EtherCAT motor driver and master station clock synchronization method

A motor driver, master station technology, applied in electrical components, time division multiplexing systems, multiplexing communications, etc., can solve the problem of weak processing performance, high performance requirements, and complex MCU software architecture of the motor driver main controller. and other problems to achieve the effect of preventing the motor from running out of control and reducing the load

Active Publication Date: 2017-05-31
SHENZHEN LEADSHINE INTELLIGENT CONTROL CO LTD +1
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Problems solved by technology

[0005] The above synchronization method has the following defects: the software architecture of the main controller MCU of the motor driver is complex; the interrupt nesting process has high requirements on the performance of the main controller MCU; the possibility of uncontrollable timing management of multiple interrupts
If the processing performance of the main control chip of the motor driver is weak, the huge software overhead and multi-interrupt nested control may cause it to be unable to load, and even affect its normal operation

Method used

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  • EtherCAT motor driver and master station clock synchronization method
  • EtherCAT motor driver and master station clock synchronization method
  • EtherCAT motor driver and master station clock synchronization method

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Embodiment Construction

[0034] The present invention will be further described below with reference to the accompanying drawings and in combination with preferred embodiments.

[0035] Such as figure 1 Shown is a structural diagram of a drive control system according to a specific embodiment of the present invention. The drive control system includes an EtherCAT master station, an EtherCAT motor controller and a motor. Wherein the EtherCAT motor controller includes a slave station controller (the hardware chip of ET1100 is adopted in this specific embodiment) and a main control MCU, and the main control MCU includes a parallel port module, a synchronization module and a PWM module.

[0036] figure 1 The arrow 1 shown is the real-time data interaction between the EtherCAT master station and the slave station controller, which mainly completes the real-time position / speed / torque data interaction and the real-time compensation of the distributed clock (DC) in the network;

[0037] Arrow 2 is the paral...

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Abstract

The invention discloses an EtherCAT motor driver and master station clock synchronization method. An EtherCAT motor driver comprises a slave station controller and a master control MCU, the master control MCU comprises a parallel port module, a synchronization module and a PWM module, and a motor is connected with the EtherCAT motor driver. The synchronization method comprises the steps that S1, after the EtherCAT motor driver receives a request enabling instruction of a master station, a counter of the PWM module is reset during interrupt triggering of an SYNC synchronizing signal; S2, the motor is enabled; S3, the master station sends the clock of the slave station controller and the drift value of the reference clock of the master station to the slave station controller, and the slave station controller adjusts the period number of the PWM module according to the drift value. According to the synchronization method, the load of the master control MCU is greatly reduced, and the method can be suitable for low-performance master control MCUs.

Description

technical field [0001] The invention relates to the technical field of real-time Ethernet and motor digital control, in particular to a method for synchronizing an EtherCAT motor driver and a clock of a master station. Background technique [0002] Industrial fieldbus industrial control products have occupied a large share of the industrial control market so far, and have maintained a rising trend year by year; among them, EtherCAT fieldbus is the most representative due to its advantages such as simple wiring, easy maintenance, and good master-slave synchronization performance. Industrial fieldbus; at the end of 2014, it was identified as the national industrial fieldbus standard recommended by GB / T 31230 China by the Standardization Administration of China. [0003] EtherCAT is an open high-real-time Ethernet technology. In the industrial motion control network built using EtherCAT bus technology, the master station can send position / speed / torque data to the EtherCAT drive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04J3/06
CPCH04J3/0658
Inventor 包佑炳覃海涛吴立田天胜李卫平
Owner SHENZHEN LEADSHINE INTELLIGENT CONTROL CO LTD
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