Flexible tool control system based on Ether CAT and CAN buses

Abstract

The invention provides a flexible tool control system based on Ether CAT and CAN buses. The flexible tool control system comprises an industrial computer, a control cabinet and substation modules on a transverse beam, wherein the industrial computer servers as a core processing unit, the control cabinet and the substation modules are respectively and internally provided with a coupler module, an input module and an output module, the industrial computer is in communication with the coupler module in the control cabinet through the Ether CAT bus, the coupler module in the control cabinet is in communication with the coupler module in the substation modules through the Ether CAT buses, and the coupler modules in the substation modules are in communication through the Ether CAT bus. The CAN buses in the substation modules are in communication with servo motors controlled by the substation modules through the CAN buses, the Ether CAT buses and the CAN buses are combined through the system to be used for data transmission, and flexible shape adjustment motion control over the system is achieved. The flexible tool control system is high in integration level, and has the advantages of being reliable, stable, high in transmission performance, maneuverable, reasonable in design and the like.

Description

technical field [0001] The invention relates to a flexible tooling control system based on EtherCAT and CAN bus, belonging to the technical field of automation control. Background technique [0002] A large number of fixed installations are used in the aircraft industry, which seriously affects the production cycle of various new models and the quality of products. With the rapid development of digital technology, flexible tooling has many advantages over fixed tooling, and flexible tooling technology has been more and more widely used in aircraft manufacturing. Flexible tooling is a driving motion device composed of multiple servo motors, which can generally move in one or three directions of X, Y, and Z to achieve flexible shape adjustment to form the desired shape. The motion control method of multiple motors is particularly important and difficult to achieve. . [0003] At present, most of the flexible tooling control systems are in various forms, most of which use RS4...

AI Technical Summary

Problems solved by technology

Flexible tooling is a driving motion device composed of multiple servo motors, which can generally move in one or three directions of X, Y, and Z to achieve flexible shape adjustment to form the desired shape. The motion control method of multiple motors is particularly important and difficult to achieve.

[0003] At present, most of the flexible tooling control systems are in various forms, most of which use RS485 or RS232 communication, and the servo motor and the servo substation module are connected separately. Although it can meet the general control requirements, there are many parameters, a large number of motors and their distribution. The situation is not suitable, there are problems such as slow data transmission rate, unstable transmission, cumbersome control system, decentralized independence, inconvenient operation, etc. Therefore, the motion control of flexible tooling with multiple motors has become a difficult point

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