EtherCAT bus topology configuration method, device, equipment and storage medium

Abstract

The present invention discloses an EtherCAT bus topology configuration method, device, equipment and storage medium. It relates to the technical field of EtherCAT bus configuration. The method comprises: in response to a device scanning instruction of a user on an EtherCAT topology configuration interface, a configuration platform sends a topology scanning request to a plurality of motion controllers to be configured, so that the plurality of motion controllers to be configured scan their respective topological structures to obtain a plurality of slave station topology information, and the configuration platform updates the topology information in a plurality of configuration sub-pages according to the plurality of slave station topology information; for each configuration sub-page and each motion controller to be configured, in response to a file generation instruction of a user on a configuration sub-page, the topology configuration information in the configuration sub-page is obtained, and the topology configuration information is sent to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information. The embodiment of the present invention not only improves the efficiency of topology configuration, but also saves costs.

Description

Technical Field

[0001] The present invention relates to the technical field of EtherCAT bus configuration, and in particular to an EtherCAT bus topology configuration method, device, equipment and storage medium. Background Art

[0002] The EtherCAT bus is favored by major industrial control companies for its remarkable features such as high speed, high precision, high synchronization, and high reliability. It is the most widely used industrial Ethernet bus communication in the industrial robot market today. It is divided into EtherCAT master station (motion controller, PLC, etc.) and EtherCAT slave station (servo drive, IO module, etc.). There are two existing EtherCAT bus topology configuration methods. One method is to use an industrial computer with a motion controller to implement topology configuration. The other method is to add the configuration topology program to the motion control card and use a user interaction interface such as a teach pendant to perform topology configuration. However, these two topology configuration methods cannot perform topology configuration on multiple EtherCAT devices at the same time, and the topology configuration efficiency is low. Summary of the invention

[0003] The embodiments of the present invention provide an EtherCAT bus topology configuration method, apparatus, device and storage medium, aiming to solve the problem of low efficiency of existing EtherCAT bus topology configuration.

[0004] In a first aspect, an embodiment of the present invention provides an EtherCAT bus topology configuration method, which is applied to a configuration platform and includes:

[0005] In response to a device scan instruction from a user on an EtherCAT topology configuration interface, a configuration preparation instruction is sent to a plurality of motion controllers to be configured;

[0006] If configuration preparation completion instructions sent by the multiple motion controllers to be configured are received, sending a topology scan request to the multiple motion controllers to be configured;

[0007] Receiving the multiple slave station topology information sent by the multiple motion controllers to be configured, and updating the topology information in multiple configuration sub-pages according to the multiple slave station topology information, wherein the multiple configuration sub-pages are pages corresponding to the multiple motion controllers to be configured on the EtherCAT topology configuration interface;

[0008] For each configuration sub-page and each motion controller to be configured, in response to the user's file generation instruction on the configuration sub-page, the topology configuration information in the configuration sub-page is obtained, and the topology configuration information is sent to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file based on the topology configuration information.

[0009] In a second aspect, an embodiment of the present invention provides an EtherCAT bus topology configuration method, which is applied to each motion controller to be configured, and includes:

[0010] If a configuration preparation instruction is received, restart the motion controller to be configured according to the configuration preparation instruction, and send a configuration preparation completion instruction to the configuration platform after the restart is completed;

[0011] If a topology scanning request sent by the configuration platform is received, the topology structure is scanned according to the topology scanning request to obtain initial slave station topology information;

[0012] Determine the slave station topology information according to the preset slave station topology information and the initial slave station topology information;

[0013] Sending the slave station topology information to the configuration platform;

[0014] If a file generation request sent by the configuration platform is received, a topology configuration file is generated according to the topology configuration information carried in the file generation request and the preset slave station topology information.

[0015] In a third aspect, an embodiment of the present invention further provides an EtherCAT bus topology configuration device, which is applied to a configuration platform and includes:

[0016] A first sending unit, configured to send a configuration preparation instruction to a plurality of motion controllers to be configured in response to a device scanning instruction from a user on an EtherCAT topology configuration interface;

[0017] A second sending unit is configured to send a topology scan request to the multiple motion controllers to be configured if a configuration preparation completion instruction sent by the multiple motion controllers to be configured is received;

[0018] A first updating unit, configured to receive the plurality of slave station topology information sent by the plurality of motion controllers to be configured, and update the topology information in a plurality of configuration sub-pages according to the plurality of slave station topology information, wherein the plurality of configuration sub-pages are pages corresponding to the plurality of motion controllers to be configured on the EtherCAT topology configuration interface;

[0019] The third sending unit is used for obtaining the topology configuration information in the configuration sub-page for each configuration sub-page and each motion controller to be configured in response to the file generation instruction of the user on the configuration sub-page, and sending the topology configuration information to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information.

