WO2018188070A1 - Conversion apparatus and control system - Google Patents

Abstract

A conversion apparatus (402) for reducing the upgrade cost brought about by the upgrade of the entire industrial system. The conversion apparatus (402) comprises: a processing module (202), and an EtherCAT module (201) and an analogue interface module (203) connected to the processing module (202), wherein the conversion apparatus (402) is connected to an EtherCAT main station (401) by means of the EtherCAT module (201), and is connected to a controlled device (403) by means of the analogue interface module (203); the EtherCAT module (201) is used for receiving an EtherCAT protocol data frame transmitted by the EtherCAT main station (401), and extracting target EtherCAT protocol data from the EtherCAT protocol data frame; the processing module (202) is used for acquiring the target EtherCAT protocol data from the EtherCAT module (201), and converting, according to a configuration parameter of the controlled device (403), the target EtherCAT protocol data into analogue data; and the analogue interface module (203) is used for sending the analogue data obtained after the conversion by the processing module (202) to the controlled device (403), which is connected to the analogue interface module (203).

Description

Conversion device and control system Technical field

The present invention relates to the field of communications technologies, and in particular, to a conversion device and a control system.

Background technique

With the development of computer technology, communication technology and control technology, the traditional industrial control field has begun to develop in the direction of networking. The structure of the industrial control system evolved from the initial centralized computer control system to the decentralized control system to the now popular fieldbus control system. Fieldbus is an industrial data bus that has been rapidly developed in recent years. It mainly solves the digital communication between field devices such as intelligent instrumentation, controllers and actuators in industrial fields and between these field control devices and advanced control systems. Information transfer problem.

In the current industrial control system, the control field of the entire industrial control system is developing in the direction of Industrial Ethernet and Industry 4.0, and more and more production lines are beginning to use Industrial Ethernet. Among them, Ethernet control automation technology (English: ethernet control automation technology, abbreviation: EtheCAT) control system is a widely used fieldbus control system based on industrial Ethernet.

At present, many controlled devices, such as servo drives and inverters, are mostly controlled devices that provide analog interfaces. In the prior art, when upgrading an industrial control system that does not support EtherCAT to an EtherCAT control system that supports EtherCAT, the main controller of the industrial control system needs to be upgraded to an EtherCAT primary station, and when the main controller is upgraded to an EtherCAT main After the station, the controlled device with the analog interface in the industrial control system is not compatible with the EtherCAT network, and the controlled device with the analog interface needs to be replaced with the controlled device with the bus interface. For example, it is necessary to replace a servo drive with an analog interface with a servo drive with a bus interface, which will bring a high upgrade cost to the upgrade of the entire industrial control system.

Summary of the invention

The invention provides a conversion device and a control system for reducing the upgrade cost of an industrial control system.

In view of this, embodiments of the present invention provide a conversion apparatus that is applied to an EtherCAT control system including an EtherCAT primary station, a controlled device having an analog interface, and a conversion device, the conversion The device includes: a processing module and an EtherCAT module and an analog interface module connected to the processing module, wherein the converting device is connected to the EtherCAT main station by using the EtherCAT module, and using the analog interface module and the controlled device connection;

The EtherCAT module is configured to receive an EtherCAT protocol data frame transmitted by the EtherCAT primary station; and extract target EtherCAT protocol data from the EtherCAT protocol data frame;

The processing module is configured to acquire the target EtherCAT protocol data from the EtherCAT module, and convert the target EtherCAT protocol data into analog data;

The analog interface module is configured to send analog data obtained after being converted by the processing module to a controlled device connected to the analog interface module.

In a possible implementation, the EtherCAT module includes an EtherCAT slave protocol chip, and the EtherCAT module is specifically configured to:

Receiving, by the EtherCAT slave protocol chip, an EtherCAT protocol data frame transmitted by the EtherCAT primary station;

The target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip.

In a possible implementation, the EtherCAT module is also used to:

Sending a first interrupt signal to the processing module when the target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip; the first interrupt signal is used to indicate the EtherCAT module extraction Go to the target EtherCAT protocol data;

The processing module is configured to acquire the target EtherCAT protocol data from the EtherCAT module, including:

The processing module is configured to acquire the target EtherCAT protocol data from the EtherCAT module after receiving the first interrupt signal.

