CN215235550U - Precise pouring sealant machine control system based on EtherCAT - Google Patents
Precise pouring sealant machine control system based on EtherCAT Download PDFInfo
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- CN215235550U CN215235550U CN202022717342.9U CN202022717342U CN215235550U CN 215235550 U CN215235550 U CN 215235550U CN 202022717342 U CN202022717342 U CN 202022717342U CN 215235550 U CN215235550 U CN 215235550U
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Abstract
A precision pouring sealant machine control system based on EtherCAT comprises an industrial PC master station, an EtherCAT coupler I/O module and a plurality of slave stations, wherein the EtherCAT coupler pair is connected with the industrial PC master station serving as a network master control platform, and is sequentially connected with an input/output I/O module, a communication module and AC1-AC6 servo drivers serving as the plurality of slave stations in series from top to bottom; each slave station is connected with the industrial PC master station or other slave stations through an EtherCAT interface, and each slave station is correspondingly provided with a control interface which is set to be capable of receiving control signals for respectively corresponding representing data transmission in the slave station and driving and controlling a motor correspondingly connected with each slave station according to the respective control signals. The utility model has flexible topological structure, accurate clock synchronization performance and good real-time performance; by means of the characteristics of high control precision, long communication distance, large transmission data volume and the like, the requirements of the pouring sealant machine on the control speed and the synchronism of the pouring sealant machine can be met, and the precise control of the pouring sealant machine is realized.
Description
Technical Field
The utility model relates to a casting glue machine technical field especially relates to an accurate casting glue machine control system based on etherCAT.
Background
The pouring sealant machine is widely applied to the pouring sealant production process of the industries of electronics, electrical, photoelectricity, new energy and the like, so as to meet the technical requirements of products on sealing, insulation, water resistance and shock resistance. At present, a control system of the potting glue machine mainly uses a pulse type motion control card and a PLC control module, the wiring of the control system is complex, and great inconvenience is caused to production and later maintenance. Along with the increase of the functions of the pouring sealant machine, the structure is more and more complex, the number of the motors used on the equipment is more and more directly caused, and the number of the motors which can be controlled by control systems such as a pulse control card and the like can not meet the requirements of process development. Most of the existing servo drivers are based on buses with serial communication features, such as Modbus, CANopen, PROFIBUS-DP, and MotionNet, but due to the limitation of communication speed, it is difficult to satisfy the requirements of the pouring sealant equipment for control speed and synchronization.
With the continuous development of the automatic communication control technology, a real-time Ethernet technology EtherCAT is developed by Germany BECKHOFF, and a MAC (media access control) mode is used; the logic ring structure enables the master station to judge the real-time performance of the slave station and obtain a specific time deviation value; the distributed clock technology can correct and compensate according to the time deviation value, and high-precision synchronism among the devices is achieved. Therefore, in the field of pouring sealant machine equipment, the technical scheme of combining the traditional servo control technology and the soft PLC control technology through the EtherCAT communication technology gradually becomes the mainstream trend of improving the control speed and the control precision. Therefore, it is necessary to develop a precise control system of a pouring sealant machine based on EtherCAT in the technical field of pouring sealant machines, which is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
In order to overcome the problems existing in the prior art, the utility model aims to provide a precise pouring sealant machine control system based on EtherCAT to solve the problem provided in the above background art.
The utility model discloses a solve the technical scheme that above-mentioned technical problem took and be:
the utility model discloses control system includes an industry PC main website, a set of EtherCAT coupler I/O module and a plurality of slave stations, the slave station includes that AC1, AC2 supply to glue the slave station, AC3, AC4, AC5 transmission slave station and AC6 play glue the slave station, every slave station is via EtherCAT interface connection industry PC main website or other slave stations to every slave station all is arranged with control interface correspondingly;
the control interfaces of the AC1 and the AC2 glue supply slave station, the AC3, the AC4, the AC5 transmission slave station and the AC6 glue discharge slave station are respectively connected with corresponding motors, and the control interfaces are configured to be capable of receiving control signals for representing data transmitted in the corresponding stations and driving and controlling the corresponding connected motors according to the respective control signals.
