CN116436720A - Method, device and system for online multiaxial parameter writing of EtherCAT - Google Patents

Method, device and system for online multiaxial parameter writing of EtherCAT Download PDF

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Publication number
CN116436720A
CN116436720A CN202310209071.1A CN202310209071A CN116436720A CN 116436720 A CN116436720 A CN 116436720A CN 202310209071 A CN202310209071 A CN 202310209071A CN 116436720 A CN116436720 A CN 116436720A
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ethercat
slave station
parameter
target
axis
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CN116436720B (en
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熊健武
林熙婷
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Shenzhen Just Motion Control Electromechanics Co ltd
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Shenzhen Just Motion Control Electromechanics Co ltd
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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
    • H04L41/08—Configuration management of networks or network elements
    • H04L41/085—Retrieval of network configuration; Tracking network configuration history
    • H04L41/0853—Retrieval of network configuration; Tracking network configuration history by actively collecting configuration information or by backing up configuration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L49/00—Packet switching elements
    • H04L49/35—Switches specially adapted for specific applications
    • H04L49/351—Switches specially adapted for specific applications for local area network [LAN], e.g. Ethernet switches
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • 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
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The application discloses a method, a device and a system for online multi-axis parameter writing of EtherCAT, wherein in the method, an EtherCAT master station reads object dictionaries corresponding to all axis parameters from EtherCAT parameter slave stations, determines object dictionaries corresponding to parameters of target axes to be modified, and modifies object dictionary contents corresponding to the target axes; the EtherCAT parameter slave station transmits the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station; after the target EtherCAT generally receives data from the slave station, the target EtherCAT enters an SPI interrupt, analyzes the received data in the SPI interrupt, and modifies corresponding parameters according to the received data, thereby solving the problems of complex multi-axis parameter modification process and time and labor waste in the prior art.

Description

Method, device and system for online multiaxial parameter writing of EtherCAT
Technical Field
The invention relates to the technical field of online multiaxial writing of parameters of EtherCAT, in particular to a method, a device and a system for online multiaxial writing of parameters of EtherCAT.
Background
EtherCAT (Ethernet control Automation technology) is an open, high-real-time Ethernet technology that can be used in automation applications, ethernet-based Fieldbus systems, automation generally requires shorter data update times (or cycle times) for communications, the amount of communications jitter during data synchronization is low, and the cost of hardware is low.
In the related art, the method for writing parameters to multiple axes on line based on EtherCAT comprises the following steps: the master station uses the COE on-line function of EtherCAT to read information of an object dictionary in the device description file, takes all parameters used in the drive as the object dictionary, writes the information such as names of the parameters, data types of the parameters, mapping information of the parameters and the like into the device description file, and can read all the used parameters of the drive by using the COE function and modify the corresponding parameters by using the SDO. The parameters of which axis need to be modified only need to find the EtherCAT slave station of the corresponding axis, then the object dictionary of the corresponding EtherCAT slave station is modified.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects of complicated multi-axis parameter modification process, time and labor waste in the prior art, thereby providing a method, a device and a system for online multi-axis parameter writing of EtherCAT.
In order to solve the technical problems, the embodiment of the invention discloses at least a method, a device and a system for online writing parameters to multiple axes by EtherCAT.
In a first aspect, an embodiment of the present disclosure provides a method for online writing parameters to multiple axes by using an EtherCAT, where the method is used in an EtherCAT-based control system, where the EtherCAT-based control system includes an EtherCAT master station and at least two EtherCAT slave stations, where the at least two EtherCAT slave stations include one EtherCAT parameter slave station and at least one EtherCAT general slave station, where a device description file of the EtherCAT parameter slave station includes object dictionary information of all axis parameters, and where the method is implemented by the EtherCAT master station, where the method includes:
reading an object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station;
determining object dictionary information corresponding to target axis parameters, wherein the target axis is an axis needing to be modified;
and modifying the object dictionary information of the target shaft so that the EtherCAT parameter slave station can send the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station.
Optionally, the EtherCAT master station is provided with a parameter modification controller, and the EtherCAT master station reads the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station through the parameter modification controller.