In a possible implementation, the EtherCAT module is also used to:

After the analog interface module sends the analog data obtained after the conversion by the processing module to the controlled device connected to the analog interface module, through the EtherCAT slave protocol chip The processing module sends a second interrupt signal to cause the processing module to maintain synchronization with the clock of the EtherCAT control system after receiving the second interrupt signal.

In a possible implementation, the analog interface module is further configured to:

Receiving feedback information sent by the controlled device to the EtherCAT primary station.

In a possible implementation, the conversion device further includes a power module;

The power module is configured to provide power to the conversion device.

In a possible implementation, the processing module includes a field programmable gate array (English: field programmable gate array, abbreviated:) FPGA device;

The power module is specifically configured to provide a core voltage and a peripheral input/output (English: input/output, abbreviation: IO) voltage to the FPGA device.

In a possible implementation, the conversion device further includes a reset module;

The reset module is configured to monitor the peripheral IO voltage;

Resetting the core voltage of the FPGA device and the peripheral IO voltage when the peripheral IO voltage is lower than a preset value;

In a possible implementation, the reset module is further configured to:

When the power module supplies power to the FPGA device, the power module is controlled to power on the core voltage, and then the peripheral IO voltage is powered on within a preset time period.

In a possible implementation, the conversion device further comprises a debug interface.

In a possible implementation, the debug interface is an asynchronous transfer standard debug interface (RS232 interface).

In a possible implementation, the conversion device further includes a storage module;

The processing module is further configured to load a configuration file of the FPGA device when the FPGA device is started, and store the configuration file in the storage module.

In a second aspect, an embodiment of the present invention further provides an EtherCAT control system including an EtherCAT master station, a controlled device having an analog interface, and the conversion device described above, the conversion device respectively associated with the EtherCAT The master station is connected to the controlled device.

It can be seen from the above technical solution that the embodiment of the present invention provides a conversion device, which is applied to an EtherCAT control system, where the EtherCAT control system includes an EtherCAT main station, a controlled device having an analog interface, and the above-mentioned conversion device. The conversion device includes: a processing module and a device The EtherCAT module and the analog interface module connected to the processing module, the conversion device is connected to the EtherCAT main station by using the EtherCAT module, and is connected to the controlled device by using the analog interface module; and the EtherCAT module is configured to receive EtherCAT protocol data frame transmitted by EtherCAT master station; target EtherCAT protocol data is extracted from EtherCAT protocol data frame; processing module is used to obtain target EtherCAT protocol data from EtherCAT module, and convert target EtherCAT protocol data into analog data; analog interface The module is configured to send the analog data obtained by the conversion of the processing module to the controlled device connected to the analog interface module. It can be seen that the conversion device of the present invention can convert the EtherCAT protocol data into analog data required by the controlled device having the analog interface. When the main controller of the industrial control system is upgraded to the EtherCAT master station, it is not necessary to have only the analog interface. The control device is replaced with a controlled device with a bus interface to reduce the upgrade cost of upgrading the entire industrial system.

DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention, which are common in the art. Other figures can also be obtained from the skilled person in view of these figures.

1 is a schematic diagram of a system framework of an EtherCAT control system according to an embodiment of the present invention;

2 is a schematic structural diagram of a data frame of an EtherCAT protocol according to an embodiment of the present invention;

3 is a schematic structural diagram of an embodiment of a conversion device according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an embodiment of an EtherCAT control system according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is an embodiment of the invention, but not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention should fall within the scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if present) in the specification and claims of the present invention and the above figures are used to distinguish similar objects without having to use Describe the specific Order or order. It is to be understood that the data so used may be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than what is illustrated or described herein. In addition, the terms "comprises" and "comprises" or "the" or "the" or "the" Units, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

First, for ease of understanding, an EtherCAT control system to which the conversion apparatus of the embodiment of the present invention is applied is introduced. As shown in FIG. 1, FIG. 1 is a schematic diagram of a framework of an EtherCAT control system including an EtherCAT main control according to an embodiment of the present invention. The station, the N controlled devices having the analog interface, and the N conversion devices provided by the embodiments of the present invention, N is a positive integer, the conversion device is connected to the EtherCAT primary station, and each controlled device is connected to the controlled device. It should be noted that, in the embodiment of the present invention, a switching device may be connected to the N controlled devices having the analog interface, which is not limited herein. The conversion device in the embodiment of the present invention will be described below with reference to the system frame diagram shown in FIG.

