KR20090038709A - Apparatus for interface of high-speed digital network for nano controlling - Google Patents

Abstract

A high-speed digital network interface apparatus for nano control improving the performance and reliability of a system is provided to implement high speed digital interface by having openness and compatibility when interface between a nano controller and a server system. A nano controller performs a nano control. A high-speed digital servo communications unit includes a servo slave device, a servo master unit for interface between the nano controller and a servo and a servo driver. An I/O interface communications unit includes a field bus master device for interface between the nano controller and the input-output device. A high-speed digital servo communications unit is compatible with a standard ethernet. The high-speed digital servo communications unit transmits and receives asynchronous data for total cycle time for controlling the transmission and reception between the servo master unit and the servo slave device and data sharing method.

Description

Apparatus for interface of high-speed digital network for nano controlling

The present invention relates to an interface device for nano control used in the ultra-precision industry.

Recently, advanced controller technology in advanced countries has been developed in the form of actively improving productivity and quality through ultra-precision, high functionalization, and openness. High speed / accuracy control is realized through high-speed arithmetic processing of the controller, and digital servo interface technology with a servo capable of high-speed response with high resolution enables stable nanoscale precision control. In addition, services such as remote diagnosis and monitoring are provided through sharing process information through Ethernet communication.

The flow of this technology is "IT-based software" represented by "nano controller technology" applying high speed / high precision servo control technology, nano interpolation algorithm, etc., open software technology, web-based HMI application technology, remote monitoring / diagnosis / service technology, etc. Technology ", and" high-speed digital communication technology "represented by a digital servo interface technology capable of high speed / high precision control and a fieldbus application capable of applying standardization technology between devices.

At home and abroad, the ultra-precision parts industry, the semiconductor industry, the optical parts industry, and the next-generation core parts industry are positioned as the core manufacturing industries that determine the level of national competitiveness, and have continued to grow. In particular, the future controller technology is more advanced than now, that is, nano-grade super precision by a new control method, ultra-high speed by applying a linear motor, and the modularization of the controller and the standardization of the interface have been developed. It is expected to form.

Therefore, in addition to narrowing the technology gap with advanced countries, leading ultra-precision controller technology, and entering the domestic and overseas markets, development of practical technology for ultra-precision controllers with nano precision made of advanced knowledge-based technologies is required.

The development of such ultra-precision control technology enables ultra-precision of the controller, which is the most important factor that determines the competitiveness of the manufacturing industry, to secure the technical skills for nano-control and to produce high-value-added ultra-precision parts. In such a situation, it is urgent to secure ultra-precision control technology at the level of advanced countries and develop ultra-precision controllers. Since then, the ultra-precision control technology has a great technical ripple effect in related industries.

It is well known that such ultra-precision nanocontrol technology is becoming more common in the field of control systems. At this point, it is considered an industrially important task to develop control-based software by developing a component-based standard interface technology.

The control system of the modern industrial society requires a large amount of information processing, high-speed information communication, and integrated information management. In particular, the demands of companies and academia are gradually spreading from the labor-intensive structure of the past to the knowledge-intensive structure based on IT (Information Technology) technology and Internet technology. In the field of control automation, more and more production sites using IT technology are being used. The use of such IT technology and Internet technology is a convergence of production activities, sales support, and promotion for the purpose of shortening the delivery time and cost by the efficiency of work. In addition to the contents of the activities, it is developing into various areas such as remote monitoring and diagnosis service and order / ordering system for parts using the Internet. The use of such technologies, especially on-line services using the Internet, remote monitoring and diagnosis, and the web-based Human Machine Interface (HMI), are currently under active research, and many of them have been commercialized in advanced countries.

The development of IT and Internet technology is an important part in the field of control automation, and in line with the rapidly changing business environment and the development of the Internet technology, the necessity of developing ultra-precise nano controller and interface technology that combines the nano controller with high-speed digital networking technology is needed. It has emerged.

In the past, most control was possible through a single controller using simple control theory or distributed control using its own communication protocol for distributed control between controllers and automation devices. However, in recent years, various and complicated control technologies applied to equipment and facilities have been developed and various control elements such as sensors and actuators are provided from various vendors. The unique communication protocols and control methods provided by them differ, resulting in the inability to integrate and control the control elements of a multi-vendor.