Optionally, the parameter modification controller is Twin CAT3, the EtherCAT master station uses a COE-Online function of the parameter modification controller Twin CAT3 to read an object dictionary corresponding to all shaft parameters from the EtherCAT parameter slave station, and modifies the object dictionary information of the target shaft through an SDO Online function of Twin CAT 3.
In a second aspect, an embodiment of the present disclosure provides another method for online writing parameters to multiple axes by using an EtherCAT, where the method is used in an EtherCAT-based control system, where the EtherCAT-based control system includes an EtherCAT master station and at least two EtherCAT slave stations, where the at least two EtherCAT slave stations include one EtherCAT parameter slave station and at least one EtherCAT general slave station, where a device description file of the EtherCAT parameter slave station includes object dictionary information of all axis parameters, and where the method is implemented by the EtherCAT parameter slave station, where the method includes:
after the EtherCAT master station modifies the object dictionary information corresponding to the target axis, the EtherCAT parameter slave station sends the name and information of the object dictionary modified by the target axis to the target EtherCAT general slave station, so that the target EtherCAT general slave station modifies corresponding parameters according to the received target axis data.
Optionally, the EtherCAT parameter slave station uses the SPI protocol to send the name and information of the object dictionary modified by the object axis to the target EtherCAT general slave station.
Optionally, the EtherCAT general slave station is provided with a control chip, the EtherCAT parameter slave station sends the name and information of the object dictionary modified by the object axis to the control chip of the target EtherCAT general slave station, the target EtherCAT general slave station receives the data from the control chip of the target EtherCAT general slave station, enters into the SPI interrupt, and parses the received data in the SPI interrupt.
In a third aspect, the present disclosure embodiment further provides an EtherCAT online parameter writing device, where the EtherCAT online parameter writing device is used as an EtherCAT master station in an EtherCAT-based control system, where the EtherCAT-based control system further includes at least two EtherCAT slave stations, where the at least two EtherCAT slave stations include an EtherCAT parameter slave station and at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station includes object dictionary information of all axis parameters, where the device includes:
the object dictionary acquisition module is used for reading the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station;
determining an object dictionary to be modified, wherein the object dictionary is used for determining object dictionary information corresponding to target axis parameters, and the target axis is an axis needing modification;
and the modification module is used for modifying the object dictionary information of the target shaft so that the EtherCAT parameter slave station can send the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station.
In a fourth aspect, the disclosed embodiment of the present invention further provides another EtherCAT online device for writing parameters to multiple axes, where the device is used in an EtherCAT-based control system, where the EtherCAT-based control system includes an EtherCAT master station and at least two EtherCAT slave stations, where the device is one slave station of the at least two EtherCAT slave stations, where the device is named an EtherCAT parameter slave station, where the at least two EtherCAT slave stations further include at least one EtherCAT general slave station, and where a device description file of the EtherCAT parameter slave station includes object dictionary information of all axis parameters, and where the device includes:
and the object dictionary information forwarding module is used for sending the names and the information of the object dictionary modified by the target axis to the target EtherCAT general slave station by the EtherCAT parameter slave station after the EtherCAT master station modifies the object dictionary information corresponding to the target axis, so that the target EtherCAT general slave station modifies corresponding parameters according to the received target axis data.
In a fifth aspect, the disclosed embodiment of the invention also provides a control system based on EtherCAT, which comprises an EtherCAT master station and at least two EtherCAT slave stations, wherein the at least two EtherCAT slave stations comprise an EtherCAT parameter slave station and at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station comprises object dictionary information corresponding to parameters of all axes;
the EtherCAT master station reads object dictionaries corresponding to all axis parameters from the EtherCAT parameter slave station, determines object dictionaries corresponding to parameters of target axes to be modified, and modifies object dictionary contents corresponding to the target axes;
the EtherCAT parameter slave station sends the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station;
the target EtherCAT generally receives data, enters SPI interrupt, analyzes the received data in the SPI interrupt, and modifies corresponding parameters according to the received data.
