CN215072446U - EtherCAT slave station module - Google Patents
EtherCAT slave station module Download PDFInfo
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- CN215072446U CN215072446U CN202120464364.0U CN202120464364U CN215072446U CN 215072446 U CN215072446 U CN 215072446U CN 202120464364 U CN202120464364 U CN 202120464364U CN 215072446 U CN215072446 U CN 215072446U
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Abstract
The utility model belongs to the technical field of industrial Ethernet, in particular to an EtherCAT slave station module, which comprises a backboard provided with an EBUS bus passage, and a power module and a communication module group which are arranged on the backboard; the communication module group comprises a coupling module and a plurality of I/O modules; the coupling module is electrically connected with the I/O module through an EBUS bus passage; the coupling module and the I/O module are both provided with slave station controllers based on FPGA chips, and EtherCAT protocol processing units are configured in the slave station controllers; the coupling module is also provided with an Ethernet physical interface module which is used for connecting with the master station through an Ethernet cable and transmitting the control signal to other communication modules through an EBUS bus passage; the I/O module is also provided with a main control unit and an I/O unit, and the I/O module is connected with the field equipment through the I/O unit and is used for receiving, transmitting and processing field data and transmitting the received and transmitted data through an EBUS bus channel. The technical problem that site mess is caused due to the fact that all slave station controllers are connected with the master station through Ethernet cables is solved.
Description
Technical Field
The utility model belongs to the technical field of the industry ethernet, especially, relate to an etherCAT slave station module.
Background
The ethernet technology is applied to the industrial ethernet technology formed in the field of industrial control, and is an important development direction of the current industrial control network and field bus technology. Compared with the traditional field bus, the Ethernet field bus has the characteristics of high cost performance, high transmission speed, large data volume and standard Ethernet access. At present, the main real-time Ethernet networks are Profinet, TC-net, EtherCAT, Ethernet PowerLink, Modus-RTPS, SERCOS and the like.
Compared with other Ethernet networks, EtherCAT has the characteristics of rapidness, standard universality, flexible wiring, simple and convenient configuration, low cost, maturity, development and the like. EtherCAT is currently considered the fastest and shortest cycle time among several current ethernet technologies.
An EtherCAT Slave station controller esc (EtherCAT Slave controller) is a key for realizing an EtherCAT communication protocol by a Slave station module, and the communication function of the EtherCAT protocol of the Slave station controller is basically realized by Slave station chips such as ET1100/ET1200 and the like at present, so that the cost is high; as an alternative to the slave chip, many designs for implementing the EtherCAT protocol communication function of the slave station controller through the FPGA chip, also referred to as "IP-Core", have appeared in the prior art.
However, the existing slave station controllers based on the FPGA chip are all designed to be independent, and all the slave station controllers are connected with the master station through ethernet cables, so that the ethernet cables need to be independently arranged for each field device (one field device corresponds to one slave station controller), and the ethernet cables are thick, so that the occupied space is large, and field clutter is caused.
SUMMERY OF THE UTILITY MODEL
This patent aims at providing an etherCAT slave station module to all adopt the ethernet cable to connect between each slave station controller and the main website among the solution prior art, cause scene mixed and disorderly technical problem.
The EtherCAT slave station module comprises a back plate provided with an EBUS bus passage, and a power module and a communication module group which are arranged on the back plate;
the power supply module is used for supplying power to each functional module;
the communication module group comprises a coupling module and a plurality of I/O modules;
the coupling module is electrically connected with the I/O module through the EBUS bus passage;
the coupling module and the I/O module are both provided with slave station controllers based on FPGA chips, and EtherCAT protocol processing units are configured in the slave station controllers;
the coupling module is also provided with an Ethernet physical interface module which is used for connecting with a master station through an Ethernet cable and transmitting a control signal to other communication modules through an EBUS bus passage;
the I/O module is also provided with a main control unit and an I/O unit, and the I/O module is connected with the field equipment through the I/O unit, is used for receiving, transmitting and processing field data and transmits the received and transmitted data through an EBUS bus channel.