In addition, in the past, the interface between the controller and the servo system used an analog or pulse command interface as the interface between the motion controller and the servo device. However, such an analog interface is applied. It is vulnerable to noise, has a limitation of high resolution and a limitation of information transmission, and also has a limitation of communication distance.

Accordingly, an object of the present invention is to solve the first problem described above and to ensure interoperability between control elements of multi-vendors, fieldbuses having various standard communication protocols have emerged. It guarantees scalability and facilitates the introduction of new technologies in controllers and automation related equipment. In particular, the application of this open standard fieldbus technology reduces wiring by replacing complex control wiring with a single digital communication medium, and applies intelligent control devices supporting the fieldbus network in a plug-and-play manner. The performance of the system can be improved. In addition, it is possible to safely remotely control distributed control data requiring real time and reliability by using digital communication network, and for nano control that can improve system reliability by supporting self-diagnosis and error recovery function from the network medium of fieldbus. The present invention provides a high speed digital network interface device.

In addition, an object of the present invention is to provide a high-speed digital network interface device for nano control capable of high-performance high-precision digital communication by providing a high-speed digital interface method that can share a variety of information with openness and compatibility in the servo interface.

The high speed digital network interface device for nano control according to the present invention for achieving the above object is a nano controller for performing nano control, a servo master device, a servo slave device and a servo driver for the interface between the nano controller and the servo. It comprises a high-speed digital servo communication unit consisting of, and the I / O interface communication unit consisting of a fieldbus master device for the interface between the nano-controller and the I / O device.

In addition, the high-speed digital servo communication unit is characterized in that it is compatible with the standard Ethernet.

In addition, the high-speed digital servo communication unit is characterized in that the isochron data and asynchronous data transmission and reception during the total cycle time for performing the control for data transmission and reception between the servo master device and the servo slave device.

In addition, the network hierarchical structure of the high-speed digital servo communication unit has six hierarchical structures for transmitting / receiving I / O messages and service messages, and include a physical layer, a data link layer, and a network layer. And a transport layer, an application layer, and a device profile layer.

In addition, the data link layer is characterized in that it comprises a cycle control layer (cycle control layer) for detecting the occurrence of collisions of the messages and to ensure real-time.

In addition, the servo master device includes a nano controller interface unit for interface with a nano controller, a shared memory for transmitting and receiving data with the nano controller, an Ethernet network unit as a physical layer (PHY) for a network with a standard Ethernet, and environment setting. And a processor for controlling data transmission and reception by a tool.

In addition, the servo slave device includes an Ethernet network unit, which is a physical layer (PHY) for a network with a standard Ethernet, a CPU for controlling each component to perform digital servo communication, and a shared memory for transmitting and receiving data with the servo driver. Characterized in that it comprises a.

The shared memory may be divided into an output data area, an input data area, a service data transmission area, and a service data reception area.

In addition, the fieldbus master device includes a fieldbus protocol stack having a built-in fieldbus master protocol, a user interface unit for interfacing with a user, a bus interface unit for interfacing with a nanocontroller, and a device for transmitting and receiving data with the nanocontroller. And a shared memory, a master CPU for controlling each configuration, a fieldbus interface section for connecting to the fieldbus, and a UART interface section for setting the fieldbus master with an environment setting tool.

The shared memory may be divided into an output data area, an input data area, a service data transmission area, and a service data reception area.

Accordingly, the device of the present invention provides an effect of implementing a high-speed digital interface with openness and compatibility when interfacing with a nanocontroller and a server system.

In addition, the device of the present invention can be replaced by a single digital communication medium by applying a standard fieldbus technology to reduce wiring and secure remote control of distributed control data using a digital communication network to ensure the reliability of the nano-control system Provide effect.

Hereinafter, with reference to the accompanying Figures 1 to 11 will be described in detail a preferred embodiment of the present invention.

1 is a block diagram of a high-speed digital network interface device for nano control according to an embodiment of the present invention.

Referring to FIG. 1, a high speed digital network interface device includes a high speed servo network and a fieldbus in a nanocontroller. The high speed servo network consists of a master, slave and servo driver and controls the servo using Ethernet protocol. In addition, the fieldbus consists of a fieldbus master and I / O modules and controls the fieldbus I / O devices using standard fieldbus protocols.

