The utility model content
In view of this, the utility model embodiment purpose is to provide a kind of AC servo control system based on the EtherCAT network.
For achieving the above object, the utility model embodiment provides following technical scheme:
A kind of AC servo control system based on the EtherCAT network comprises:
Support main website and a plurality of slave station of EtherCAT agreement, described main website and a plurality of slave station composition network segment that is in series, and described main website is positioned at an end of the network segment;
Support the servo-driver and the AC servo motor of EtherCAT agreement;
Wherein, a corresponding servo-driver of each slave station and an AC servo motor, the three is in series.
Preferably, the Ethernet card of supporting the EtherCAT agreement is installed in the described main website.
Preferably, described slave station comprises the control base plate, be installed on the processor on the described control base plate, and the communication card that is connected with described processor, support the EtherCAT agreement, described communication card is connected with main website and servo-driver by the EtherCAT interface.
Preferably, described AC servo motor is provided with the controller of supporting the EtherCAT agreement.
The technical scheme that provides by above the utility model embodiment as seen, each part all can be supported the EtherCAT agreement in the said system, thereby realizes the SERVO CONTROL based on EtherCAT.It is flexible to make said system have network topology structure, and system configuration is simple, at a high speed, the advantage of high valid data communication rate.
Embodiment
Below in conjunction with the accompanying drawing among the utility model embodiment, the technical scheme among the utility model embodiment is clearly and completely described, obviously, described embodiment only is the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the utility model protection.
Servo system is the automatic control system that output controlled volumes such as the position that makes object, orientation, state can be followed any variation of input target (or set-point).Its main task be by control command requirement, to power amplify, processing such as conversion and regulation and control, make moment, speed and Position Control very flexible of drive unit output.
The conventional AC servo-control system generally comprises a plurality of AC servo motors, with AC servo motor servo-driver and fieldbus one to one.Yet the number of having sold assembly owing to fieldbus is considerably less, so the integrated cost of control system and field apparatus is quite high, and wherein wiring cost is particularly remarkable.The flexibility of signal granularity aspect always all is to realize by the modular point equipment of operation subordinate subnet.This subnet has increased the complexity of entire system, and exists obviously not enough at aspects such as real-time and cycle times.Therefore, traditional CAN field bus system becomes " bottleneck " of control system property development just day by day.
And real-time industrial ethernet technology (EtherCAT, Ethernet for Control Automation Technology) it is flexible to have network topology structure, system configuration is simple, at a high speed, the advantage of high valid data communication rate, therefore have the opportunity that the EtherCAT technology is applied to AC servo control system.
In view of this, the utility model embodiment provides a kind of AC servo control system based on real-time industrial ethernet technology EtherCAT network, referring to Fig. 1, comprising:
Support main website 1 and a plurality of slave station 2 of EtherCAT agreement, described main website 1 and a plurality of slave station 2 composition network segment that is in series, and described main website 1 is positioned at an end of the network segment;
Support the servo-driver 3 and the AC servo motor 4 of EtherCAT agreement;
Wherein, each slave station 2 a corresponding servo-driver 3 and AC servo motor 4, the three is in series.
Above-mentioned a plurality of AC servo motor 4 is connected with driven-mechanism 5.
Now the technology to technique scheme realizes being introduced:
Ethercat is based on the standard ethernet technology, increased the software layer of a deterministic schedule at MAC (media access layer), and this software layer has been realized the transmission of the Ethercat Frame in the communication cycle.The Ethercat Frame adopts the IEEE802-3 ethernet frame of standard, in the standard ethernet frame structure, used a special ethernet frame type 0x88A4, adopt this mode that data such as control command, state information are write direct in the Ethercat Frame, and can be parallel in consolidated network with the ethernet frame of observing other agreement.Can comprise the sub-message of several Ethercat in the Ethercat Frame.
When the Ethercat Frame by each equipment when (comprising the bottom terminal device), slave station 2 reads for the crucial data of this equipment, and can be at the sub-message of the out-of-date insertion of Ethercat Frame.Transmitted (only being delayed several) in the past at the Ethercat Frame, slave station 2 can identify related command, and handles.This process be in slave station 2 by hard-wired, therefore irrelevant with the real time execution system or the processor performance of protocol stack software.Last slave station 2 in the network segment will return through the message of fully handling, and this message just turns back to main website 1 as a response message by first slave station 2 like this.
As seen, because EtherCAT real-time industrial ethernet technology, it is flexible to have network topology structure, system configuration is simple, the advantage of high valid data communication rate at a high speed,, therefore the AC servo control system in the present embodiment also has advantage thereupon on flexibility, rapidity and control precision, can reduce simultaneously fieldbus is used, and reduces cost.
Preferably, the Ethernet card of supporting the EtherCAT agreement is installed in the above-mentioned main website 1.
Preferably, above-mentioned slave station 2 comprises the control base plate, be installed on the processor on the described control base plate, and the communication card that is connected with described processor, support the EtherCAT agreement, described communication card is connected with main website and servo-driver by the EtherCAT interface.Wherein, referring to Fig. 2, slave station control base plate adopts the TMS320F2812 chip as processor, and communication card has used ET1100 controller 21 directly to handle the EtherCAT agreement in hardware.
Preferably, above-mentioned AC servo motor is provided with the controller of supporting the EtherCAT agreement, and this controller can be directly connected in the EtherCAT network segment.
Each embodiment adopts the mode of going forward one by one to describe in this specification, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the utility model.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from spirit or scope of the present utility model in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.