Furthermore, the communication module group also comprises a gateway module, a slave station controller based on an FPGA chip is arranged on the gateway module, and an EtherCAT protocol processing unit is configured in the slave station controller;
the gateway module is also provided with a main control unit and a gateway unit, and the gateway module is connected with external equipment through the gateway unit and is used for realizing conversion between other communication protocols and an EtherCAT bus protocol and transmitting the converted data through an EBUS bus channel.
Furthermore, the communication module group also comprises an end module, wherein a slave station controller based on an FPGA chip is arranged on the end module, and an EtherCAT protocol processing unit is configured in the slave station controller;
the tail end module is also provided with an Ethernet physical interface module and/or an optical fiber communication module, and the tail end module is connected with a remote module unit through the Ethernet physical interface module and/or the optical fiber communication module through a shielded cable and/or an optical fiber expansion;
the EBUS signal is converted into an Ethernet and/or optical signal and is transmitted through the shielded cable and/or the optical fiber;
and converting the ethernet and/or optical signals to EBUS signals and transmitting via the EBUS bus path.
Furthermore, a backplane connector which can be connected with an EBUS bus passage is arranged on the backplane and is used for plugging the communication module group.
Further, the backplane connector is a 32-pin inserted european style bent pin base, and each module in the communication module group is provided with a corresponding CON32 european style terminal.
Further, the number of backplane connectors is 12:
further, the I/O cells include one or more of DI/DO, AD/DA, pulse count, or pulse width modulated I/O cells.
Further, the gateway unit comprises a CANOPEN gateway unit and/or a Modbus-RTU gateway unit.
Further, the power module is a power module which converts 220V alternating current into 24V direct current and outputs the power.
Further, the slave station controller is also connected with an EEPROM module.
The communication module group is integrated through the backboard in the scheme, a coupling module and an I/O module which realize the communication function of the EtherCAT protocol based on the FPGA are included, all modules of the communication module group are connected through an EBUS bus path, so a plurality of slave station controllers corresponding to equipment in one area can be integrated on a single module, the slave station controllers are connected with a master station through a cable only through the coupling module, the I/O module is in charge of being connected with field equipment, the connection is flexible, the installation space is centralized, the maintenance is convenient, the requirement of Ethernet cables is reduced, and the site is cleaner and tidier.
Through individual module passing through the backplate connector with the backplate is connected, pluggable design makes to maintain more convenient with the change, realizes different field device's access through changing different module combinations, and on-the-spot network deployment is also more convenient.
Through the gateway module, the conversion from different protocols to the EtherCAT protocol can be realized, so that the compatibility of the whole module is stronger.
Through the end module, the direct cascade of modules such as the following slave stations can be realized, and the networking is more flexible.
Drawings
Fig. 1 is a system block diagram illustrating that an EtherCAT slave station module is connected with a master station in the embodiment of the present invention.
Fig. 2 is a schematic logic block diagram of a backplane in an embodiment of the present invention.
Fig. 3 is a schematic circuit functional block diagram of a slave station controller portion on each module in a communication module group according to an embodiment of the present invention.
Fig. 4 is a logic diagram of internal functions of the slave station controller implemented by the FPGA in the embodiment of the present invention.
Fig. 5 is a logic block diagram of the working principle of the coupling module in the embodiment of the present invention.
Fig. 6 is a schematic circuit functional block diagram of the coupling module in the embodiment of the present invention.
Fig. 7 is a logic block diagram of the working principle of the I/O module in the embodiment of the present invention.
Fig. 8 is a logic block diagram of an operating principle of the gateway module in the embodiment of the present invention.
Fig. 9 is a logic diagram of the operation principle of the end module in the embodiment of the present invention.
Detailed Description
The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.
It should be understood that the structures, ratios, sizes, etc. shown in the drawings attached to the present specification are only used for matching with the contents disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any modification of the structures, changes of the ratio relationship, or adjustment of the sizes, should still fall within the scope that the technical contents disclosed in the present invention can cover without affecting the efficacy that the present invention can produce and the purpose that the present invention can achieve.
Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention may be considered as the scope of the present invention.