Here, the nanocontroller is interfaced by a high-speed digital servo interface for controlling a digital servo or a linear servo spindle and an I / O device.

The high speed digital servo interface for nano control is a high speed digital servo communication network for a large amount of motion control information interface between the nano controller and the servo driver and a fieldbus for remote input / output control between the nano controller and the I / O device as shown in FIG. I / O interface network must be established.

In this case, it is the digital servo communication master and the digital servo communication slave that enable the high speed digital servo interface in the high speed digital servo communication network. Also, it is the fieldbus master using the fieldbus that enables the high speed digital servo interface of the I / O interface communication network.

The high-speed digital servo network uses a network method that is compatible with standard Ethernet and requires periodic control. The master of the high speed digital servo communication network has a control cycle as shown in FIG.

2 is a timing diagram of a control cycle of a high-speed digital servo communication network according to the present invention.

Referring to FIG. 2, isochron data and asynchronous data are transmitted and received between the master and the slave during the total cycle time. First, the start signal STR Syn is a signal that the master transmits to all slaves as a start signal, and the slaves update the data received in the previous cycle to the actual control hardware so that all slaves control the hardware at the same time. Referring to FIG. 2, the master request signal Req and the slave response signal Res transmit a message to an I / O device using a response signal poll to each slave using an Ethernet address. At this time, the selected slave saves the output data of the I / O device which has come down to its own memory and transmits its own input data during the response signal frame period in response. In addition, in FIG. 2, the asynchronous response signal Async Res is an area used for non-urgent data transmission and consists of a basic frame. The service data (servo parameter) of the high speed digital servo communication network is transmitted and received using the UDP (user datagram protocol).

In Fig. 2, the total cycle time uses a fixed time set by the configuration so that each time the start signal frame achieves very small jitter. The master communicates with each slave using one time slot that is defined so that no data collision occurs. Here, even if there is no data to be transmitted and received as asynchronous data, the idle time is left to have the same cycle time. This control cycle between master and slave is compatible with standard Ethernet. In fact, the data result of applying such a control cycle is shown in FIG.

3 is a screen state diagram showing an experimental result of a control cycle of a high-speed digital servo communication network according to the present invention.

3 shows the results of the servo I / O data and the servo parameters on the screen.

4 is a screen state diagram showing jitter measurement experiments between a master and a slave of a high-speed digital servo communication network according to the present invention.

Referring to FIG. 4, in order to correct the time difference between frames arriving at the slave, a method of transmitting the slave to the slave using the timer of the master itself is shown.

The protocol stack used in the high-speed digital servo network is embedded. Ethernet devices that do not have such a protocol stack are separated into separate gateways. The gateway is performed in synchronization with the high-speed digital servo network to configure communication in the asynchronous data area in the control cycle of FIG. 2. Hereinafter, a protocol stack built in a high speed digital servo communication network will be described with reference to FIG. 5.

5 is a reference diagram illustrating an inter-layer model of a high speed digital servo communication network according to the present invention.

The high-speed digital servo network in the nanocontroller has a protocol that can transmit periodic motion information in real time over Ethernet. High-speed digital network topologies and applications are implemented to implement this protocol.

In FIG. 5, a network of a high-speed digital servo communication network is shown as a layer model, and in order to transmit and receive I / O messages and service messages, the physical layer and the data link layer are sequentially arranged in six layers. It is divided into a data link layer, a network layer, a transport layer, an application layer, and a device profile layer. The network layer of the high-speed digital servo communication network according to the present invention adds a cycle control layer to the data link layer. Here, the cycle control layer detects the collision of the message and guarantees real time. All applications above the cycle control layer connect to the physical layer of Ethernet only through the cycle control layer. In addition, I / O messages are directly connected to Ethernet without going through the IP layer, and service messages are connected to Ethernet through the UDP / IP layer. The cycle control layer processes I / O messages in response to periodic polling of the high-speed digital server network master. The processing of I / O messages through the cycle control layer is handled by the Ethernet header and I / O data, and the slave ID uses the MAC address of the Ethernet address. For this purpose, the Ethernet header consists of 14 bytes and the I / O data frame structure is shown below.