In a sixth aspect, the disclosed embodiments of the invention also provide a computer apparatus comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the steps of the first aspect, the second aspect, or any of the possible implementation manners of the first aspect, the second aspect.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
when the EtherCAT master station modifies the parameters of the multiple axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the multiple axes can be modified only by modifying the different object dictionary of one EtherCAT slave station, the operation is simple, and the time is less.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention as claimed.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow chart of a method for online writing parameters to multiple axes by EtherCAT provided by an embodiment of the present disclosure;
fig. 2 shows a schematic structural diagram of another EtherCAT-based control system according to an embodiment of the present disclosure;
FIGS. 3, 4, 5 and 6 are schematic diagrams showing the writing process of the related parameters of the first axis, the related parameters of the second axis, the related parameters of the third axis and the related parameters of the fourth axis, respectively, according to the disclosed embodiments of the present invention;
FIG. 7 is a diagram of an object dictionary program read in accordance with an embodiment of the present disclosure;
FIG. 8 is a diagram showing an object dictionary determining procedure that needs to be modified in the disclosed embodiment of the invention;
FIG. 9 is a diagram illustrating an interface for modifying an object dictionary in accordance with an embodiment of the present disclosure;
fig. 10 shows a schematic structural diagram of an EtherCAT online multi-axis parameter writing device according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram of a device for online writing parameters to multiple axes by using EtherCAT according to another embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of a computer device according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the invention. Rather, they are merely examples of apparatus and methods consistent with aspects of the invention as detailed in the accompanying summary.
Example 1
As shown in FIG. 1, the method is used for an EtherCAT-based control system, and as shown in FIG. 2, the EtherCAT-based control system comprises an EtherCAT master station and at least two EtherCAT slave stations, wherein the at least two EtherCAT slave stations comprise an EtherCAT parameter slave station and at least one EtherCAT general slave station, the device description file of the EtherCAT parameter slave station comprises object dictionary information of all axis parameters, and the method is realized by the EtherCAT master station. The EtherCAT master station can check all the parameters of the axes by only reading an object dictionary of the EtherCAT slave station by using the COE on-line function, and only modifying the corresponding object dictionary by using the SDO if the parameters of which axes are to be modified. The SPI protocol is a well-established communication protocol supported by most chips, and the method comprises the following steps:
s11: and reading the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station.
S12: and determining object dictionary information corresponding to the target axis parameters, wherein the target axis is an axis needing to be modified.
S13: the object dictionary information of the target axis is modified so that the EtherCAT parameter slave station sends the name and information of the modified object dictionary of the target axis to the target EtherCAT general slave station.
In specific practice, the EtherCAT master station is provided with a parameter modification controller, and the EtherCAT master station reads out object dictionaries corresponding to all the shaft parameters from the EtherCAT parameter slave station through the parameter modification controller.
In specific practice, the parameter modification controller is Tain CAT3, the EtherCAT master station uses the COE-Online function of the parameter modification controller Tain CAT3 to read the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station, and the object dictionary information of the target axis is modified through the SDO Online function of Tain CAT 3.
It can be understood that, according to the technical scheme provided by the embodiment, when the EtherCAT master station modifies the parameters of the plurality of axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the plurality of axes can be modified, the operation is simple, and the time is less.
Example 2
According to the embodiment, the method is implemented by the EtherCAT parameter slave station, and the method can be realized by the EtherCAT parameter slave station by modifying only different object dictionaries of one EtherCAT slave station through the EtherCAT master station. The EtherCAT master station can check all the parameters of the axes by only reading an object dictionary of the EtherCAT slave station by using the COE on-line function, and only modifying the corresponding object dictionary by using the SDO if the parameters of which axes are to be modified. The SPI protocol is a well established communication protocol that is supported by most chips, and the method includes (not shown):
after the EtherCAT master station modifies the object dictionary information corresponding to the target axis, the EtherCAT parameter slave station transmits the name and information of the object dictionary modified by the target axis to the target EtherCAT general slave station, so that the target EtherCAT general slave station modifies the corresponding parameters according to the received target axis data.