The industrial PC master station adopts a C6640 industrial PC as a main control platform of an EtherCAT bus network master station, and the industrial PC is connected with an SG150-BGCM touch screen display.
The EtherCAT coupler I/O module comprises an EK1100 EtherCAT bus coupler, and a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a temperature input module, a manual operator input module and a manual operator output module which are sequentially connected with the EK1100 EtherCAT bus coupler.
The PNP8 point input module adopts 2 EL 10888 channels digital quantity input end sub-modules to connect with positive/negative/zero limit of X \ Y \ Z axis, stirring limit of vat \ overload, washing water pump overload, stirrer motor overload, emergency stop alarm;
the NPN8 point input module is connected with a liquid level monitoring unit and an operation button by adopting 1 EL 10088 channel digital quantity input terminal module.
The 8-point output module adopts 2 EL 20088 channels and is connected with an electromagnetic valve, an A glue/B glue heating device, a Z-axis brake device, a cleaning water pump, a stirrer, a vat stirring device and an indicator light through a digital quantity output terminal module.
The analog quantity input module is connected with a pressure monitoring unit by adopting a 1 EL 30544 channel analog quantity input terminal module; the temperature input module adopts 1 EL 32044 channel analog input terminal module to be connected with a temperature monitoring unit.
The manual operator input module adopts 3 EL 10088 channel digital quantity input terminal modules to be connected with a manual operator output end;
the manual operator output module is connected with a manual operator input end by adopting 2 EL 20088 channel digital quantity output end sub-modules.
The AC1 glue supply slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC1 metering pump A driver of a glue supply unit, and the AC1 metering pump A driver is connected with a metering pump A motor;
the AC2 glue supply slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a driver of an AC2 metering pump B of the glue supply unit, and the driver of the AC2 metering pump B is connected with a motor of the metering pump B.
The AC3 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC3X shaft driver of a transmission unit, and the AC3X shaft driver is connected with an X shaft motor;
the AC4 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC4Y shaft driver of a transmission unit, and the AC4Y shaft driver is connected with a Y shaft motor;
the AC5 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 5Z-axis driver of a transmission unit, and the AC 5Z-axis driver is connected with a Z-axis motor.
The AC6 glue outlet slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC6 mixing head driver of a glue outlet unit, and the AC6 mixing head driver is connected with a mixing head motor.
The utility model has the advantages that:
1. the EtherCAT bus is adopted, so that the communication speed is higher, the system hardware structure is simplified, the system cost is reduced, the system expansion capability is enhanced, the system information transmission efficiency is high, the error rate is low, the precise control on the pouring sealant machine is realized, and the pouring sealant quality is improved;
2. the EtherCAT bus also has a flexible topological structure and accurate clock synchronization performance, can greatly simplify external wiring of a control system, shorten the debugging time of the whole system and obviously improve the reliability, anti-interference performance, universality, timeliness and the like;
3. the EtherCAT bus can enable a control system to have good real-time performance, the system architecture design of high real-time response and one-network-to-the-end greatly improves the working efficiency of the pouring sealant machine, reduces the production cost of equipment, and can be used for the control requirements of various automatic control devices by virtue of the characteristics of high control precision, long communication distance, large transmission data volume and the like.
Drawings
Fig. 1 is a schematic diagram of a control architecture of the control system of the present invention;
FIG. 2 is a schematic diagram of the hardware communication connection structure of the control system of the present invention;
fig. 3 is a schematic diagram of the main circuit connection structure of the present invention.
Detailed Description
The details of the present invention can be more clearly understood with reference to the accompanying drawings and the description of the embodiments of the present invention. However, the specific embodiments of the present invention described herein are for the purpose of explanation only, and should not be construed as limiting the invention in any way.
The control system of the present invention includes an industrial PC master station, an EtherCAT coupler I/O module and a plurality of slave stations, where the slave stations include AC1, AC2 slave stations for supplying glue, AC3, AC4, AC5 slave transmission stations and AC6 slave stations for discharging glue, each slave station is connected to the industrial PC master station or other slave stations via an EtherCAT interface, and each slave station is correspondingly configured with a control interface; the control interfaces of the AC1 and AC2 glue supply slave station, the AC3, the AC4, the AC5 transmission slave station and the AC6 glue discharge slave station are respectively connected with corresponding motors, and the control interfaces are set to be capable of receiving corresponding control signals for representing data transmission in the stations and driving and controlling the motors connected correspondingly according to the corresponding control signals.