Ethernet header Digital Servo Data Function Length Reserved (2) User data

In addition, I / O data for digital servo control is up to 32 bytes and consists of user input data and user output data. The user output data transmitted from the nanocontroller to the servo is composed of position command data, speed command data, torque command data, and contact input data. In addition, the user input data transmitted from the servo to the nanocontroller is composed of actual speed data, encoder pulse data, output torque data, and contact output data.

5, the service message is used to transfer servo parameters between the high speed digital servo communication master and the slave. The service data frame structure is as follows.

Ethernet header  IP header   UDP header     Service message Message header servo parameter

6 is a diagram illustrating a master, slave, and nanocontrol period interfaces of a high-speed digital servo communication network according to the present invention.

Referring to FIG. 6, a master and a slave of a high speed digital servo communication network exchange data through each nanocontroller and shared memory. The shared memory performs an interface by dividing the output data area, the input data area, the service data transmission area, and the service data reception area.

As described above, the technology for transmitting and receiving data through the high-speed digital servo communication network between the nanocontroller and the servo has been described, and a detailed block diagram of the high-speed digital servo communication master and the slave operating as described above will be described with reference to FIGS. 7 and 8. .

7 is a detailed block diagram of a high-speed digital servo communication master according to the present invention.

Referring to FIG. 7, the high-speed digital servo communication master includes a nano controller interface unit for interface with a CPU of a nano controller, a shared memory (DPRAM) for transmitting and receiving data with a CPU of the nano controller, and a physical layer for networking with Ethernet. PHY) and a processor for performing data transmission and reception by an environment setting tool.

In FIG. 7, the nano controller interface unit connects the CPU and the shared memory of the nano controller and recognizes the master in the nano controller. Therefore, data transmission and reception between the nanocontroller and the master are performed through the shared memory. The shared memory operates as described above with reference to FIG. 6. The Ethernet network unit transmits and receives data with the servo via Ethernet. In addition, the processor is connected to the configuration tool to perform the configuration of the master and to control each configuration to perform data transmission and reception.

8 is a detailed block diagram of a high speed digital servo communication slave according to the present invention.

Referring to FIG. 8, the high-speed digital servo slave includes an Ethernet network unit, which is a physical layer (PHY) for the network with the Ethernet, and a CPU for controlling each component to perform digital servo communication, an LED for displaying a status, and various multiples. Memory (EEPROM, SRAM, FLASH) and shared memory for transmitting and receiving data with the servo driver. In FIG. 8, the shared memory performs an interface with the servo driver, and the CPU controls the shared memory to interface only the data portion of the Ethernet frame to the servo driver through the shared memory. Since the shared memory has been described above with reference to FIG. 6, a detailed description thereof will be omitted.

The above has described the high-speed digital servo communication network in the nanocontroller, and the fieldbus having the fieldbus master, which is an I / O interface communication network, will be described with reference to FIGS. 9 to 11.

9 is a diagram illustrating a relationship between an application program of a fieldbus master and an upper control program according to the present invention.

Assume that the upper control program in FIG. 9 corresponds to an application program of the CPU of the nanocontroller.

Referring to FIG. 9, in order for an upper control program to access input / output data exchanged with slave nodes in a fieldbus master, there must be a fieldbus master application program that operates the fieldbus master using information set in an environment setting tool. The interface between the fieldbus master's protocol stack and the application program and the interface between the fieldbus master's application program and the upper control program are all made through shared memory.

In FIG. 9, the application program of the fieldbus master periodically transmits output data transmitted from the CPU of the nanocontroller to the slave nodes. In addition, the slave node reads periodically the input data to the nanocontroller's CPU. In addition, after performing the service request of the CPU of the nano-controller and transmits the result to the CPU of the nano-controller.

Data transmission and reception through such an application is interfaced using a shared memory, which will be described with reference to FIG. 10.

10 is a view for explaining an interface between an application program of the fieldbus master and an upper control program according to the present invention.

Referring to FIG. 10, the master of the fieldbus transmits and receives data through the shared memory between the upper control program and the fieldbus master application program. The shared memory performs an interface by dividing the output data area, the input data area, the service data transmission area, and the service data reception area.

11 is a detailed block diagram of a fieldbus master in accordance with the present invention.