The EtherCAT protocol data frame sent by the EtherCAT master station passes through the conversion device in the EtherCAT control system. When the conversion device passes the conversion device, the conversion device determines that the EtherCAT protocol data frame sent by the EtherCAT master station contains the EtherCAT protocol data related to the controlled device. The EtherCAT protocol data related to the controlled device can be read from the EtherCAT protocol data frame sent by the EtherCAT master station, thereby converting the EtherCAT protocol data into analog data, and transmitting the converted analog data to the controlled device. Complete the relevant operations on the controlled device. Exemplarily, if the EtherCAT protocol data frame sent by the EtherCAT primary station passes through the conversion device 1, the conversion device 1 determines that the EtherCAT protocol data frame sent by the EtherCAT primary station contains the EtherCAT protocol data related to the controlled device 1, and may The EtherCAT protocol data frame sent by the EtherCAT master station reads out the EtherCAT protocol data related to the controlled device 1, thereby converting the EtherCAT protocol data into analog data, and transmitting the converted analog data to the controlled device 1, The related operations on the controlled device 1 are completed.

The conversion device provided by the present invention will be described below by way of specific embodiments.

Referring to FIG. 2, FIG. 2 is a schematic structural view of an embodiment of a conversion device according to the present invention. The conversion device is applied to the EtherCAT control system shown in FIG. 1, and the conversion device includes: EtherCAT The module 201, the processing module 202, and the analog interface module 203, the conversion device is connected to the EtherCAT main station by using the EtherCAT module 201, and is connected to the controlled device by using the analog interface module 203;

The functions/interactions between the various modules are described below.

The EtherCAT module 201 is configured to receive an EtherCAT protocol data frame transmitted by the EtherCAT primary station;

As shown in FIG. 3, it is a schematic structural diagram of an EtherCAT protocol data frame sent from the EtherCAT primary station to the outside through the bus. The EtherCAT protocol data frame includes a destination address, a source address, a frame type, an EtherCAT header, an EtherCAT data, and a frame check sequence (abbreviation: FCS), wherein the EtherCAT header includes an EtherCAT data length, a reserved bit, and a type; The EtherCAT data includes multiple sub-messages, each sub-message includes a sub-message header, a target EtherCAT protocol data, a work counter (English: work counter, abbreviation: WKC), and each sub-message header includes a command, an index, an address area, and a length. , R bit, M bit and status bit. Among them, in the EtherCAT protocol data frame, the meaning of some components of the frame structure is as follows:

Table 1

name	meaning
Destination address/source address	Receiver's physical address / sender's physical address
Frame type	Indicates the frame type of the EtherCAT protocol data frame
EtherCAT data length	Total length of each sub-message
Target EtherCAT protocol data	Subcarrier data
length	Length of target EtherCAT protocol data
command	Addressing mode
index	Frame coding

It should be noted that more details about the various components shown in Table 1 will not be repeated here. For other components of the EtherCAT protocol data frame sent by the EtherCAT master station, such as FCS/WKC, etc., I will not repeat them one by one.

When the EtherCAT master station sends the EtherCAT protocol data frame, it determines the Ethernet network segment to be addressed through the destination address of the EtherCAT protocol data frame, and then according to the EtherCAT protocol data frame. The sub-message header is addressed to the controlled device under the Ethernet network segment. For ease of understanding, it is assumed here that the conversion devices under the EtherCAT control system shown in FIG. 1 are in the same Ethernet network segment.

In the embodiment of the present invention, when the EtherCAT primary station needs to control the controlled device, the EtherCAT protocol data frame is sent to the Ethernet network segment where the controlled device is located through the bus, and the EtherCAT protocol data frame transmitted by the EtherCAT primary station is used. Through the conversion device of the present invention, the EtherCAT module 201 can receive the EtherCAT protocol data frame transmitted by the EtherCAT primary station and parse the EtherCAT protocol data frame to identify the target EtherCAT protocol data to be acquired.