[0020] In a fourth aspect, an embodiment of the present invention further provides an EtherCAT bus topology configuration device, which is applied to each motion controller to be configured, and includes:

[0021] A restart unit, configured to restart the motion controller to be configured according to the configuration preparation instruction if a configuration preparation instruction is received, and send a configuration preparation completion instruction to the configuration platform after the restart is completed;

[0022] A scanning unit, configured to scan the topology structure according to the topology scanning request to obtain initial slave station topology information if a topology scanning request sent by the configuration platform is received;

[0023] A second updating unit, configured to determine the slave station topology information according to the preset slave station topology information and the initial slave station topology information;

[0024] A fourth sending unit, configured to send the slave station topology information to the configuration platform;

[0025] A generating unit is configured to generate a topology configuration file according to the topology configuration information carried in the file generation request and the preset slave station topology information if a file generation request sent by the configuration platform is received.

[0026] In a fifth aspect, an embodiment of the present invention further provides a computer device, which includes a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the method of the first aspect or the second aspect described above is implemented.

[0027] In a sixth aspect, an embodiment of the present invention further provides a computer-readable storage medium, wherein the storage medium stores a computer program, and the computer program, when executed by a processor, can implement the method of the first aspect or the second aspect mentioned above.

[0028] The embodiment of the present invention provides an EtherCAT bus topology configuration method, device, equipment and storage medium. The method includes: in response to a device scanning instruction from a user on an EtherCAT topology configuration interface, sending a configuration preparation instruction to a plurality of motion controllers to be configured; after receiving the restart completion from the plurality of motion controllers to be configured, the configuration platform sends a topology scanning request to the plurality of motion controllers to be configured; the plurality of motion controllers to be configured scan their respective topological structures to obtain a plurality of slave station topology information, and send the plurality of slave station topology information to the configuration platform, and the configuration platform updates the topology information in a plurality of configuration sub-pages according to the plurality of slave station topology information, wherein the plurality of configuration sub-pages are pages corresponding to the plurality of motion controllers to be configured on the EtherCAT topology configuration interface; for each configuration sub-page and each motion controller to be configured, in response to a file generation instruction from a user on the configuration sub-page, obtaining the topology configuration information in the configuration sub-page, and sending the topology configuration information to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information. The technical solution of the embodiment of the present invention is that when the user modifies the slave station topology structure or information according to needs, there is no need to use external equipment. The EtherCAT topology configuration interface can be used to scan multiple slave station topology information corresponding to multiple motion controllers to be configured, change the topology configuration information in multiple configuration sub-pages, and generate a topology configuration file, thereby realizing topology configuration of multiple EtherCAT devices, which not only improves the topology configuration efficiency but also saves costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0030] Figure 1 A schematic diagram of a scenario of an EtherCAT bus topology configuration method provided by an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of a flow chart of an EtherCAT bus topology configuration method provided by an embodiment of the present invention;

[0032] Figure 3 A schematic diagram of an EtherCAT bus topology configuration interface provided by an embodiment of the present invention;

[0033] Figure 4A schematic diagram of a sub-process of an EtherCAT bus topology configuration method provided by an embodiment of the present invention;

[0034] Figure 5 A schematic flow chart of an EtherCAT bus topology configuration method provided by another embodiment of the present invention;

[0035] Figure 6 A schematic flow chart of an EtherCAT bus topology configuration method provided by another embodiment of the present invention;

[0036] Figure 7 A schematic block diagram of an EtherCAT bus topology configuration device provided by an embodiment of the present invention;

[0037] Figure 8 A schematic block diagram of an EtherCAT bus topology configuration device provided by another embodiment of the present invention; and

