CN117527472A - Multi-motor servo system initialization configuration method based on CANOPEN - Google Patents

Abstract

The invention discloses a CANOPEN-based multi-motor servo system initialization configuration method, which comprises the following steps: s1, defining a SERVO configuration management structure SERVO_CONFIG_STATE; s2, defining a SERVO configuration array variable servo_conf to record N SERVO node STATEs, wherein the array element is a SERVO configuration management structure SERVO_CONFIG_STATE in S1; s3, configuring a node nodeId; s4, defining a node online function sloveBootupoHdl parameter as a node number; s5, configuring a servo driver of the node number nodeId; and S6, acquiring a node configuration result by using a getWriteResultNetworkDict function, transmitting parameters into a node number nodeId, acquiring a fault code abortCode, and judging the acquired node configuration result. The configuration process of the plurality of secondary stations performs process protection through the semaphore and the mutual exclusion lock, thereby ensuring the configuration time sequence and enhancing the reliability.

Description

Multi-motor servo system initialization configuration method based on CANOPEN

Technical Field

The invention belongs to the technical field of industrial control, and relates to a CANOPEN-based multi-motor servo system initialization configuration method.

Background

CANopen communication is a form of communication established over the CAN data link layer, which provides for the application layer to be concerned. The CANopen device model includes a communication section, an object dictionary, and an application section. The communication part comprises a PDO object, an SDO object and an NMT object. The object dictionary includes data types, communication objects, and application objects.

After the servo motor is powered on, parameters in the object dictionary are required to be configured, an SDO mode is generally used as a configuration mode, the configuration mode of the SDO is a request response mode, and the parameter configuration success is only indicated by the master station receiving a response of the slave station. Conventionally, parameter configuration generally only sends an SDO request, and does not process a response, and a mode of adding an SDO message command is generally adopted for configuring a plurality of motors, so that the configuration efficiency is low, a reliable judging mechanism is not provided under the condition of encountering a transmission data error with poor communication quality, and the transmission reliability is further reduced along with the increase of the number of nodes.

Disclosure of Invention

Object of the invention

The purpose of the invention is that: the initialization configuration method of the servo system based on the CANOPEN comprises the step of realizing the configuration flow of a single node in a state machine mode by adopting the state machine mode. Only when the parameter configuration is issued in the current state and the response of the slave station is received, the slave station jumps to the next state, if the state fails in receiving the response, the slave station retransmits for at most three times, and in the configuration process, configuration process protection is carried out through the semaphore and the mutual exclusion lock; and after one node configuration is completed, the next node configuration is performed.

(II) technical scheme

In order to solve the technical problems, the invention provides a CANOPEN-based multi-motor servo system initialization configuration method, which comprises the following steps:

s1, defining a SERVO configuration management structure SERVO_CONFIG_STATE;

s2, defining a SERVO configuration array variable servo_conf to record N SERVO node STATEs, wherein the array element is a SERVO configuration management structure SERVO_CONFIG_STATE in S1;

s3, configuring a node nodeId;

s4, defining a node online function sloveBootupoHdl parameter as a node number;

s5, configuring a servo driver of the node number nodeId;

and S6, acquiring a node configuration result by using a getWriteResultNetworkDict function, transmitting parameters into a node number nodeId, acquiring a fault code abortCode, and judging the acquired node configuration result.

In step S1, the variables of the structure servo_config_state include: (1) a configuration state, (2) a current configuration number try_cnt, and (3) a configuration completion semaphore finish_sem.

In step S3, the nodes nodeId are numbered from 1, the current configuration state in the element in the array is set to 0, the current configuration number of times try_cnt is set to 0, and the binary semaphore creation function semBCreate is used to create the semaphore, and the parameters are sem_q_fifo and sem_empty, respectively.

In step S3, the node nodeId is locked using pthread_mutex_lock.

In step S4, a function pointer of the node online function is assigned to a post_SlaveBooteup function pointer of the CANOPEN protocol station object dictionary.

In step S4, a task is created in the node online function, and the node number nodeId is transmitted to the task for execution in step S5.

In step S5, when the servo driver is configured, the input data is the current state, and the configuration function contains N states, and the state magnitude is from 0 to N-1.