The industrial PC master station adopts a C6640 industrial PC as a main control platform of an EtherCAT bus network master station for overall system scheduling and man-machine interaction, the industrial PC is connected with an SG150-BGCM touch screen display for system man-machine interaction interface display, a system power supply adopts a 24V DC power supply module, and an integrated Uninterruptible Power Supply (UPS) can also be optionally arranged to supply power for the industrial PC and the touch screen display, and a battery pack can be connected from the outside and is arranged on a DIN guide rail close to the PC.
The EtherCAT coupler I/O module comprises an EK1100 EtherCAT bus coupler, and a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a temperature input module, a manual operator input module and a manual operator output module which are sequentially connected with the EK1100 EtherCAT bus coupler; the EtherCAT bus coupler EK1100 is configured with two Ethernet interfaces, the first one is used for connecting an industrial PC, the second one is used for connecting other EtherCAT slave station equipment on a network, and the EtherCAT bus coupler provides a direct-current 24V power supply to supply power for a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a temperature input module, a manual operator input module and a manual operator output module.
The PNP8 point input module adopts 2 EL 10888 channels digital quantity input end sub-modules to be connected with positive/negative/zero limit of X \ Y \ Z shaft, large barrel stirring limit/overload, cleaning water pump overload, stirrer motor overload and emergency stop alarm, and is used for digital quantity signal input of positive/negative/zero limit of X \ Y \ Z shaft, large barrel stirring limit/overload, cleaning water pump overload, stirrer motor overload and emergency stop alarm;
the NPN8 point input module is connected with a liquid level monitoring unit and an operating button by adopting a 1 EL 10088 channel digital quantity input end submodule and is used for monitoring the liquid level under glue A and glue B of the glue supply unit and inputting digital quantity signals of the start/stop of the operating button of pouring glue, water cleaning, air injection and main gas source pressure;
the 8-point output module adopts 2 EL 20088 channels and digital quantity output end submodules to be connected with an electromagnetic valve, an A glue/B glue heating device, a Z-axis brake device, a cleaning water pump, a stirrer, a vat stirring device and an indicator lamp, and is used for driving the Z-axis brake device of a transmission unit, heating the A glue/B glue of a glue supply unit, locking a feed valve/a drain valve/a nozzle, locking a water cleaning valve/an air injection valve, stirring the cleaning water pump/the stirrer/the vat, and outputting digital quantity signals of an editing lamp/a working indicator lamp/a stopping indicator lamp/a cleaning indicator lamp/an air indicator lamp;
the analog quantity input module is connected with a pressure monitoring unit by adopting a 1 EL 30544 channel analog quantity input terminal submodule and is used for inputting an analog quantity signal for pressure monitoring of an A glue/B glue metering pump of the glue supply unit;
the temperature input module is connected with a temperature monitoring unit by adopting a 1 EL 32044 channel analog input terminal module and is used for inputting analog quantity signals for glue supply unit A glue \ B glue temperature monitoring and glue outlet device mixing head temperature monitoring;
the manual operator input module adopts 3 EL 10088 channel digital quantity input end submodules to be connected with a manual operator output end and is used for manual operator digital quantity signal input of a mixer \ a feeding valve \ a metering pump \ a nozzle \ zero return \ debugging \ positioning \ feeding \ continuous inching \ inching 10mm \ inching 1mm \ inching 0.1mm \ recording XY \ recording Z \ X + X- \ Y + Y- \ Z + Z- \ circle \ arc \ deletion \ pause;
the manual operator output module is connected with a manual operator input end through 2 EL 20088 channel digital output end submodules and is used for manual operator digital quantity signal output of a mixer lamp \ a feeding valve lamp \ a metering pump lamp \ a nozzle lamp \ a return-to-zero lamp \ a debugging lamp \ a positioning lamp \ a feeding lamp \ a continuous inching lamp \ a inching 10mm lamp \ a inching 1mm lamp \ a inching 0.1mm lamp \ a circular arc lamp \ a deleting lamp and is also used for digital quantity signal output of a glue feeding valve of a glue supply unit A.