In specific practice, the EtherCAT parameter slave station uses the SPI protocol to send the name and information of the object dictionary modified by the object axis to the target EtherCAT general slave station.
In specific practice, the EtherCAT general slave station is provided with a control chip, the EtherCAT parameter slave station sends the name and information of the object dictionary modified by the target shaft to the control chip of the target EtherCAT general slave station, and the target EtherCAT general slave station enters the SPI interrupt after receiving the data, and analyzes the received data in the SPI interrupt.
For the convenience of the reader, a detailed description of some technical implementations of embodiments of the present invention follows.
The above EtherCAT online multiaxial parameter writing method specifically comprises the following steps:
1. writing the object dictionary information corresponding to the parameters of all axes into an EtherCAT slave station equipment description file, adding a driver to modify the parameters of 4 axes, wherein each axis has 40 parameters, and the information of 160 object dictionaries is required to be written into the equipment description file, see fig. 3, 4, 5 and 6, the object dictionary corresponding to the first axis parameter is 0x 2000-0 x2028, the object dictionary corresponding to the second axis parameter is 0x 2800-0 x2828, the object dictionary corresponding to the third axis parameter is 0x 3000-0 x3028, and the object dictionary corresponding to the fourth axis parameter is 0x 3800-0 x3828.
2. Referring to fig. 7, twin CAT3 (The Windows Control and Automation Technology, a PC-based controller) reads out the object dictionary corresponding to all axis parameters using the COE-Online function.
3. Referring to fig. 8, an object dictionary corresponding to parameters of a certain axis to be modified is found.
4. Referring to fig. 9, twin CAT3 uses SDO (Service Data Objects) a specification for using a unified data programming model between different data sources to modify the values of an object dictionary online.
5. After the EtherCAT slave station modifies the object dictionary again, the SPI protocol is used for sending the name of the object dictionary and the content of the object dictionary to the control chip of the corresponding shaft. SPI (Serial Peripheral Interface), a full duplex communication protocol, the mode of operation is master-slave. One SPI host can communicate with a plurality of SPI slaves, specifically communicates with which SPI slave, only needs to pull down the chip select pin of a certain slave, selects this slave. The 4 pins are used, MOSI (Master Out Slave In, output on the host side and input on the slave side), host transmit pin, MISO host receive pin, SCLK clock pin, CS chip select pin. There are 4 kinds of communication modes of SPI in total, and by modifying GPOL (clock polarity) and CPHA (clock phase) of the SPI protocol, CPOL is used to configure an idle level of SCLK, and 0 is a low level, and 1 is a high level. CPHA indicates which edge of SCLK is sampling data, 0 is sampling data at the first edge, the second edge is receiving data, and 1 is sampling data at the second edge, the first edge is receiving data. Therefore, there are a total of 4 modes of operation, CPOL of 0, CPHA of 0, CPOL of 0, CPHA of 1, CPOL of 1, CPHA of 0, CPOL of 1, CPHA of 1, respectively. The connection method is that the MOSI pin of the host is connected with the MOSI pin of the slave, the MISO pin of the host is connected with the MISO pin of the slave, the SCLK pin of the host is connected with the SCLK pin of the slave, and the CS pin of the host is connected with the CS pin of the slave. It is necessary to be able to modify 4 axis parameters so 4 CS chip select pins, 1 MOSI host transmit pin, 1 MISO host receive pin, 1 SCLK clock pin are required. For example, when the modified object dictionary is 0x2011, that is, the parameter of the first axis needs to be modified, the CS pins of the control chip of the first axis are selected, pulled down, the CS pins of the other three axes are not selected, pulled up, then the SCLK clock is started, an SPI communication mode is selected, for example, CPOL is set to 0, cpha is set to 0, and the name of the object dictionary and the content of the object dictionary are sent through the MOSI pin. 6. The corresponding control chip detects that the MISO (Master In Slave Out, input at the host computer side and output at the slave computer side) receives data and enters the SPI interrupt, the received data is analyzed in the SPI interrupt, for example, the name 0x2011 of the object dictionary represents the 17 th parameter, and then the content of the object dictionary is assigned to the 17 th parameter so that the parameter is successfully modified.
