Servo driver synchronized method based on Ether CAT real-time Ethernet

A technology of servo drive and Ethernet, applied in the direction of time division multiplexing system, electrical components, multiplexing communication, etc., can solve the problem of asynchronous servo application variables, one cycle of update and execution deviation, incomplete data update, etc. problems, to achieve the effect of improving synchronization performance, avoiding conflicts, improving reliability and security

Active Publication Date: 2015-11-04
SHANGHAI STEP ELECTRIC +1
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AI Technical Summary

Problems solved by technology

When the distribution clock cycle is not equal to the communication cycle, the servo application variables on each slave station are not synchronized, and their update and

Method used

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  • Servo driver synchronized method based on Ether CAT real-time Ethernet
  • Servo driver synchronized method based on Ether CAT real-time Ethernet
  • Servo driver synchronized method based on Ether CAT real-time Ethernet

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Embodiment Construction

[0031] Under the premise of ensuring the highest priority of the servo interrupt, the servo interrupt and the EtherCAT synchronous interrupt need to be coordinated so that the triggering of the two interrupts does not interfere with each other. The servo drive synchronization method based on EtherCAT real-time Ethernet according to an embodiment of the present invention comprises the following steps:

[0032] The link layer control module of the slave station requests a synchronous interrupt from the application layer control module of the slave station when the distributed clock is triggered;

[0033] The application layer control module reads the current system time T every time it enters the synchronous interrupt sys (that is, the time displayed by the system clock) and the count value T of the servo timer c , and calculate the interrupt response delay Δt 1 ; where, Δt 1 =T sys -T dc-sys , interrupt response delay Δt 1 is the offset between the moment when the link la...

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Abstract

A servo driver synchronized method based on Ether CAT real-time Ethernet comprises the steps as follows: a slave station link layer control module requests a synchronous interruption to an application layer control module while a distribution clock is triggered; the application layer control module calculates interrupt response time delay delta t1 while entering into the synchronous interruption every time, calculates Tset = TOffset + (Tc-delta t1) while entering into the synchronous interruption for the first time, wherein Tset represents next time of initiating servo interruption after the application layer control module receives a synchronous interruption request for the first time, and TOffset represents time deviation between the next time of initiating servo interruption and time of receiving the synchronous interruption request after the application layer control module receives the synchronous interruption request, and the application layer control module adjusts timing cycle of a servo program which enters into the synchronous interruption for the first time and recovering the timing cycle of other servo programs to normal in a first communication period. The servo driver synchronized method of the invention avoids the conflicts between data updating and a servo application program, and synchronously updates and executes servo control data.

Description

technical field [0001] The invention relates to a servo drive synchronization method based on EtherCAT real-time Ethernet. Background technique [0002] The development level of the motion control system determines the level of a country's equipment manufacturing industry. With the development of field bus and network technology, distributed motion control system is an important development direction of CNC system. A high-level distributed motion control system needs to realize high-precision current, speed and position full-closed-loop control, and needs to realize efficient and high-speed information exchange. [0003] The traditional servo drive interface needs to be equipped with an additional motion control card, and the motion control card and the servo drive are connected with pulse commands and analog signals. This method has complex wiring, low communication rate, complex centralized control method, and poor scalability, which seriously restricts the development a...

Claims

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Application Information

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IPC IPC(8): H04J3/06
Inventor 张金泽严彩忠王科丁信忠李虎修柳竹青
Owner SHANGHAI STEP ELECTRIC
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