[0038] Fig. 9 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0039] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0041] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0042] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0043] As used in this specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0044] Figure 1 It is a scene diagram of the EtherCAT bus topology configuration system provided by an embodiment of the present invention. The EtherCAT bus topology configuration system includes a configuration platform, multiple motion controllers to be configured, and multiple EtherCAT slave stations, wherein the configuration platform communicates with the multiple motion controllers to be configured to send relevant instructions and topology scanning requests to the multiple motion controllers to be configured, and each motion controller to be configured communicates with the corresponding EtherCAT slave station to obtain the topology information of the multiple EtherCAT slave stations. It should be noted that in this embodiment, the configuration platform can be a central control platform or an industrial computer, and each of the motion controllers to be configured includes a server and an EtherCAT master station. The EtherCAT master station communicates with the multiple EtherCAT slave stations through EtherCAT. An application related to the topology configuration is installed in the configuration platform, and the application is implemented by communicating with the server in the motion controller to be configured in the form of a client. It should also be noted that, in this embodiment, the communication method between the client and the server can be TCP communication or OPC UA communication. It can be understood that when it is TCP communication, the client is a TCP client and the server is a TCP server; when it is OPC UA communication, the client is an OPC UA client and the server is an OPC UA server.

[0045] The following describes in detail the steps of the EtherCAT bus topology configuration method from the perspective of the configuration platform and each motion controller to be configured.

[0046] Figure 2 1 is a flow chart of an EtherCAT bus topology configuration method provided by an embodiment of the present invention. The method is applied in a configuration platform. The method includes the following steps S100-S130.

[0047] S100 . In response to a device scanning instruction issued by a user on an EtherCAT topology configuration interface, a configuration preparation instruction is sent to multiple motion controllers to be configured.

[0048] In the embodiment of the present invention, EtherCAT topology configuration software is installed in the configuration platform, that is, the client is the EtherCAT topology configuration software. After the software is run, the EtherCAT topology configuration interface will be displayed to the user. The EtherCAT topology configuration interface is as follows: Figure 3 As shown, it includes a title bar, a function bar and a plurality of configuration sub-pages corresponding to the plurality of controllers, wherein the title bar is provided with the words EtherCAT topology configuration software; the function bar is provided with a scan all device button, a delete all device button, a clear alarm button and an alarm display bar; the plurality of configuration sub-pages are named after the motion controller serial number, such as motion controller 1, motion controller 2, motion controller 3, ..., motion controller N, and in each configuration sub-page, a setting bar and a current topology bar are included, wherein the setting bar includes a communication cycle, a DC setting, an input offset time, an output offset time, a generate ENI file button, a save ENI file button and a rescan topology button; the current topology bar is provided with topology information presented in a tabular form, specifically including a sequence number and the name of each slave station, and it is understandable that in the current topology bar, the ID number corresponding to each slave station can also be set without displaying the name of each slave station. It should be noted that in this embodiment, when the user clicks the scan all device button in the function bar, the EtherCAT topology configuration software will be triggered to send a configuration preparation instruction to the plurality of motion controllers to be configured. It should also be noted that, in the present embodiment, before clicking the Scan All Devices button, it is necessary to first confirm that all the motion controllers to be configured are in a stopped state; after clicking, if there is no configuration sub-page corresponding to the multiple motion controllers to be configured in the EtherCAT topology configuration interface, then configuration sub-pages equal to the number of the multiple motion controllers to be configured will be generated. It is understandable that if there are configuration sub-pages corresponding to the multiple motion controllers to be configured, there is no need to generate them.

[0049] S110: If configuration preparation completion instructions sent by the multiple motion controllers to be configured are received, a topology scan request is sent to the multiple motion controllers to be configured.

[0050] In an embodiment of the present invention, the server in each of the motion controllers to be configured receives the configuration preparation instruction sent by the EtherCAT topology configuration software, and restarts the server in the motion controller to be configured according to the configuration preparation instruction. After the server restarts, each of the motion controllers to be configured will send a configuration preparation completion instruction to the configuration platform. After receiving the configuration preparation completion instruction sent by all the motion controllers to be configured, a topology scan request will be sent to the multiple motion controllers to be configured. It should be noted that in this embodiment, each of the motion controllers to be configured will save the status information before restarting before restarting, so as to use it after restarting. It should also be noted that in this embodiment, when each of the motion controllers to be configured is restarted, the EtherCAT master station will switch the EtherCAT bus state to the INIT state, that is, switch to the initial state.

[0051] S120. Receive the multiple slave station topology information sent by the multiple motion controllers to be configured, and update the topology information in the multiple configuration sub-pages according to the multiple slave station topology information, wherein the multiple configuration sub-pages are pages on the EtherCAT topology configuration interface corresponding to the multiple motion controllers to be configured.