It can be understood that, according to the technical scheme provided by the embodiment, when the EtherCAT master station modifies the parameters of the plurality of axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the plurality of axes can be modified, the operation is simple, and the time is less.
Example 3
As shown in fig. 10, the embodiment of the present invention further provides an EtherCAT online parameter writing device, where the EtherCAT-based control system is used as an EtherCAT master station, and the EtherCAT-based control system further includes at least two EtherCAT slave stations, where the at least two EtherCAT slave stations include an EtherCAT parameter slave station and at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station includes object dictionary information of all axis parameters, where the device includes:
the object dictionary acquisition module 101 is used for reading out object dictionaries corresponding to all axis parameters from the EtherCAT parameter slave station;
determining an object dictionary 102 to be modified, which is used for determining object dictionary information corresponding to a target axis parameter, wherein the target axis is an axis needing to be modified;
and the modification module 103 is used for modifying the object dictionary information of the target shaft so as to enable the EtherCAT parameter slave station to send the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station.
In specific practice, the EtherCAT master station is provided with a parameter modification controller, and the EtherCAT master station reads out object dictionaries corresponding to all the shaft parameters from the EtherCAT parameter slave station through the parameter modification controller.
In specific practice, the parameter modification controller is Tain CAT3, the EtherCAT master station uses the COE-Online function of the parameter modification controller Tain CAT3 to read the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station, and the object dictionary information of the target axis is modified through the SDO Online function of Tain CAT 3.
It can be understood that, according to the technical scheme provided by the embodiment, when the EtherCAT master station modifies the parameters of the plurality of axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the plurality of axes can be modified, the operation is simple, and the time is less.
Example 4
As shown in fig. 11, the embodiment of the present invention further provides an EtherCAT online multi-axis parameter writing device, where the device is used in an EtherCAT-based control system, where the EtherCAT-based control system includes an EtherCAT master station and at least two EtherCAT slave stations, where the device is one of the at least two EtherCAT slave stations, and the device is named EtherCAT parameter slave station, where the at least two EtherCAT slave stations further include at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station includes object dictionary information of all axis parameters, and the device includes:
and the object dictionary information forwarding module 111 is configured to, after the EtherCAT master station modifies the object dictionary information corresponding to the target axis, send, to the target EtherCAT general slave station, the name and information of the object dictionary modified by the target axis to the target axis, so that the target EtherCAT general slave station modifies the corresponding parameters according to the received target axis data.
In specific practice, the EtherCAT parameter slave station uses the SPI protocol to send the name and information of the object dictionary modified by the object axis to the target EtherCAT general slave station.
In specific practice, the EtherCAT general slave station is provided with a control chip, the EtherCAT parameter slave station sends the name and information of the object dictionary modified by the target shaft to the control chip of the target EtherCAT general slave station, and the target EtherCAT general slave station enters the SPI interrupt after receiving the data, and analyzes the received data in the SPI interrupt.
It can be understood that, according to the technical scheme provided by the embodiment, when the EtherCAT master station modifies the parameters of the plurality of axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the plurality of axes can be modified, the operation is simple, and the time is less.
Example 5
As shown in fig. 2, the embodiment of the present invention further provides an EtherCAT-based control system, which includes an EtherCAT master station 21 and at least two EtherCAT slave stations 22, where the at least two EtherCAT slave stations 22 include an EtherCAT parameter slave station and at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station includes object dictionary information corresponding to parameters of all axes;
the EtherCAT master station 21 reads the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station, determines the object dictionary corresponding to the parameters of the target axis to be modified, and modifies the object dictionary content corresponding to the target axis;
the EtherCAT parameter slave station sends the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station;
the target EtherCAT generally enters the SPI interrupt after receiving the data, analyzes the received data in the SPI interrupt, and modifies corresponding parameters according to the received data.
It can be understood that, according to the technical scheme provided by the embodiment, when the EtherCAT master station modifies the parameters of the plurality of axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the plurality of axes can be modified, the operation is simple, and the time is less.
