CN210294851U - EtherCAT bus multi-axis slave station system - Google Patents

Abstract

The utility model relates to a data processing field, in particular to etherCAT bus multiaxis slave station system. The system comprises: the controller comprises a slave station controller for controlling multi-axis data, a microprocessor for processing the multi-axis data and a multi-axis drive circuit, wherein the slave station controller is connected with the multi-axis drive circuit through the microprocessor. The system further comprises: the system comprises a photoelectric isolator, an RJ45 interface with a network transformer and an electrically erasable programmable read-only memory EEPROM. The system not only solves the problem that the traditional driving scheme is high in cost and large in occupied space, but also solves the technical problem that a single chip controls multiple shafts.

Description

EtherCAT bus multi-axis slave station system

Technical Field

The utility model relates to a data processing field, in particular to etherCAT bus multiaxis slave station system.

Background

Under the great trend of "industry 4.0", smart manufacturing becomes the leading direction of times main melody and manufacturing industry. In the manufacturing industry, an automatic and intelligent driving technology plays an increasingly important role, which is an innovative challenge surrounding the improvement of sustainable productivity efficiency, thereby providing inexhaustible power for the upgrading and reconstruction of the traditional industry and the long-term development of the emerging industry. The servo driver is very important as a key part of industrial robots and numerical control machines. The traditional servo driver and the AC servo motor are in one-to-one relationship, and one servo driver can only drive one AC servo motor. Such actuators cannot meet the requirements of the 3C industry with relatively high space requirements, and therefore multi-axis actuators have appeared correspondingly in recent years.

The multi-axis driver on the market integrates the traditional driver scheme into one, so that the multi-axis driver is not substantially different from the traditional servo driver in nature, only reduces the volume, but does not reduce the cost, and is not very high in cost performance. In the implementation of the EtherCAT slave station, each axis is realized by using an ESC chip, so that delay is inevitable in the multi-axis motion control, and real-time performance cannot be realized in the control.

Disclosure of Invention

In order to solve the problem, the utility model provides an etherCAT bus multiaxis slave station system, this multiaxis slave station system pass through slave station controlling means and drive circuit's the technical problem that will solve be how to will save space, budget and how to handle the problem that multiaxis data improves the synchronism simultaneously.

The utility model provides an above-mentioned technical problem's technical scheme as follows: an EtherCAT bus multi-axis slave station system, comprising: the controller comprises a slave station controller for controlling multi-axis data, a microprocessor for processing the multi-axis data and a multi-axis drive circuit, wherein the slave station controller is connected with the multi-axis drive circuit through the microprocessor.

The utility model has the advantages that: the topological structure is convenient to expand, the real-time performance is strong, 65535 slave station nodes can be simultaneously supported, subnets can be conveniently increased, and the cost is low;

the function of distributing clocks is provided, and the problem of relevant fault delay among a plurality of slave station nodes can be perfectly solved;

the data interaction of the multi-axis slave station control system is completed by using a slave station controller and a microprocessor, so that the whole slave station system can be small in size;

the cost is greatly reduced by using a slave station controller and a microprocessor to complete the data interaction of the multi-axis slave station control system, so that the cost performance is improved by several grades;

the data interaction of the multi-axis slave station control system is completed by a slave station controller and a microprocessor, so that the multi-axis synchronization can be more accurate.

On the basis of the technical scheme, the utility model discloses can also do as follows the improvement:

further, the microprocessor is connected with the slave station controller through a bus.

Further, the bus is a 16-bit asynchronous parallel bus, a CAN field bus or an NCUC field bus.

The beneficial effect of adopting the further scheme is that the phenomenon that when the system has errors, a plurality of nodes send data to the bus at the same time, and then certain nodes are damaged due to short circuit is avoided.

And further, the system also comprises an electrically erasable programmable read-only memory EEPROM, and the EEPROM is connected with the slave station controller.

The further scheme has the advantages that the data can be modified without being taken out of the computer, and the data cannot be lost after power failure.

Further, the system also comprises a double RJ45 network port, and the slave station controller is connected with the master station through the network port.

The beneficial effect of adopting the further scheme is that the isolation circuit is used for isolating the electrical level.

Further, the network port is provided with a network transformer for isolating the electric level.

And the microprocessor is connected with the driving circuit through the photoelectric isolator.

The beneficial effect of adopting the above further scheme is that electromagnetic interference is prevented.

Further, the slave station controller is an ESC chip supporting an EtherCAT protocol stack.

The ESC chip supporting the EtherCAT protocol stack can be better matched with a microprocessor and an object dictionary specified by industry standards.

Further, the microprocessor is STM 32.

The STM32 interconnection series also provides the same standard interface as other STM32 microcontrollers, and the application flexibility of the whole product family is improved by the sharing of the peripheral devices, so that developers can repeatedly use the same software in a plurality of designs, and the power consumption is low.

Drawings

FIG. 1 is a control diagram of a slave station of the present invention;

FIG. 2 is a frame diagram of the multi-axis slave station system of the present invention;

fig. 3 is a schematic diagram of the data interaction of the slave station system of the present invention;

fig. 4 is a diagram of data distribution of the multi-axis dictionary of the present invention.

Detailed Description

The utility model discloses a core thought lies in: the purpose of controlling multiple shafts by a single chip is realized through the connection of the microprocessor and the slave station controller.

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, 3 and 4, for the purpose of controlling multiple shafts by a single chip, a multiple shaft motor driving circuit needs to be connected with a slave station controller through a microprocessor.

The principles and features of the present invention are described below, with the examples being given only for the purpose of illustration and not for the purpose of limiting the scope of the invention.