[0052] In an embodiment of the present invention, the multiple motion controllers to be configured receive the topology scan request sent by the EtherCAT topology configuration software, each of the motion controllers to be configured scans its own topology structure according to the topology scan request to obtain slave topology information, and sends the slave topology information to the EtherCAT topology configuration software, and the EtherCAT topology configuration software updates the topology information in multiple configuration sub-pages according to the received multiple slave topology information, wherein the multiple configuration sub-pages are pages on the EtherCAT topology configuration interface corresponding to the multiple motion controllers to be configured, namely, motion controller 1 configuration sub-page, motion controller 2 configuration sub-page, motion controller 3 configuration sub-page, ..., motion controller N configuration sub-page.

[0053] In some embodiments, such as the present embodiment, Figure 4 As shown, the step S120 may include steps S121-S124.

[0054] S121. For each slave station topology information, detecting whether there is a slave station with a preset identifier in the slave station topology information;

[0055] S122. If there is a slave with the preset identifier in the slave topology information, the slave information with the preset identifier is marked in red and displayed in the topology information column on the configuration subpage corresponding to the slave topology information;

[0056] S123, in response to a rescan instruction on the configuration subpage from the user, sending a rescan topology instruction to the motion controller to be configured corresponding to the slave topology information;

[0057] S124: Receive new slave station topology information sent by the motion controller to be configured, and refresh the topology information column according to the new slave station topology information to update the topology information in the configuration subpage.

[0058] In an embodiment of the present invention, for each slave station topology information and each configuration sub-page, it is detected whether there is a slave station with a preset identifier in the slave station topology information, wherein the preset identifier is a custom identifier, for example, the identifier is UnRec; if there is a slave station with the preset identifier in the slave station topology information, it indicates that the slave station has not been identified or the identification is incorrect, then the slave station information with the preset identifier is displayed in red in the topology information column on the configuration sub-page corresponding to the slave station topology information; specifically, if the slave station with serial number 4 is not identified, the entire row with serial number 4 is displayed in red, that is, including the serial number and the name are displayed in red, and the name of the slave station with serial number 4 is displayed in the alarm information display column to remind the user to detect the current topology connection. , after confirming that the topology connection is correct, click the rescan topology button in the configuration subpage to trigger the EtherCAT topology configuration software to send a rescan topology instruction to the motion controller to be configured corresponding to the slave topology information; the motion controller to be configured receives the rescan topology instruction to scan the topology structure to obtain new slave topology information, and sends the new slave topology information to the EtherCAT topology configuration software. The EtherCAT topology configuration software refreshes the topology information bar according to the new slave topology information to update the topology information in the configuration subpage. It is understandable that after the refresh, the slave information marked in red in the topology information bar will become the same color as other slave information. It should be noted that in this embodiment, compared with the slave topology information, the new slave topology information removes the preset identifier carried by the slave to indicate that the slave can be identified.

[0059] S130. For each configuration sub-page and each motion controller to be configured, in response to a file generation instruction on the configuration sub-page by the user, obtain the topology configuration information in the configuration sub-page, and send the topology configuration information to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information.

[0060] In an embodiment of the present invention, for each configuration sub-page and each motion controller to be configured, for example, taking the configuration sub-page of the operation and control controller 1 as an example, the user sets the communication cycle according to his own needs on the configuration sub-page of the motion controller 1, and selects whether to perform DC settings. If the DC setting is checked, the input offset time and the output offset time can be further set. If the DC setting is not checked, the input offset time and the output offset time cannot be set. If the DC setting can be set, after the DC setting is completed, the user clicks the Generate ENI File button, which will trigger the EtherCAT topology configuration software to obtain the topology configuration information in the configuration sub-page of the operation and control controller 1, wherein the topology configuration information includes the communication cycle and DC setting information, and the DC setting information includes whether to perform DC settings, the input offset time and the output offset time, and the topology configuration information is sent to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information.

[0061] Figure 5 The following is a flow chart of an EtherCAT bus topology configuration method provided by another embodiment of the present invention, wherein the method is run on a configuration platform. Figure 5 As shown, in this embodiment, the method includes steps S200-S250. That is, in this embodiment, after step S230 of the above embodiment, the method further includes step S240 and step S250.