In step S5, when the state value matches the first N-1 states of the N states, the parameter is configured, the configuration data variable is data, the byte number is N, the variable type byte_type is configured by using a node configuration function writenetworkDictccallback, the node number is nodeId, the parameter address Addr, the parameter sub-address sub Addr, the byte number N and the variable type byte_type are filled; when the state value matches to the last of the N states, then the configuration completion semaphore finish_sim is released using the semaphore release function semtive.

In step S5, the variable type byte_type includes: boolean, signed character type int8, signed short integer int16, signed integer int32, unsigned character type uint8, unsigned short integer uint16, unsigned integer uint32, floating point type real32.

In step S6, if the configuration result is successful, adding an operation to the current configuration state in the element in the array; the current configuration times try_cnt are set to 0, and the next state configuration is carried out in S4;

if the configuration result fails, adding an operation to the configuration times try_cnt;

judging whether the try_cnt is smaller than 3, if so, turning to S4 to perform configuration of the next configuration state; if the judgment fails, releasing the signal quantity finish_sem by using a signal quantity release function semtive; zero clearing operation is carried out on the configuration times try_cnt; configuring a configuration state to be 0; the SDO transfer shutdown function close transfer is used to shutdown the current transfer SDO.

(III) beneficial effects

According to the CANOPEN-based multi-motor servo system initialization configuration method provided by the technical scheme, the configuration process is orderly and reliable under the condition that the master station controls the application of a plurality of nodes by adopting the state machine type parameter configuration method, the configuration errors encountered in the configuration process are retransmitted for at most three times, and the configuration reliability of a plurality of slave stations is ensured. Meanwhile, the configuration process of the plurality of secondary stations performs process protection through the semaphore and the mutual exclusion lock, so that the configuration time sequence is ensured, and the reliability is enhanced.

Drawings

FIG. 1 is a flowchart of a CANOPEN-based multi-motor servo system initialization configuration method according to an embodiment of the present invention.

Detailed Description

To make the objects, contents and advantages of the present invention more apparent, the following detailed description of the present invention will be given with reference to the accompanying drawings and examples.

Referring to fig. 1, the initialization configuration method of the multi-motor servo system based on the CANOPEN of the present embodiment includes the following steps:

s1 defines a SERVO configuration management structure SERVO_CONFIG_STATE

The structural variables include: (1) a configuration state, (2) a current configuration number try_cnt, (3) a configuration completion semaphore finish_sem;

s2 defines a SERVO configuration array variable servo_conf to record N SERVO node STATEs, and the array element is a SERVO configuration management structure SERVO_CONFIG_STATE in S1.

S3, configuring node nodeId, numbering from 1, firstly setting the current configuration state in the element in the array to 0, setting the current configuration times try_cnt to 0, and creating a semaphore by using a binary semaphore creation function semBCreate, wherein parameters are SEM_Q_FIFO and SEM_EMPTY respectively; locking is performed using pthread_mutex_lock.

S4, defining a node online function sloveBooteHdl parameter as a node number, and assigning a function pointer of the function to a post_SlaveBooteup function pointer of the CANOPEN protocol station object dictionary.

Creating a task in a sloveBootuphdl function, and transmitting a node number value nodeId into the task, wherein the task running function is S5;

s5, configuring a servo driver of the node number nodeId, wherein the input data is a current state, and the configuration function contains N states in total, and the state magnitude is from 0 to N-1.

When the state value matches the first N-1 states (0 to N-2) of the N states, the parameter is configured, the configuration data variable is data, the number of bytes is N (one byte, two bytes, four bytes), the variable type byte_type (boolean, signed character type int8, signed short integer int16, signed integer int32, unsigned character type ui 8, unsigned short integer ui 16, unsigned integer ui 32, floating point type real 32) is configured using the node configuration function writenetworkDictccall back, the node number is nodeId, the parameter address Addr, the parameter sub-address SubAddr, the number of bytes N, and the variable type byte_type are filled. Each time the state configuration is performed, the process goes to S5 to process the configuration result

When the state value matches to the last of the N states (N-1), then the configuration completion semaphore finish_sem is released using the semaphore release function semgo.

And S6, acquiring a node configuration result by using a getWriteResultNetworkDict function, transmitting parameters into a node number nodeId, acquiring a fault code abortCode, and judging the acquired node configuration result.