Specifically, in some embodiments of the present invention, the EtherCAT module 201 includes an EtherCAT slave protocol chip 2011, and the EtherCAT module 201 receives the EtherCAT protocol data frame transmitted by the EtherCAT master station through the EtherCAT slave protocol chip 2011, and passes The EtherCAT slave protocol chip 2011 identifies the packet to be acquired, and the EtherCAT slave protocol chip 2011 identifies the sub-message to be acquired through the address area in the sub-message header, and extracts the target EtherCAT protocol data from the sub-message. .

The processing module 202 is configured to acquire target EtherCAT protocol data acquired by the EtherCAT module 201 from the EtherCAT module 201, and convert the target EtherCAT protocol data into analog data.

In the embodiment of the present invention, the processing module 202 is configured to convert the target EtherCAT protocol data into analog data, which is to convert the target EtherCAT protocol data that needs to be controlled by the controlled device into a corresponding analog quantity for controlling the controlled device.

Specifically, in the embodiment of the present invention, the processing module 202 converts the target EtherCAT protocol data into analog data according to configuration parameters of the controlled device. For ease of understanding, the following describes a case where the controlled device is a servo driver having an analog interface.

It should be understood that the servo driver, also known as the servo controller, is a controller for controlling the servo motor. Generally, the servo driver controls the servo motor by three ways: position, speed and torque. Correspondingly, in the EtherCAT control system, the target EtherCAT protocol data sent by the EtherCAT master station may be EtherCAT protocol data such as location data, speed data, torque data, etc., at this time, through the processing module 202, according to the configuration parameters of the servo driver (for example, how large The rated current can reach the speed and other parameters), the EtherCAT protocol data such as position data can be converted into corresponding analog data, so that the servo driver with the analog interface performs the corresponding action according to the corresponding analog data.

Exemplarily, it is assumed that a servo motor speed of 500 rpm requires a current of 10 mA. If the speed data extracted by the processing module 202 from the EtherCAT module 201 is 500 rpm (revolutions per minute), the processing module can convert 500 rpm into a corresponding current. The analog quantity is 10 mA.

The analog interface module 203 is configured to send the analog data obtained after being converted by the processing module 202 to the controlled device connected to the analog interface module 203.

Exemplarily, the above 10 mA can be transmitted to the servo driver through the analog interface 203, so that the servo driver controls the servo motor connected to the servo driver according to 10 mA.

It can be seen that the conversion device of the present invention can convert the EtherCAT protocol data into analog data required by the controlled device having the analog interface. When the main controller of the industrial control system is upgraded to the EtherCAT master station, it is not necessary to have only the analog interface. The control device is replaced with a controlled device with a bus interface to reduce the upgrade cost of upgrading the entire industrial system.

In some embodiments of the invention, the EtherCAT module 201 is further configured to:

Sending a first interrupt signal to the processing module 202 when the target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip; the first interrupt signal is used to indicate the EtherCAT module 201 extracting the target EtherCAT protocol data;

The processing module 202 is configured to obtain the target EtherCAT protocol data from the EtherCAT module, including:

The processing module 202 is configured to extract the target EtherCAT protocol data from the EtherCAT module 201 after receiving the first interrupt signal.

In this way, the target EtherCAT protocol data can be effectively processed in time.

In some embodiments of the invention, the EtherCAT module 201 is further configured to:

After the target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip, a second interrupt signal is sent to the processing module 202 by the EtherCAT slave protocol chip to cause the processing After receiving the second interrupt signal, the module 202 maintains synchronization with the clocks of the respective controlled devices of the EtherCAT control system.

It should be understood that when the EtherCAT protocol data frames sent from the EtherCAT master are routed by the bus through the various switching devices, there is a different time delay for each of the switching devices to receive the EtherCAT protocol data frames. For example, the conversion device 1 starts transmitting the number of EtherCAT protocols at the EtherCAT primary station. The EtherCAT protocol data frame is received 2 ms after the frame time, and the conversion device 2 receives the EtherCAT protocol data frame transmitted by the EtherCAT master station after 3 ms. After the target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip, if it is necessary to keep the synchronized operation of each controlled device, that is, keep the clock synchronization of the controlled device, The EtherCAT slave protocol chip sends a second interrupt signal to the processing module 202 to cause the processing module to maintain transmission time synchronization when transmitting analog data to the controlled device connected to the analog interface module.