[0062] S240, in response to a save instruction from the user on the configuration subpage, sending a file save instruction to the motion controller to be configured;

[0063] S250: Receive a topology configuration file sent by the motion controller to be configured, and save the topology configuration file.

[0064] In an embodiment of the present invention, for each configuration sub-page and each motion controller to be configured, for example, taking the configuration sub-page of motion controller 1 as an example, the user clicks the Save ENI file button on the configuration sub-page of motion controller 1, and a file save instruction is sent to the motion controller 1 to be configured. The motion controller 1 to be configured receives the file save instruction and sends the generated topology configuration file to the EtherCAT topology configuration software. The EtherCAT topology configuration software receives the topology configuration file and saves the topology configuration file, wherein the topology configuration file is an Ethernet network information (EtherCAT Network Information, ENI) file.

[0065] It should be noted that, in this embodiment, if the user clicks the Delete All Devices button on the EtherCAT topology configuration interface, all configuration subpages will be deleted; if the user clicks the Clear Alarm button on the EtherCAT topology configuration interface, the alarm information in the alarm information bar will be cleared.

[0066] Figure 6 1 is a flow chart of an EtherCAT bus topology configuration method provided by another embodiment of the present invention. The method is run in each motion controller to be configured, and the EtherCAT bus topology configuration method is implemented by an application installed on each motion controller to be configured. The method includes the following steps S300-S340.

[0067] S300: If a configuration preparation instruction is received, restart the motion controller to be configured according to the configuration preparation instruction, and send a configuration preparation completion instruction to the configuration platform after the restart is completed;

[0068] S310: If a topology scanning request sent by the configuration platform is received, the topology structure is scanned according to the topology scanning request to obtain initial slave station topology information;

[0069] S320, determining the slave station topology information according to the preset slave station topology information and the initial slave station topology information;

[0070] S330, sending the slave station topology information to the configuration platform;

[0071] S340: If a file generation request sent by the configuration platform is received, a topology configuration file is generated according to the topology configuration information carried in the file generation request and the preset slave station topology information.

[0072] In an embodiment of the present invention, for each of the motion controllers to be configured, if the motion controller to be configured receives a configuration preparation instruction, the configuration preparation instruction may be an instruction sent by the EtherCAT topology configuration software, or an instruction generated by the motion controller to be configured itself when it is powered on. After the motion controller to be configured is restarted, it will send a configuration preparation completion instruction to the EtherCAT topology configuration software. After the EtherCAT topology configuration software receives the configuration preparation completion instruction, it will send a topology scan request to the motion controller to be configured. The motion controller to be configured scans the topology structure according to the topology scan request to obtain initial slave station topology information. The slave station topology information is determined according to the preset slave station topology information and the initial slave station topology information. Specifically, it is detected whether the initial slave station topology information is consistent with the preset slave station topology information. If the initial slave station topology information is consistent with the preset slave station topology information, If the initial slave topology information is consistent with the preset slave topology information, the initial slave topology information is used as the slave topology information; if the initial slave topology information is inconsistent with the preset slave topology information, the inconsistent slave information in the initial slave topology information is marked to obtain the slave topology information; the slave topology information is sent to the EtherCAT topology configuration software; the EtherCAT topology configuration software receives the slave topology information, and updates the topology information in the configuration sub-page of the motion controller 1 according to the slave topology information. After the update is completed, the EtherCAT topology configuration software obtains the topology configuration information in the configuration sub-page, and sends the topology configuration information to the motion controller in the form of a file generation request, and the motion controller to be configured generates a topology configuration file according to the topology configuration information carried in the file generation request and the preset slave topology information, wherein the topology configuration file is an ENI file.

[0073] It should be noted that, in this embodiment, if a new ENI file is generated, the new ENI file will automatically replace the locally stored ENI file to update the ENI file. If the ENI file is not generated, the locally stored ENI file will continue to be used. According to the updated ENI file, the EtherCAT master station is started to switch the EtherCAT bus from the INIT state to the OP state, wherein the OP state is the running state. It should also be noted that if the EtherCAT master station fails to start normally, the failure to start normally information will be sent to the EtherCAT topology configuration software for viewing. If it can start normally, other applications can be started.

