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Ethercat bus master station and slave station real-time synchronization method

A technology of real-time synchronization and master station, which is applied in the field of servo system synchronization and can solve the problems of asynchronous operation of master station and slave station system.

Pending Publication Date: 2022-05-13
成都中天自动化控制技术有限公司
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AI Technical Summary

Problems solved by technology

For the servo system using the Ethercat bus, the slave station can be implemented on FPGA or MCU. Since the system clocks of the master station and the slave station are asynchronous, as time goes by, the master station and the slave station system will inevitably run out of sync.

Method used

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  • Ethercat bus master station and slave station real-time synchronization method
  • Ethercat bus master station and slave station real-time synchronization method
  • Ethercat bus master station and slave station real-time synchronization method

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Embodiment Construction

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] see Figure 1-Figure 5 , the present invention provides a real-time synchronization method for an Ethercat bus master station and a slave station:

[0036] A real-time synchronization method of Ethercat bus master station and slave station, applied to servo system, such as figure 1 As shown, the servo system includes an Ethercat master station, an MCU slave station and an FPGA execution module, and the MCU slave station is respectively connected to the Ethercat master station and the FPGA execution module f...

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Abstract

The invention discloses an Ethercat bus master station and slave station real-time synchronization method, which comprises the following steps: setting a carrier period and a master station synchronization period, the ratio of the carrier period to the master station synchronization period being an integer N; when the synchronous interrupt program of the MCU slave station is finished, the SyncIO is set to be at a high level, and the SyncIO is an IO port, connected with the FPGA execution module, on the MCU slave station; when the sum of the times of triggering a second event and a fourth event is N, SyncIO is set to be low level, then the sum of the times of triggering the second event and the fourth event is reset, the second event is a sampling interruption triggering event, and the fourth event is a sampling interruption triggering event; and the state of the SyncIO is detected in real time, and when the rising edge of the SyncIO is detected, the FPGA execution module executes a synchronization algorithm. According to the invention, real-time synchronous control of the Ethercat master station, the MCU slave station and the FPGA execution module is realized.

Description

technical field [0001] The invention belongs to the technical field of servo system synchronization, in particular to a real-time synchronization method for an Ethercat bus master station and a slave station. Background technique [0002] In order to improve the performance of the servo system, the servo system is usually designed as an MCU+FPGA architecture, where the MCU implements the functions of the speed loop algorithm and the position loop algorithm, and the FPGA implements the current loop algorithm and the PWM modulation algorithm as well as the system event trigger function. For the servo system using the Ethercat bus, the slave station can be implemented on FPGA or MCU. Since the system clocks of the master station and the slave station are asynchronous, over time, the master station and the slave station system will inevitably run out of synchronization. SUMMARY OF THE INVENTION [0003] The purpose of the present invention is to overcome the deficiencies of th...

Claims

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Application Information

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IPC IPC(8): H04L12/40H04J3/06
CPCH04L12/40H04J3/0638
Inventor 徐家雄黄维洪
Owner 成都中天自动化控制技术有限公司
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