A Synchronization Method of Ethercat Master Station Based on Non-real-time System
A non-real-time, master station technology, applied in the direction of time division multiplexing system, transmission system, digital transmission system, etc., can solve problems such as immature solutions, high license fee cost, and influence on synchronization accuracy, and achieve the goal of improving accuracy Effect
Active Publication Date: 2022-04-29
武汉迈信电气技术有限公司
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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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[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0047] Please refer to figure 1 , the embodiment of the present invention provides a kind of flow chart of the EtherCAT master synchronization method based on non-real-time system, specifically comprises:
[0048] S101: master station initialization;
[0049] S102: In the configuration stage, the master station enables the slave station to enable the DC synchronization signal and work in a free-running mode by modifying the slave station registers and related parameters;
[0050] S103: The master station starts the slave station; in the running phase, the master station uses the DC reference clock for dynamic synchronization adjustment, and uses the optimized periodic communication method to send and receive data from the slave station;
[0051] S104: ...
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The invention provides a method for synchronizing the EtherCAT master station based on a non-real-time system, which specifically includes: master station initialization; the master station enables the slave station to start a DC synchronization signal and work in a free-running mode; a reference clock is used between the master station and the slave station to realize Real-time dynamic synchronous adjustment, the master station adopts an optimized periodic communication method to send and receive data from the slave station; the master station closes the communication interface. The beneficial effects of the present invention are: under the condition of not changing the versatility and compatibility of the operating system, it overcomes the defect of poor synchronization accuracy caused by the inability of the slave station to run the DC synchronization mode under the non-real-time system, and improves the synchronization between the master station and the slave station. The accuracy and stability of inter-synchronization.
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...
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IPC IPC(8): H04L12/40H04J3/06
CPCH04L12/40006H04J3/0638H04L2012/40221
Inventor 杜佳星龚兴武
Owner 武汉迈信电气技术有限公司