[0074] Figure 7 is a schematic block diagram of an EtherCAT bus topology configuration device 300 provided in an embodiment of the present invention. Figure 7As shown, corresponding to the above EtherCAT bus topology configuration method, the present invention also provides an EtherCAT bus topology configuration device 300. The EtherCAT bus topology configuration device 300 includes a unit for executing the above EtherCAT bus topology configuration method, and the device can be configured on a configuration platform. Specifically, please refer to Figure 7 The EtherCAT bus topology configuration device 300 includes a first sending unit 301 , a second sending unit 302 , a first updating unit 303 and a third sending unit 304 .

[0075] Among them, the first sending unit 301 is used to send configuration preparation instructions to multiple motion controllers to be configured in response to the device scanning instructions of the user on the EtherCAT topology configuration interface; the second sending unit 302 is used to send a topology scan request to the multiple motion controllers to be configured if a configuration preparation completion instruction is received from the multiple motion controllers to be configured; the first update unit 303 is used to receive the multiple slave station topology information sent by the multiple motion controllers to be configured, and update the topology information in multiple configuration sub-pages according to the multiple slave station topology information, wherein the multiple configuration sub-pages are pages on the EtherCAT topology configuration interface corresponding to the multiple motion controllers to be configured; the third sending unit 304 is used to obtain the topology configuration information in the configuration sub-page for each configuration sub-page and each motion controller to be configured in response to the file generation instruction of the user on the configuration sub-page, and send the topology configuration information to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information.

[0076] In some embodiments, such as the present embodiment, the first updating unit 303 includes a detecting unit, a display unit, a sending subunit, and an updating subunit.

[0077] Among them, the detection unit is used to detect whether there is a slave with a preset identifier in each slave station topology information; the display unit is used to display the slave station information with the preset identifier in red in the topology information column on the configuration sub-page corresponding to the slave station topology information if there is a slave with the preset identifier in the slave station topology information; the sending sub-unit is used to respond to the user's rescan instruction on the configuration sub-page, and send a rescan topology instruction to the motion controller to be configured corresponding to the slave station topology information; the update sub-unit is used to receive new slave station topology information sent by the motion controller to be configured, and refresh the topology information column according to the new slave station topology information to update the topology information in the configuration sub-page.

[0078] In some embodiments, such as the present embodiment, the apparatus 300 further includes a fifth sending unit, a storing unit, a first deleting unit, and a second deleting unit.

[0079] Among them, the fifth sending unit is used to send a file save instruction to the motion controller to be configured in response to the user's save instruction on the configuration sub-page; the saving unit is used to receive a topology configuration file sent by the motion controller to be configured, and save the topology configuration file; the first deletion unit is used to delete the multiple configuration sub-pages in response to the user's delete instruction on the EtherCAT topology configuration interface; the second deletion unit is used to clear the alarm information in the alarm information bar on the EtherCAT topology configuration interface in response to the user's clear alarm instruction on the EtherCAT topology configuration interface.

[0080] Figure 8 4 is a schematic block diagram of an EtherCAT bus topology configuration device 400 provided in an embodiment of the present invention. Figure 8 As shown, corresponding to the above EtherCAT bus topology configuration method, the present invention also provides an EtherCAT bus topology configuration device 400. The EtherCAT bus topology configuration device 400 includes a unit for executing the above EtherCAT bus topology configuration method, and the device can be configured in each motion controller to be configured. Specifically, please refer to Figure 8 The EtherCAT bus topology configuration device 400 includes a restart unit 401 , a scanning unit 402 , a second updating unit 403 , a fourth sending unit 404 and a generating unit 405 .

[0081] Among them, the restart unit 401 is used to restart the motion controller to be configured according to the configuration preparation instruction if a configuration preparation instruction is received, and send a configuration preparation completion instruction to the configuration platform after the restart is completed; the scanning unit 402 is used to scan the topology structure according to the topology scanning request to obtain the initial slave station topology information if a topology scanning request sent by the configuration platform is received; the second update unit 403 is used to determine the slave station topology information according to the preset slave station topology information and the initial slave station topology information; the fourth sending unit 404 is used to send the slave station topology information to the configuration platform; the generation unit is used to generate a topology configuration file according to the topology configuration information carried in the file generation request and the preset slave station topology information if a file generation request is received from the configuration platform.

[0082] In some embodiments, such as this embodiment, the second updating unit 403 includes an acting unit and an identifying unit.

[0083] Among them, the acting unit is used to use the initial slave station topology information as the slave station topology information if the initial slave station topology information is consistent with the preset slave station topology information; the identification unit is used to identify the inconsistent slave station information in the initial slave station topology information to obtain the slave station topology information if the initial slave station topology information is inconsistent with the preset slave station topology information.