As shown in fig. 1, an EtherCAT bus multi-axis slave station system includes: the controller comprises a slave station controller for controlling multi-axis data, a microprocessor for processing the multi-axis data and a multi-axis drive circuit, wherein the slave station controller is connected with the multi-axis drive circuit through the microprocessor.

The slave station controller adopts LAN9252 developed and produced by Microchip company to complete the system link layer work, and the whole EtherCAT bus communication protocol stack is completed in the slave station chip of ESC. Two PHY chips are integrated in the slave station controller LAN9252 chip, so that two PHY chips are saved in the hardware design of the system, and the cost is saved.

The microprocessor is completed by adopting STM32F407 series high-performance chips with 168MHz main frequency, is mainly used for developing an EtherCAT application layer protocol stack, and performs data interaction of a 16-bit asynchronous parallel bus with a LAN9252 through an FSMC (variable static memory controller) module integrated in STM 32. The clock synchronization of the entire EtherCAT network is realized in response to the synchronization interrupt signal SYNC0 of the slave station controller LAN 9252. The processing of non-process data with the master station controller and other slave devices is done in response to the IRQ interrupt signal of the slave station controller LAN 9252. The microprocessor is also used for compiling a control algorithm of the multi-axis motor.

The multi-axis driving circuit is used for driving an alternating current motor, and an IPM (intelligent power module) is generally selected as an inverter unit of the multi-axis driving circuit.

For the process of controlling multi-axis data processed by a single chip and multi-axis data processed by a single chip, the following prior art is adopted, as shown in fig. 4, a slave station controller defines an object dictionary for multi-axis control according to the CIA402 industry standard, wherein the motion control related dictionary range of a first motion axis is 0x6000 to 0x67FF, the motion control related dictionary of a second motion axis is cheap by 0x800 on the basis of the dictionary of the first axis, the motion control related dictionary range of the second motion axis is 0x6800 to 0x6FFF, and the following motion axes are interpolated in this way, so that 8 motion axes can be expanded.

As shown in fig. 3, a buffering mechanism is adopted in data interaction between the slave station controller LAN9252 and the microprocessor STM32, data is transmitted to the microprocessor through a link layer, the microprocessor receives an IRQ interrupt signal of the slave station controller, then receives and transmits related data in an SM mailbox mode using an HBI parallel bus as a carrier, and buffers the received PDO process data in a data buffer of the microprocessor, and after receiving a SYNC interrupt signal SYNC0 signal of the slave station controller, the microprocessor updates the PDO process data stored in the data buffer of the microcontroller into an application program for calculation processing, and simultaneously maps feedback data to be transmitted to a master station onto corresponding PDO process data. And the application program distributes the processed data to the slave station synchronization program and the multi-axis motor control algorithm module according to different properties. And after receiving the relevant instructions of each shaft transmitted by the main station, the application program achieves the aim of accurately controlling the plurality of motors according to a series of algorithms.

The utility model has the advantages that: the topological structure is convenient to expand, the real-time performance is strong, 65535 slave station nodes can be simultaneously supported, subnets can be conveniently increased, and the cost is low;

the function of distributing clocks is provided, and the problem of relevant fault delay among a plurality of slave station nodes can be perfectly solved;

the data interaction of the multi-axis slave station control system is completed by using a slave station controller and a microprocessor, so that the whole slave station system can be small in size;

the cost is greatly reduced by using a slave station controller and a microprocessor to complete the data interaction of the multi-axis slave station control system, so that the cost performance is improved by several grades;

the data interaction of the multi-axis slave station control system is completed by a slave station controller and a microprocessor, so that the multi-axis synchronization can be more accurate.

Preferably, as shown in fig. 2, the microprocessor and the multi-axis motor driving circuit further include: and the photoelectric isolator is used for isolating the microprocessor and the multi-axis motor driving circuit, and prevents the multi-axis motor driving circuit from causing EMI electromagnetic interference on the microprocessor and the slave station controller.

Preferably, as shown in fig. 2, the master station data is transmitted to the slave station controller through RJ45 interface, the RJ45 interface is a dual RJ45 network interface with network transformer directly connected to the slave station controller LAN9252, and it is used as the only connection port of the slave station controller LAN9252 to the master station controller and other slave station devices, and can be connected to any master station controller and slave station devices supporting EtherCAT bus through 100M full duplex network line.

Preferably, as shown in fig. 2, the method further includes: the slave station controller LAN9252 is connected to an EEPROM, which is an electrically erasable programmable read only memory having an IIC protocol function, performs data interaction with the slave station controller LAN9252 through an IIC bus, and is used to store configuration basic information, i.e., configuration information, dictionary information, and the like, of the slave station controller LAN 9252.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

While the invention has been described with reference to specific embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. An EtherCAT bus multi-axis slave station system, comprising: the controller comprises a slave station controller for controlling multi-axis data, a microprocessor for processing the multi-axis data and a multi-axis drive circuit, wherein the slave station controller is connected with the multi-axis drive circuit through the microprocessor.

2. The system of claim 1, wherein the microprocessor is connected to the slave station controller via a bus.

3. The system of claim 2, wherein the bus is a 16-bit asynchronous parallel bus, a CAN fieldbus, or a NCUC fieldbus.

4. The system of claim 1, further comprising an Electrically Erasable Programmable Read Only Memory (EEPROM), said EEPROM being connected to said slave station controller.

5. The system of claim 1, further comprising a dual RJ45 portal, wherein the slave station controller is connected to the master station through the portal.

6. The system of claim 5, wherein the portal is provided with a network transformer for isolation level.

7. The system of claim 1, further comprising an opto-isolator, wherein the microprocessor is coupled to the driver circuit via the opto-isolator.

8. The system of claim 1, wherein the slave station controller is an ESC chip supporting an EtherCAT protocol stack.

9. The system of claim 1, wherein the microprocessor is STM 32.

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