The AC1 glue supply slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC1 metering pump A driver of a glue supply unit, and the AC1 metering pump A driver is connected with a metering pump A motor.
The AC2 glue supply slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a driver of an AC2 metering pump B of the glue supply unit, and the driver of the AC2 metering pump B is connected with a motor of the metering pump B.
The AC3 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 3X-axis driver of a transmission unit, and the AC 3X-axis driver is connected with an X-axis motor.
The AC4 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 4Y-axis driver of a transmission unit, and the AC 4Y-axis driver is connected with a Y-axis motor.
The AC5 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 5Z-axis driver of a transmission unit, and the AC 5Z-axis driver is connected with a Z-axis motor.
The AC6 glue outlet slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC6 mixing head driver of a glue outlet unit, and the AC6 mixing head driver is connected with a mixing head motor.
Fig. 2 is a schematic diagram of the hardware communication connection structure of the control system of the present invention, the control system of the present invention adopts a "one network to the bottom" mode in hardware topology, and the EtherCAT bus coupler connects to the upper industrial PC and connects to the input/output module, the communication module and the AC1-AC6 servo driver in series; in an EtherCAT topological structure, the industrial PC master station sends out messages in a full-duplex mode, each AC1 and AC2 glue supply slave station, each AC3, each AC4, each AC5 transmission slave station and each AC6 glue output slave station sequentially shift read-write data frames according to the position of the slave station on a topological path, when the messages pass through the slave stations, the slave stations extract output command data sent to the slave stations from the messages and store the output command data into an internal storage area, and the input data are written into corresponding sub-messages from the internal storage area. The industrial PC and the touch screen display form a complete operation control unit, wherein the industrial PC is provided with a TwinCAT automatic development platform, a network interface card NIC is used as a main station communication interface, the industrial PC sends an instruction to AC1-AC6 servo controllers through programming, and each servo controller controls the corresponding motor to move and carries out closed-loop control through encoder feedback.
As shown in fig. 3, the utility model discloses main circuit connection structure schematic diagram, including the circuit connection of parts such as washing water pump, agitator, vat stirring, measuring pump A, measuring pump B, X axle motor, Y axle motor, Z axle motor, mixing head motor, A glue heating, B glue heating, power supply.
Furthermore, the utility model discloses control system adopts the network topology structure of a master many slaves, and a master station (industry PC master station) is through RJ45 net twine linear connection a plurality of slave stations, and every slave station (AC1-AC6 servo controller) controls a servo motor. The working principle is as follows: the industrial PC is used for operating upper computer software and providing a human-computer interaction interface, the built embedded EtherCAT real-time industrial PC master station is used as a system master station module, and an Estan PROECT-08AEG-ECD servo driver supporting EtherCAT protocol communication is used as a slave station module. The system employs a periodic process data communication mode. The master station is set to be in a DC mode, and the local time of the master station and the local clock time of all the slave station devices are all synchronous to the reference clock time in the DC mode, so that the time consistency of all the devices on the bus is ensured. The slave station is set to be synchronous to a distributed clock synchronous Signal (SYNC) mode, and the operation period of the master station is equal to the period of the SYNC signal of the slave station. Setting the servo motor operation mode as a periodic synchronous position (csp) operation mode. The industrial PC master station preprocesses input position control data, the master station position interpolation module of the industrial PC master station calculates target position control data of each servo motor, the master station protocol stack is responsible for packing the target position control data into an EtherCAT message form according to an EtherCAT protocol, the EtherCAT message form is sent to each slave station (AC1-AC6 servo controller) through an EtherCAT bus network, the AC1-AC6 servo controller analyzes the EtherCAT message data, a position control command is sent to the servo motor, and the servo motor is driven to move to a target position.
Also, the utility model discloses a washing water pump, agitator, vat stirring, A glue heating, B glue heating etc. are field prior art, the utility model discloses do not introduce.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the concept of the present invention within the technical scope of the present invention.