The terms "comprises," "comprising," or any other similar term are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The EtherCAT slave station module in this embodiment is basically as shown in fig. 1, and includes a backplane provided with an EBUS bus access, and a power module and a communication module group mounted on the backplane;
the power module (not shown in the figure) is used for converting 220V alternating current into 24V direct current to be output, and supplying power to the communication module group;
the back plate plays a role of mechanically installing and fixing the bracket and simultaneously provides an EBUS bus channel, and all modules in the communication module group are communicated with each other through the EBUS at the bottom to realize the transmission and the transmission of electric signals;
in this embodiment, each module in the communication module group is integrated into a board card form, and is integrated with a CON32 european style terminal, and correspondingly, 12 european style curved pin sockets with 32 pins capable of accessing an EMUS bus access are arranged on the backplane in this embodiment as backplane connectors, and then at most 12 modules can be plugged on the backplane in this embodiment, and meanwhile, a power module supplies power to the modules plugged on the curved pin sockets through the curved pin sockets, and a schematic block diagram of the power module is basically as shown in fig. 2. In this embodiment, the LVDS signal data rate of the EBUS interface is 100 Mb/s.
The communication module group comprises four types of modules, namely a coupling module, an I/O module, a gateway module and a terminal module, the core parts of the modules are a slave station controller based on an FPGA chip and a peripheral circuit thereof, the circuit schematic block diagram of the part is basically shown in figure 3, the slave station controller in the embodiment adopts the FPGA chip with the model of HWD2V6000, the periphery is matched with a CPU chip with the model of GSM3280 as a main control unit, an EEPROM module with the model of AT24C64 is used for expanding a storage space, an FPGA configuration module with the model of XCF32PVOG48C is used for configuring the FPGA chip, and the communication module group is also matched with a 25MHz crystal oscillator module (crystal oscillator 25M), a JTAG module and a power supply.
The configuration in the slave station controller in this embodiment is basically as shown in fig. 4;
the functions of an ECAT interface (comprising an MII protocol interface and an EBUS protocol interface of an Ethernet bus), an EtherCAT protocol processing unit, a field bus memory Management unit (FMMU), a storage synchronization Management channel (Sync Manager), a distributed clock, a PDI interface (an SPI interface or a digital I/O interface), an ESC address space (comprising a register and a user data memory), EEPROM control, state control, interruption, a watchdog, physical layer Management (PHY Management) and the like are realized through the FPGA.
Each communication module utilizes an EtherCAT protocol processing unit to realize the access of a slave station controller data link, a data frame can be transmitted to the FPGA through an EBUS and an Ethernet bus interface, the FPGA identifies the data frame and performs CRC check, unpacks the frame format and the protocol command of the EtherCAT and sends the data frame through the port connection state.
The EEPROM part of the slave station controller is used for storing required equipment related information, including an ESC register configuration area (corresponding registers are loaded after ESC is automatically read after being powered on or reset and checked), a product identification area (including manufacturer identification, product code, version number, serial number and the like), a hardware delay word (including information of port delay, processing delay and the like), a mailbox configuration word in a boot state and a standard mailbox communication SM configuration word.
Based on the slave station controller, each module in the communication module group has different matching units or modules for realizing different communication functions.
The coupling module is provided with an ethernet physical interface module, the working principle of which is basically as shown in fig. 5, and is used for connecting with a master station through an ethernet cable and transmitting a control signal to other communication modules through an EBUS bus path;
the schematic block diagram of the circuit of the ethernet physical interface module connected with the FPGA is basically as shown in fig. 6, the ethernet physical interface module includes a PHY chip (PHY0_0-1_1), a transformer and an RJ45 network port which are connected in sequence, an MII protocol interface is adopted between the PHY chip and the FPGA, and in addition, a dial switch, an LED indicator light and a reset switch which are connected with the FPGA chip are also arranged on the coupling module. As can be seen from fig. 1, through a plurality of network ports on the coupling module, the ethernet cable from the master station to the slave station module can be directly connected, and the ethernet cable from one slave station module to another slave station module can also be directly connected, thereby realizing ethernet bus connection between a plurality of slave station modules and the master station.