Example 6
Based on the same technical concept, the embodiment of the application further provides a computer device, which comprises a memory 1 and a processor 2, as shown in fig. 12, the memory 1 stores a computer program, and the processor 2 implements the method of online multiaxial writing of parameters by EtherCAT according to any one of the above when executing the computer program.
The memory 1 includes at least one type of readable storage medium including flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a magnetic memory, a magnetic disk, an optical disk, etc. The memory 1 may in some embodiments be an internal storage unit of an EtherCAT based control system, such as a hard disk. The memory 1 may in other embodiments also be an external memory device of an EtherCAT based control system, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like. Further, the memory 1 may also include both an internal memory unit and an external memory device of the EtherCAT-based control system. The memory 1 may be used not only for storing application software installed in the EtherCAT-based control system and various types of data, for example, codes of the EtherCAT-based control program, etc., but also for temporarily storing data that has been output or is to be output.
The processor 2 may in some embodiments be a central processing unit (Central Processing Unit, CPU), controller, microcontroller, microprocessor or other data processing chip for running program code or processing data stored in the memory 1, e.g. executing EtherCAT based control programs or the like.
It can be understood that, according to the technical scheme provided by the embodiment, when the EtherCAT master station modifies the parameters of the plurality of axes, only the different object dictionary of one EtherCAT slave station is required to be modified, the parameters of the plurality of axes can be modified, the operation is simple, and the time is less.
The disclosed embodiments of the present invention also provide a computer readable storage medium, on which a computer program is stored, which when executed by a processor performs the steps of the EtherCAT online multi-axis parameter writing method described in the above method embodiments. Wherein the storage medium may be a volatile or nonvolatile computer readable storage medium.
The computer program product of the method for online multiaxial writing of parameters by EtherCAT provided in the embodiments of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the steps of the method for online multiaxial writing of parameters by EtherCAT described in the above method embodiments, and the details of the above method embodiments may be referred to and will not be described herein.
The disclosed embodiments also provide a computer program which, when executed by a processor, implements any of the methods of the previous embodiments. The computer program product may be realized in particular by means of hardware, software or a combination thereof. In an alternative embodiment, the computer program product is embodied as a computer storage medium, and in another alternative embodiment, the computer program product is embodied as a software product, such as a software development kit (Software Development Kit, SDK), or the like.
It is to be understood that the same or similar parts in the above embodiments may be referred to each other, and that in some embodiments, the same or similar parts in other embodiments may be referred to.
It should be noted that in the description of the present invention, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "plurality" means at least two.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
It is to be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing module, or each unit may exist alone physically, or two or more units may be integrated in one module. The integrated modules may be implemented in hardware or in software functional modules. The integrated modules may also be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product.
The above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, or the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.

Claims (10)

1. A method for EtherCAT online writing parameters to multiple axes, characterized in that the method is used for an EtherCAT-based control system, the EtherCAT-based control system comprises an EtherCAT master station and at least two EtherCAT slave stations, the at least two EtherCAT slave stations comprise an EtherCAT parameter slave station and at least one EtherCAT general slave station, a device description file of the EtherCAT parameter slave station contains object dictionary information of all axis parameters, the method is realized by the EtherCAT master station, the method comprises:
reading an object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station;
determining object dictionary information corresponding to target axis parameters, wherein the target axis is an axis needing to be modified;
and modifying the object dictionary information of the target shaft so that the EtherCAT parameter slave station can send the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station.
2. The method for online multi-axis parameter writing of EtherCAT according to claim 1, wherein the EtherCAT master station is provided with a parameter modification controller, and the EtherCAT master station reads object dictionaries corresponding to all axis parameters from the EtherCAT parameter slave station through the parameter modification controller.
3. The method for Online multi-axis parameter writing of EtherCAT according to claim 2, wherein the parameter modification controller is Twin CAT3, the EtherCAT master station uses a COE-Online function of the parameter modification controller Twin CAT3 to read out object dictionaries corresponding to all axis parameters from the EtherCAT parameter slave station, and modifies object dictionary information of the target axis through an SDO Online function of Twin CAT 3.