In some embodiments of the present invention, the analog interface module 203 is further configured to:

Receiving feedback information sent by the controlled device to the EtherCAT primary station.

In the embodiment of the present invention, the analog interface module 203 can receive the feedback information sent by the controlled device to the EtherCAT primary station. For example, after the controlled device performs corresponding actions according to the received analog data, the device can be sent to the EtherCAT primary station. The information related to the feedback, such as the information on whether the controlled device is successfully executed, or the information such as the running status of the controlled device, is not described here, nor is it limited.

In some embodiments of the present invention, the conversion device further includes a power module 204;

The power module 204 is configured to provide power to the conversion device.

In some embodiments of the invention, the processing module 202 includes an FPGA device;

The power module 204 is specifically configured to provide a core voltage and a peripheral IO voltage to the FPGA device.

It should be noted that the processing module 202 may also be a central processing unit (English: central processing unit, abbreviated as CPU), a network processor (English: network processor, abbreviated as NP), or a combination of a CPU and an NP. The processor may further include a hardware chip, which may be an application-specific integrated circuit (ASIC), a programmable logic device (abbreviated as PLD), or a combination thereof. In addition, the PLD may be a complex programmable logic device (abbreviation: CPLD), an FPGA device, a general array logic (GAL), or any combination thereof, and is not used in the present invention. Any restrictions.

The entire power module 204 needs to supply power to the FPGA device and its peripheral circuits through the connector to adjust the core voltage and peripheral IO voltage required by the FPGA device to supply power to the FPGA device. It should be noted that the power module is used to implement the power module, which is not limited herein. For example, a power chip can be selected. For example, the power chip can use the TPS54325 chip as the power module 204, as long as the processing module 202 is enabled. Provide the required working voltage.

For ease of understanding and description, the following description will be taken as an example in which the processing module 202 is implemented by using an FPGA device.

In some embodiments of the present invention, the conversion device further includes a reset module 205;

The reset module 205 is configured to monitor a peripheral IO voltage of the FPGA device.

Resetting the core voltage of the FPGA device and the peripheral IO voltage when the peripheral IO voltage is lower than a preset value;

In some embodiments of the present invention, the reset module 205 is further configured to:

When the power module 204 supplies power to the FPGA device, the power module 204 is controlled to power on the core voltage, and then the peripheral IO voltage is powered on within a preset time period. The preset duration can be configured according to the actual situation, which is not limited here.

In some embodiments of the invention, the conversion device also includes a debug interface 206.

In some embodiments of the invention, the debug interface 206 is an asynchronous transfer standard debug interface (RS232). In a possible implementation, the debug interface 206 is used to output debug information of the conversion device and to debug the conversion device via the debug interface.

In some embodiments of the present invention, the conversion device further includes a storage module 207;

The processing module 202 is further configured to load a configuration file of the FPGA device when the FPGA device is started, and store the configuration file in the storage module, and use a configuration file stored in the storage module The related configuration of the FPGA device is performed.

In some embodiments of the present invention, the storage module includes a flash chip, and the processing module 202 is configured to load a configuration file of the FPGA device when the FPGA device is booted, and configure the configuration file. The file is stored in the flash chip, and the FPGA device can be configured to be in a flash boot mode by using the configuration file.

The storage module is further configured to configure the FPGA device into a flash boot mode by using the flash chip.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of an embodiment of an EtherCAT control system 400 according to an embodiment of the present invention, including: an EtherCAT primary station 401, a conversion device 402 described above, and A controlled device 403 having an analog interface, the conversion device 402 is respectively connected to the EtherCAT primary station 401 and the controlled device 403, and the conversion device 402 is used to implement the functions of the conversion device described in the above embodiments. For details about the working process of the EtherCAT control system, refer to the foregoing description, and details are not described herein again.

In the embodiments provided by the present invention, it should be understood that the disclosed systems, modules, and methods may be implemented in other manners. For example, the embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or may be Integrate into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional module in the embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit, which is not limited herein.

