EtherCAT master station synchronization method based on non-real-time system

Abstract

The invention provides an EtherCAT master station synchronization method based on a non-real-time system. The EtherCAT master station synchronization method specifically comprises the steps that a master station is initialized; the master station enables a slave station to start a DC synchronization signal and work in a free operation mode; real-time dynamic synchronous adjustment is achieved between the master station and the slave stations through a reference clock, and the master station receives and transmits slave station data in an optimized periodic communication mode, and the master station shutdowns communication interface. The method has the beneficial effects that under the condition of not changing the universality and compatibility of an operating system, the defect of poor synchronization precision caused by the fact that the slave station cannot operate a DC synchronization mode in the non-real-time system is overcome, and the synchronization precision and stability between the master station and the slave station are improved.

Description

technical field [0001] The invention relates to the field of industrial Ethernet field bus communication, in particular to a method for synchronizing an EtherCAT master station based on a non-real-time system. Background technique [0002] There are several synchronization methods between the EtherCAT protocol master station and slave station: [0003] The first is the realization of the soft master station driven by the real-time expansion system and the dedicated network card. At present, there are mainly commercial real-time patches such as RTX and INTIME on the Windows platform. The master station protocol is realized through the real-time thread, message event and other interfaces provided by the real-time system, such as TwinCAT and other master station systems. The disadvantage of this method is that it can only support limited and specific types of network cards, requires related licenses and fees, and modifies the kernel characteristics of the operating system, re...

AI Technical Summary

Problems solved by technology

This method is more suitable for the master station platform of the non-real-time system, but due to the periodic jitter of the master station and the delay of transmission distance, the arrival time of different slave station data packets is inconsistent, and the synchronization accuracy is greatly affected

[0007] There are three main reasons for adopting the EtherCAT synchronization method of non-real-time systems: (1) For some commercial operating systems, the licensing fee for adopting real-time solutions is very high; (2) For many open source operating system platforms, there is no real-time The scheme or scheme is immature, such as Linux, Andriod, etc. customized for various CPU chips; (3) Many large-scale industry software, such as various simulations, tests, games / VR, and related control systems can only run in commercial non-real-time operating system platform

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