If the configuration result is successful, the current configuration state in the element in the array is added with one operation. The current configuration number try_cnt is set to 0, and the process goes to S4 to perform the next state configuration.

If the configuration result fails, adding one operation to the configuration times try_cnt.

Judging whether the try_cnt is smaller than 3, and if so, judging success. And then, turning to S4 to perform the next configuration state for configuration. If the judgment fails, the signal quantity finish_sem is released by using a signal quantity release function semtive. And carrying out zero clearing operation on the configuration times try_cnt. The configuration state is configured to 0.

The SDO transfer shutdown function close transfer is used to shutdown the current transfer SDO.

The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.

Claims (10)

1. The initialization configuration method of the servo system based on the CANOPEN is characterized by comprising the following steps of:

s1, defining a SERVO configuration management structure SERVO_CONFIG_STATE;

s2, defining a SERVO configuration array variable servo_conf to record N SERVO node STATEs, wherein the array element is a SERVO configuration management structure SERVO_CONFIG_STATE in S1;

s3, configuring a node nodeId;

s4, defining a node online function sloveBootupoHdl parameter as a node number;

s5, configuring a servo driver of the node number nodeId;

and S6, acquiring a node configuration result by using a getWriteResultNetworkDict function, transmitting parameters into a node number nodeId, acquiring a fault code abortCode, and judging the acquired node configuration result.

2. The CANOPEN-based multi-motor SERVO system initialization configuration method according to claim 1, wherein in step S1, the variables of the structure body servo_config_state include: (1) a configuration state, (2) a current configuration number try_cnt, and (3) a configuration completion semaphore finish_sem.

3. The initialization configuration method of claim 2, wherein in step S3, nodes nodeId are numbered from 1, first, the current configuration state in the element in the array is set to 0, the current configuration number try_cnt is set to 0, and the binary semaphore creation function semBCreate is used to create semaphores, the parameters are sem_q_fifo and sem_empty, respectively.

4. The CANOPEN-based multi-motor servo system initialization configuration method of claim 3, wherein in step S3, node nodeId is locked using pthread_mutex_lock.

5. The method for initializing and configuring a servo system based on CANOPEN multiple motors according to claim 4, wherein in step S4, a function pointer of a node on-line function is assigned to a post_slavebootup function pointer of a CANOPEN protocol station object dictionary.

6. The method for initializing configuration of a CANOPEN-based multi-motor servo system according to claim 5, wherein in step S4, a task is created in the node on-line function, and the node number nodeId is transferred into the task for execution in step S5.

7. The method of claim 6, wherein in step S5, the servo driver is configured with the incoming data being a current state, and the configuration function includes N states, and the state value is from 0 to N-1.

8. The initialization configuration method of claim 7, wherein in step S5, when the state value matches the first N-1 states of the N states, parameters are configured, the configuration data variable is data, the byte number is N, the variable type byte_type is configured using a node configuration function writenetworkdialcallback, the node number is nodeId, the parameter address Addr, the parameter sub-address SubAddr, the byte number N, and the variable type byte_type; when the state value matches to the last of the N states, then the configuration completion semaphore finish_sim is released using the semaphore release function semtive.

9. The CANOPEN-based multi-motor servo system initialization configuration method according to claim 8, wherein in step S5, variable type byte_type comprises: boolean, signed character type int8, signed short integer int16, signed integer int32, unsigned character type uint8, unsigned short integer uint16, unsigned integer uint32, floating point type real32.

10. The method for initializing and configuring a servo system based on CANOPEN according to claim 9, wherein in step S6, if the configuration result is successful, the current configuration state in the element in the array is added with one; the current configuration times try_cnt are set to 0, and the next state configuration is carried out in S4;

if the configuration result fails, adding an operation to the configuration times try_cnt;

judging whether the try_cnt is smaller than 3, if so, turning to S4 to perform configuration of the next configuration state; if the judgment fails, releasing the signal quantity finish_sem by using a signal quantity release function semtive; zero clearing operation is carried out on the configuration times try_cnt; configuring a configuration state to be 0; the SDO transfer shutdown function close transfer is used to shutdown the current transfer SDO.