Claims (10)
1. The utility model provides a precision casting glue machine control system based on etherCAT which characterized in that:
the control system comprises an industrial PC master station, an EtherCAT coupler I/O module and a plurality of slave stations,
the slave stations comprise AC1, AC2 glue supply slave stations, AC3, AC4, AC5 transmission slave stations and AC6 glue discharging slave stations, each slave station is connected with the industrial PC master station or other slave stations through an EtherCAT interface, and each slave station is correspondingly provided with a control interface;
the control interfaces of the AC1 and AC2 glue supply slave station, the AC3, the AC4, the AC5 transmission slave station and the AC6 glue discharge slave station are respectively connected with corresponding motors, and the control interfaces are set to be capable of receiving corresponding control signals for representing data transmission in the stations and driving and controlling the motors connected correspondingly according to the corresponding control signals.
2. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 1, characterized in that:
the industrial PC master station adopts a C6640 industrial PC as a main control platform of an EtherCAT bus network master station, and the industrial PC is connected with an S6150-BGCM touch screen display.
3. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 1, characterized in that:
the EtherCAT coupler I/O module comprises an EK1100 EtherCAT bus coupler, and a PNP8 point input module, an NPN8 point input module, an 8 point output module, an analog input module, a temperature input module, a manual operator input module and a manual operator output module which are sequentially connected with the EK1100 EtherCAT bus coupler.
4. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 3, characterized in that:
the PNP8 point input module adopts 2 EL 10888 channels digital quantity input end sub-modules to connect with positive/negative/zero limit of X \ Y \ Z axis, stirring limit of vat \ overload, washing water pump overload, stirrer motor overload, emergency stop alarm;
the NPN8 point input module is connected with a liquid level monitoring unit and an operation button by adopting 1 EL 10088 channel digital quantity input terminal module.
5. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 3, characterized in that:
the 8-point output module adopts 2 EL 20088 channels and is connected with an electromagnetic valve, an A glue/B glue heating device, a Z-axis brake device, a cleaning water pump, a stirrer, a vat stirring device and an indicator light through a digital quantity output terminal module.
6. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 3, characterized in that:
the analog quantity input module is connected with a pressure monitoring unit by adopting a 1 EL 30544 channel analog quantity input terminal module;
the temperature input module adopts 1 EL 32044 channel analog input terminal module to be connected with a temperature monitoring unit.
7. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 3, characterized in that:
the manual operator input module adopts 3 EL 10088 channel digital quantity input terminal modules to be connected with a manual operator output end;
the manual operator output module is connected with a manual operator input end by adopting 2 EL 20088 channel digital quantity output end sub-modules.
8. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 1, characterized in that:
the AC1 glue supply slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC1 metering pump A driver of a glue supply unit, and the AC1 metering pump A driver is connected with a metering pump A motor;
the AC2 glue supply slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as a driver of an AC2 metering pump B of the glue supply unit, and the driver of the AC2 metering pump B is connected with a motor of the metering pump B.
9. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 1, characterized in that:
the AC3 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 3X-axis driver of a transmission unit, and the AC 3X-axis driver is connected with an X-axis motor;
the AC4 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 4Y-axis driver of a transmission unit, and the AC 4Y-axis driver is connected with a Y-axis motor;
the AC5 transmission slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC 5Z-axis driver of a transmission unit, and the AC 5Z-axis driver is connected with a Z-axis motor.
10. The control system of the precision pouring sealant machine based on the EtherCAT according to the claim 1, characterized in that:
the AC6 glue outlet slave station adopts 1 Eston PROECT-08AEG-ECD servo driver with an EtherCAT communication module as an AC6 mixing head driver of a glue outlet unit, and the AC6 mixing head driver is connected with a mixing head motor.
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| CN202022717342.9U CN215235550U (en) | 2020-11-14 | 2020-11-14 | Precise pouring sealant machine control system based on EtherCAT |
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| CN202022717342.9U CN215235550U (en) | 2020-11-14 | 2020-11-14 | Precise pouring sealant machine control system based on EtherCAT |
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