO mode.
7. The communication method of claim 4, wherein: and each axis group module is triggered to execute a synchronization task based on a synchronization signal sent by an EtherCAT slave station chip.
8. The communication method of claim 4, wherein: before the multi-axis servo driver communicates through an EtherCAT network, a main axis group module enumerates the types of all slave axis group modules through an initialization data packet of an EtherMAC protocol to construct an actual slave axis group type table, and simultaneously an EtherCAT master station configures the multi-axis servo driver serving as an EtherCAT slave station in the initialization process to issue a configured slave axis group type table; the multi-axis servo driver compares the actual slave axis group type table with the configured slave axis group type table, if the actual slave axis group type table is consistent with the configured slave axis group type table, communication is started, and otherwise, an error state is entered.
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| CN113093658A (en) * | 2021-03-25 | 2021-07-09 | 中国科学院光电技术研究所 | Multi-axis servo system architecture design method based on EtherCAT |
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| CN205862157U (en) * | 2016-07-13 | 2017-01-04 | 山东日发纺织机械有限公司 | A kind of Ether mac bus system being applied to air-jet loom |
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Denomination of invention: EtherCAT modular multi axis servo driver and internal communication method Effective date of registration: 20231227 Granted publication date: 20231013 Pledgee: Yantai Branch of China Merchants Bank Co.,Ltd. Pledgor: EURA DRIVES ELECTRIC Co.,Ltd. Registration number: Y2023980074469 |