The EtherCAT physical layer interface supports two interface types of an Ethernet bus and an EBUS, and because the Ethernet bus interface takes an Ethernet cable as a transmission medium, the Ethernet bus interface can be directly connected with a PC (personal computer) and has a long transmission distance, the EtherCAT physical layer interface is mainly used for the EtherCAT communication between the coupling module and the master station in design; EBUS is a low-level differential signal LVDS level, the effective transmission distance is only 10 meters, but the structure is simple, and the communication module is suitable for a backplane bus, so EtherCAT communication between communication module groups on slave station modules in the embodiment adopts an EBUS mode, and the coupling module can be regarded as coupling the EBUS bus into an ethernet bus.
The I/O module is configured with an I/O port unit, and the working principle of the I/O module is basically as shown in fig. 7, and the I/O module mainly receives, transmits and processes various types of field data, and transmits the received and transmitted data through an EBUS bus path on the backplane. The I/O port unit is used for connecting with the signal output of the field device, therefore, the I/O port unit can be configured to different I/O port units such as pulse counting, pulse width modulation, DI/DO or AD/DA and the like according to different devices, and can also be configured to have multiple I/O functions.
The gateway module is configured with a gateway unit, the working principle of which is basically as shown in fig. 8, and the gateway module is connected with an external device through the gateway unit, and is used for realizing the conversion between other communication protocols and an EtherCAT bus protocol, and transmitting the converted data through an EBUS bus channel. Therefore, the gateway unit may also be configured according to different communication protocols adopted by the connection device, such as a gateway unit configured to adapt the CANOPEN protocol, a gateway unit configured to adapt the Modbus-RTU protocol, or a gateway unit configured to adapt multiple protocols.
The tail end module is also provided with an Ethernet physical interface module and/or an optical fiber communication module, and the tail end module is connected with a module unit at a remote place through the Ethernet physical interface module and/or the optical fiber communication module through a shielded cable and/or an optical fiber expansion, such as a subordinate slave station module; the operation principle of the end module is basically as shown in fig. 9, and is used for converting EBUS signals into ethernet and/or optical signals and transmitting them through the shielded cable and/or optical fiber, and converting ethernet and/or optical signals into EBUS signals and transmitting them via the EBUS bus path. According to the arrangement condition of specific field devices, the tail end module is adopted, and the characteristic of long transmission distance of shielded cables and/or optical fibers can be utilized to realize the cascade connection between the current slave station module and the subordinate slave station module which is physically far away.
In this embodiment, a communication module group is integrated through a backplane, where the communication module group includes a coupling module and an I/O module, where the coupling module and the I/O module are based on an FPGA to implement an EtherCAT protocol communication function, and the modules of the communication module group are connected through an EBUS bus path, so that a plurality of slave station controllers corresponding to a device in an area can be integrated on a single module, the plurality of slave station controllers are connected with a master station through an ethernet cable only via the coupling module, and the I/O module is responsible for being connected with field devices, so that the connection is flexible, the installation space is centralized, the maintenance is convenient, the needs of ethernet cables are reduced, and the field is cleaner and tidier. Through individual module passing through the backplate connector with the backplate is connected, pluggable design makes to maintain more convenient with the change, realizes different field device's access through changing different module combinations, and on-the-spot network deployment is also more convenient. Through the gateway module, the conversion from different protocols to the EtherCAT protocol can be realized, so that the compatibility of the whole module is stronger. Through the end module, the direct cascade of modules such as the following slave stations can be realized, and the networking is more flexible.
So far, the technical solution of the present invention has been described with reference to the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, a person skilled in the art can make equivalent changes or substitutions to the related technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.
Claims (10)
1. An EtherCAT slave station module is characterized by comprising a back plate provided with an EBUS bus passage, and a power module and a communication module group which are arranged on the back plate;
the power supply module is used for supplying power to each functional module;
the communication module group comprises a coupling module and a plurality of I/O modules;
the coupling module is electrically connected with the I/O module through the EBUS bus passage;
the coupling module and the I/O module are both provided with slave station controllers based on FPGA chips, and EtherCAT protocol processing units are configured in the slave station controllers;
the coupling module is also provided with an Ethernet physical interface module which is used for connecting with a master station through an Ethernet cable and transmitting a control signal to other communication modules through an EBUS bus passage;
the I/O module is also provided with a main control unit and an I/O unit, and the I/O module is connected with the field equipment through the I/O unit, is used for receiving, transmitting and processing field data and transmits the received and transmitted data through an EBUS bus channel.