Referring to FIG. 11, the fieldbus master controls the respective configurations of the fieldbus protocol stack in which the fieldbus master protocol is embedded, the bus interface unit for interfacing with the CPU of the user interface unit and the nanocontroller, the shared memory and the fieldbus master. It includes LEDs for displaying the master CPU and status, a fieldbus interface unit for connecting with the fieldbus, a physical layer (PHY), and a UART interface unit for configuring the fieldbus master with an environment setting tool.

In FIG. 11, the bus interface unit interfaces with the bus of the nanocontroller and is configured as an FPGA to enable access to 8 Kbytes of shared memory. The nanocontroller's CPU can read or write data to the shared memory via the nanocontroller bus through the fieldbus master's bus interface. Meanwhile, the fieldbus interface unit performs network connection through the fieldbus. The master CPU is for the master's own application program and stores the application program with its own flash memory (not shown).

1 is a block diagram of a high-speed digital network interface device for nano control according to an embodiment of the present invention,

2 is a timing diagram of a control cycle of a high-speed digital servo network according to the present invention;

3 is a screen state diagram showing an experimental result of a control cycle of a high-speed digital servo communication network according to the present invention;

4 is a screen state diagram showing jitter measurement experimental values between a master and a slave of a high-speed digital servo communication network according to the present invention;

5 is a reference diagram showing an inter-layer model of a high speed digital servo communication network according to the present invention;

FIG. 6 is a diagram illustrating a master, slave, and nanocontrol period interface of a high speed digital servo communication network according to the present invention; FIG.

7 is a detailed block diagram of a digital servo communication master according to the present invention;

8 is a detailed block diagram of a digital servo communication slave according to the present invention;

9 is a block diagram showing a relationship between an application program of a fieldbus master and an upper control program according to the present invention;

10 is a view for explaining an interface between an application program of the fieldbus master and an upper control program according to the present invention;

11 is a detailed block diagram of a fieldbus master in accordance with the present invention.

Claims (10)

       High Speed Digital Network Interface Device for Nano Control        A nano controller for performing the nano control;        A high speed digital servo communication unit including a servo master device, a servo slave device, and a servo driver for an interface between the nanocontroller and the servo; And         A high speed digital network interface device for nano control, comprising: an I / O interface communication unit configured as a fieldbus master device for interfacing between the nanocontroller and the I / O device.        The method of claim 1,        The high speed digital servo communication unit        A high speed digital network interface device for nanocontrolling, characterized in that it is compatible with standard Ethernet.        The method of claim 2,        The high speed digital servo communication unit        And isochronous data and asynchronous data are transmitted and received during the total cycle time for performing control for data transmission and reception between the servo master device and the servo slave device.        The method of claim 1, The network hierarchy of the high-speed digital servo communication department Six layers of structure for sending and receiving I / O and service messages, Including a physical layer, a data link layer, a network layer, a transport layer, an application layer, and a device profile layer A high speed digital network interface device for nano control.        The method of claim 4, wherein The data link layer is And a cycle control layer to detect collisions of the messages and to guarantee real time.        The method of claim 1, The servo master device A nano controller interface unit for interfacing with the nano controller; Shared memory for transmitting and receiving data with the nano-controller; An Ethernet network unit, which is a physical layer (PHY) for a network with standard Ethernet; And A high speed digital network interface device for nano control comprising a processor for controlling to perform data transmission and reception by an environment setting tool.        The method of claim 6, The servo slave device        An Ethernet network unit, which is a physical layer (PHY) for a network with standard Ethernet;        A CPU which controls the respective components to perform digital servo communication; And        High speed digital network interface device for nano-control, characterized in that it comprises a shared memory for transmitting and receiving data with the servo driver.        The method according to claim 6 or 7,        The shared memory A high speed digital network interface device for nano control, comprising: an output data area, an input data area, a service data transmission area, and a service data reception area.        The method of claim 1,        The fieldbus master device A fieldbus protocol stack in which the fieldbus master protocol is embedded; A user interface unit for interfacing with a user; A bus interface unit for interfacing with the nanocontroller; Shared memory for transmitting and receiving data with the nano-controller; A master CPU for controlling each configuration; A fieldbus interface unit for connecting with the fieldbus; And A high speed digital network interface device for nano control, comprising a UART interface unit for setting the fieldbus master as a configuration tool.        The method of claim 9,        The shared memory A high speed digital network interface device for nano control, characterized by being divided into an output data area, an input data area, a service data transmission area, and a service data reception area.

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