The integrated modules, when implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (English: read-only memory, abbreviation: ROM), a random access memory (English; random access memory, abbreviation: RAM), a magnetic disk or an optical disk, and the like. A variety of media that can store program code.

The above embodiments are only used to illustrate the technical solutions of the present invention, and are not limited thereto; The present invention has been described in detail with reference to the foregoing embodiments, and those skilled in the art will understand that the technical solutions described in the foregoing embodiments may be modified, or some of the technical features may be equivalently replaced. Modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the invention.

Claims (13)

1. A conversion device for use in an Ethernet control automation technology EtherCAT control system, the EtherCAT control system comprising an EtherCAT master station, a controlled device having an analog interface, and the conversion device, wherein The conversion device includes: a processing module and an EtherCAT module connected to the processing module, an analog interface module, wherein the conversion device is connected to the EtherCAT main station by using the EtherCAT module, and is controlled by the analog interface module Device connection

   The EtherCAT module is configured to receive an EtherCAT protocol data frame transmitted by the EtherCAT primary station; and extract target EtherCAT protocol data from the EtherCAT protocol data frame;

   The processing module is configured to acquire the target EtherCAT protocol data from the EtherCAT module, and convert the target EtherCAT protocol data into analog data according to a configuration parameter of the controlled device;

   The analog interface module is configured to send analog data obtained after being converted by the processing module to a controlled device connected to the analog interface module.
2. The conversion device according to claim 1, wherein said EtherCAT module comprises an EtherCAT slave protocol chip, and said EtherCAT module is specifically configured to:

   Receiving, by the EtherCAT slave protocol chip, an EtherCAT protocol data frame transmitted by the EtherCAT primary station;

   The target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip.
3. The conversion device according to claim 2, wherein the EtherCAT module is further configured to:

   Transmitting a first interrupt signal to the processing module when the target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip; the first interrupt signal is used to indicate the EtherCAT The module extracts the target EtherCAT protocol data;

   The processing module is configured to acquire the target EtherCAT protocol data from the EtherCAT module, including:

   The processing module is configured to extract the target EtherCAT protocol data from the EtherCAT module after receiving the first interrupt signal.
4. The conversion device according to claim 2, wherein the EtherCAT module is further configured to:

   After the target EtherCAT protocol data is extracted from the EtherCAT protocol data frame by the EtherCAT slave protocol chip, a second interrupt signal is sent to the processing module by the EtherCAT slave protocol chip, so that the processing module After receiving the second interrupt signal, the clocks of the respective controlled devices of the EtherCAT control system are kept synchronized.
5. The conversion device according to any one of claims 1 to 4, wherein the analog interface module is further configured to:

   Receiving feedback information sent by the controlled device to the EtherCAT primary station.
6. The conversion device according to any one of claims 1 to 4, wherein the conversion device further comprises a power module;

   The power module is configured to provide power to the conversion device.
7. The conversion device according to claim 6, wherein the processing module employs a field programmable gate array FPGA device;

   The power module is specifically configured to provide a core voltage and a peripheral input and output IO voltage to the FPGA device.
8. The conversion device according to claim 7, wherein said conversion device further comprises a reset module;

   The reset module is configured to monitor the peripheral IO voltage;

   When the peripheral IO voltage is lower than a preset value, a reset operation is performed on the core voltage of the FPGA device and the peripheral IO voltage.
9. The conversion device according to claim 8, wherein the reset module is further configured to:

   When the power module supplies power to the FPGA device, the power module is controlled to power on the core voltage, and then the peripheral IO voltage is powered on.
10. A conversion device according to any one of claims 1 to 4, wherein the conversion device further comprises a debug interface.
11. The conversion device according to claim 10, wherein the debug interface is an asynchronous transfer standard RS232 debug interface.
12. The conversion device according to claim 7, wherein said conversion device further comprises Storage module

    The processing module is further configured to load a configuration file of the FPGA device when the FPGA device is started, and store the configuration file in the storage module.
13. An Ethernet control automation technology EtherCAT control system, comprising: an EtherCAT master station, a controlled device having an analog interface, and the conversion device according to claims 1-12, wherein the conversion device is respectively associated with the EtherCAT master The station is connected to the controlled device.

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