Arm-based embedded real-time ethercat master station construction method

Abstract

The invention relates to an embedded real-time EtherCAT master station construction method based on an ARM. The embedded real-time EtherCAT master station construction method realizes data communication between a CPU and the ARM through sharing a DPRAM of an FPGA by the CPU and the ARM. The embedded real-time EtherCAT master station construction method comprises the steps that: a master station is initialized; and the CPU sends a control instruction to the DPRAM of the FPGA, and the ARM obtains the control instruction from the FPGA and conducts periodic communication or non-periodic communication with a slave station. The embedded real-time EtherCAT master station construction method based on the ARM saves cost. The embedded real-time EtherCAT master station construction method adopts an LPC4330 high-performance embedded processor, can be changed on the basis of an original PCI bus, and has better cost advantage when compared with the traditional method of implementing an EtherCAT master station based on an industrial PC. The embedded real-time EtherCAT master station construction method implemented by the invention can be directly integrated in an embedded system for use, does not need to modify the original numerical control system software, reduces computation tasks of the host, reduces the usage rate of the CPU, and accelerates the operation speed. The embedded EtherCAT master station implemented by adopting the embedded real-time EtherCAT master station construction method can share program tasks generated by distributed clocks, state machines, frame operations and the like by adopting the protocol.

Description

technical field [0001] The invention relates to the technical field of numerical control, in particular to the technical field of building an embedded real-time EtherCAT master station, in particular to a method for building an embedded real-time EtherCAT master station based on an LPC4330 processor. Background technique [0002] The traditional fieldbus controls the DA voltage, the encoder feedback position, etc. through the analog quantity control method. However, this control method is significantly disturbed by the environment, and has disadvantages such as inflexible installation, troublesome debugging, inaccurate control, high cable cost, complex system design and limited number of drive slave devices. [0003] Real-time industrial Ethernet is more and more applied to the field of numerical control because of its fast transmission speed, large data packet capacity, long transmission distance, high real-time performance and open interconnection. EtherCAT (Ethernet for ...

AI Technical Summary

Problems solved by technology

However, the existing implementation of this EtherCAT master station uses the cooperation of CPU and network card to process the sending and receiving operations of data frames, which reduces the stability of data frame sending and receiving. At the same time, the single buffer operation mode of network card also reduces the efficiency of data sending and receiving, resulting in Stability issues and efficiency issues applied to industrial environments

Secondly, the EtherCAT master station of this master station solution cannot be widely compatible with various operating systems, and it is difficult to transplant, which causes the compatibility problem of platform resources

Images