4. A method for EtherCAT online writing parameters to multiple axes, characterized in that the method is used for an EtherCAT-based control system, the EtherCAT-based control system comprises an EtherCAT master station and at least two EtherCAT slave stations, the at least two EtherCAT slave stations comprise an EtherCAT parameter slave station and at least one EtherCAT general slave station, a device description file of the EtherCAT parameter slave station contains object dictionary information of all axis parameters, the method is realized by the EtherCAT parameter slave station, the method comprises:
after the EtherCAT master station modifies the object dictionary information corresponding to the target axis, the EtherCAT parameter slave station sends the name and information of the object dictionary modified by the target axis to the target EtherCAT general slave station, so that the target EtherCAT general slave station modifies corresponding parameters according to the received target axis data.
5. The method for online multiaxial writing of parameters by EtherCAT according to claim 4, wherein the EtherCAT parameter slave station uses SPI protocol to send the name and information of the object dictionary modified by the object axis to the object EtherCAT general slave station.
6. The method for online multi-axis parameter writing of EtherCAT according to claim 5, wherein the EtherCAT general slave station is provided with a control chip, the EtherCAT parameter slave station sends the name and information of the object dictionary modified by the object axis to the control chip of the object EtherCAT general slave station, and the object EtherCAT general slave station enters into the SPI interrupt after receiving the data, and parses the received data in the SPI interrupt.
7. An EtherCAT online multi-axis parameter writing device, which is characterized in that the device is used as an EtherCAT master station in an EtherCAT-based control system, the EtherCAT-based control system further comprises at least two EtherCAT slave stations, the at least two EtherCAT slave stations comprise an EtherCAT parameter slave station and at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station comprises object dictionary information of all axis parameters, and the device comprises:
the object dictionary acquisition module is used for reading the object dictionary corresponding to all the axis parameters from the EtherCAT parameter slave station;
determining an object dictionary to be modified, wherein the object dictionary is used for determining object dictionary information corresponding to target axis parameters, and the target axis is an axis needing modification;
and the modification module is used for modifying the object dictionary information of the target shaft so that the EtherCAT parameter slave station can send the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station.
8. An EtherCAT online multi-axis parameter writing device, characterized in that the device is used for an EtherCAT-based control system, the EtherCAT-based control system comprises an EtherCAT master station and at least two EtherCAT slave stations, the device is one slave station of the at least two EtherCAT slave stations, the device is named EtherCAT parameter slave station, the at least two EtherCAT slave stations further comprise at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station comprises object dictionary information of all axis parameters, the device comprises:
and the object dictionary information forwarding module is used for sending the names and the information of the object dictionary modified by the target axis to the target EtherCAT general slave station by the EtherCAT parameter slave station after the EtherCAT master station modifies the object dictionary information corresponding to the target axis, so that the target EtherCAT general slave station modifies corresponding parameters according to the received target axis data.
9. The control system based on the EtherCAT is characterized by comprising an EtherCAT master station and at least two EtherCAT slave stations, wherein the at least two EtherCAT slave stations comprise an EtherCAT parameter slave station and at least one EtherCAT general slave station, and a device description file of the EtherCAT parameter slave station comprises object dictionary information corresponding to parameters of all axes;
the EtherCAT master station reads object dictionaries corresponding to all axis parameters from the EtherCAT parameter slave station, determines object dictionaries corresponding to parameters of target axes to be modified, and modifies object dictionary contents corresponding to the target axes;
the EtherCAT parameter slave station sends the name and information of the object dictionary of the modified target shaft to the target EtherCAT general slave station;
the target EtherCAT generally receives data, enters SPI interrupt, analyzes the received data in the SPI interrupt, and modifies corresponding parameters according to the received data.
10. A computer device, comprising: a processor, a memory and a bus, the memory storing machine-readable instructions executable by the processor, the processor and the memory in communication via the bus when the computer device is running, the machine-readable instructions when executed by the processor performing the EtherCAT online multiaxial method of writing parameters according to any of claims 1 to 6.
CN202310209071.1A 2023-03-07 2023-03-07 Method, device and system for online multiaxial parameter writing of EtherCAT Active CN116436720B (en)

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