Synchronization method of servo drive based on ethercat real-time Ethernet

Abstract

A servo drive synchronization method based on EtherCAT real-time Ethernet, including: when the slave station link layer control module is triggered by the distributed clock, it requests a synchronous interrupt from the application layer control module; the application layer control module calculates the interrupt response delay every time it enters the synchronous interrupt Δt1; when entering the synchronous interrupt for the first time, calculate Tset=TOffset+(Tc-Δt1), Tset is the next servo interrupt initiation time after the application layer control module receives the synchronous interrupt request for the first time, and TOffset is the time when the application layer control module receives The time offset between the next servo interrupt initiation time after the synchronous interrupt request and the time when the synchronous interrupt request is received. The application layer control module adjusts the timing cycle of the servo program when entering the synchronous interrupt for the first time according to Tset, and restores the timing cycles of other servo programs in the first communication cycle to normal. The invention avoids the conflict between data update and servo application program, and realizes synchronous update and execution of 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...

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 execution may deviate by one cycle

And the synchronous interrupt has a higher priority, which can interrupt the PDI interrupt, resulting in an incomplete data update error;

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