2. The EtherCAT slave station module according to claim 1, wherein the communication module group further comprises a gateway module, a slave station controller based on an FPGA chip is disposed on the gateway module, and an EtherCAT protocol processing unit is disposed in the slave station controller;
the gateway module is also provided with a main control unit and a gateway unit, and the gateway module is connected with external equipment through the gateway unit and is used for realizing conversion between other communication protocols and an EtherCAT bus protocol and transmitting the converted data through an EBUS bus channel.
3. The EtherCAT slave station module according to claim 1, wherein the communication module group further comprises an end module, a slave station controller based on an FPGA chip is arranged on the end module, and an EtherCAT protocol processing unit is configured in the slave station controller;
the tail end module is also provided with an Ethernet physical interface module and/or an optical fiber communication module, and the tail end module is connected with a remote module unit through the Ethernet physical interface module and/or the optical fiber communication module through a shielded cable and/or an optical fiber expansion;
the EBUS signal is converted into an Ethernet and/or optical signal and is transmitted through the shielded cable and/or the optical fiber;
and converting the ethernet and/or optical signals to EBUS signals and transmitting via the EBUS bus path.
4. The EtherCAT slave station module of claim 1, wherein a backplane connector accessible to an EBUS bus channel is provided on the backplane for plugging the communication module set.
5. The EtherCAT slave station module of claim 4, wherein the backplane connector is a 32 pin European style bent pin receptacle, and each module in the communication module set is provided with a corresponding CON32 European style terminal.
6. The EtherCAT slave station module of claim 4, wherein the number of backplane connectors is 12.
7. The EtherCAT slave station module of claim 1, wherein the I/O cells comprise one or more of DI/DO, AD/DA, pulse count or pulse width modulated I/O cells.
8. An EtherCAT slave station module according to claim 2, characterised in that the gateway unit comprises a CANOPEN gateway unit and/or a Modbus-RTU gateway unit.
9. The EtherCAT slave station module of claim 1, wherein the power module is a power module that converts 220V ac power to 24V dc output power.
10. The EtherCAT slave station module according to claim 1, 2 or 3, characterized in that an EEPROM module is further connected to the slave station controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202120464364.0U CN215072446U (en) | 2021-03-03 | 2021-03-03 | EtherCAT slave station module |
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| CN202120464364.0U CN215072446U (en) | 2021-03-03 | 2021-03-03 | EtherCAT slave station module |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114625083A (en) * | 2022-02-25 | 2022-06-14 | 歌尔股份有限公司 | Input/output control device and system |
| CN115473763A (en) * | 2022-09-15 | 2022-12-13 | 长城汽车股份有限公司 | Information configuration method, master node, slave node and vehicle |
| CN117714236A (en) * | 2024-02-05 | 2024-03-15 | 中国电子信息产业集团有限公司第六研究所 | Gateway communication device and communication system |
-
2021
- 2021-03-03 CN CN202120464364.0U patent/CN215072446U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114625083A (en) * | 2022-02-25 | 2022-06-14 | 歌尔股份有限公司 | Input/output control device and system |
| CN115473763A (en) * | 2022-09-15 | 2022-12-13 | 长城汽车股份有限公司 | Information configuration method, master node, slave node and vehicle |
| CN115473763B (en) * | 2022-09-15 | 2024-01-30 | 长城汽车股份有限公司 | Information configuration method, master node, slave node and vehicle |
| CN117714236A (en) * | 2024-02-05 | 2024-03-15 | 中国电子信息产业集团有限公司第六研究所 | Gateway communication device and communication system |
| CN117714236B (en) * | 2024-02-05 | 2024-05-31 | 中国电子信息产业集团有限公司第六研究所 | Gateway communication device and communication system |
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