[0084] The above-mentioned EtherCAT bus topology configuration and EtherCAT bus topology configuration device can be implemented in the form of a computer program, which can be used in the following example: Fig. 9 Runs on the computer device shown.

[0085] See also Fig. 9 , Fig. 9 1 is a schematic block diagram of a computer device provided by an embodiment of the present invention. The computer device 900 is a master station device and a slave station device.

[0086] See also Fig. 9 The computer device 900 includes a processor 902 , a memory and a network interface 905 connected via a system bus 901 , wherein the memory may include a storage medium 903 and an internal memory 904 .

[0087] The storage medium 903 may store an operating system 9031 and a computer program 9032. When the computer program 9032 is executed, the processor 902 may execute an EtherCAT bus topology configuration method.

[0088] The processor 902 is used to provide computing and control capabilities to support the operation of the entire computer device 900 .

[0089] The internal memory 904 provides an environment for the operation of the computer program 9032 in the storage medium 903. When the computer program 9032 is executed by the processor 902, the processor 902 can execute an EtherCAT bus topology configuration method.

[0090] The network interface 905 is used to communicate with other devices over the network. Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 900 to which the solution of the present invention is applied. The specific computer device 900 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0091] The processor 902 is used to run a computer program 9032 stored in the memory. When the computer program 9032 is executed, the processor 902 can execute any embodiment of the above-mentioned EtherCAT bus topology configuration method.

[0092] It should be understood that in the embodiment of the present invention, the processor 902 may be a central processing unit (CPU), and the processor 902 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0093] It can be understood by those skilled in the art that all or part of the processes in the method for implementing the above-mentioned embodiment can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiment of the above-mentioned method. Therefore, the present invention also provides a storage medium. The storage medium can be a computer-readable storage medium. The storage medium stores a computer program. When the computer program is executed by the processor, the processor executes any embodiment of the above-mentioned EtherCAT bus topology configuration method.

[0094] The storage medium may be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disk, etc., which are computer-readable storage media that can store program codes.

[0095] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0096] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0097] The steps in the method of the embodiment of the present invention can be adjusted in order, combined and deleted according to actual needs. The units in the device of the embodiment of the present invention can be combined, divided and deleted according to actual needs. In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0098] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, terminal, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention.

[0099] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0100] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0101] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An EtherCAT bus topology configuration method, applied to a configuration platform, characterized in that: include: In response to a device scan instruction from a user on an EtherCAT topology configuration interface, a configuration preparation instruction is sent to a plurality of motion controllers to be configured; If configuration preparation completion instructions sent by the multiple motion controllers to be configured are received, sending a topology scan request to the multiple motion controllers to be configured; Receiving multiple slave station topology information sent by the multiple motion controllers to be configured, and updating the topology information in multiple configuration sub-pages according to the multiple slave station topology information, wherein the multiple configuration sub-pages are pages corresponding to the multiple motion controllers to be configured on the EtherCAT topology configuration interface; For each configuration sub-page and each motion controller to be configured, in response to the user's file generation instruction on the configuration sub-page, the topology configuration information in the configuration sub-page is obtained, and the topology configuration information is sent to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file based on the topology configuration information.

2. The method according to claim 1, characterized in that The step of updating the topology information in the multiple configuration sub-pages according to the multiple slave station topology information includes: For each slave station topology information, detecting whether there is a slave station with a preset identifier in the slave station topology information; If there is a slave with the preset identifier in the slave topology information, the slave information with the preset identifier is marked in red and displayed in the topology information column on the configuration subpage corresponding to the slave topology information; In response to a rescan instruction issued by a user on the configuration subpage, sending a rescan topology instruction to the motion controller to be configured corresponding to the slave topology information; New slave station topology information sent by the motion controller to be configured is received, and the topology information column is refreshed according to the new slave station topology information to update the topology information in the configuration subpage.

3. The method according to claim 1, characterized in that The method further comprises: In response to a save instruction issued by a user on the configuration subpage, sending a file save instruction to the motion controller to be configured; Receive a topology configuration file sent by the motion controller to be configured, and save the topology configuration file.

4. The method according to claim 1, characterized in that The method further comprises: In response to a deletion instruction from a user on the EtherCAT topology configuration interface, deleting the plurality of configuration subpages; In response to a clear alarm instruction issued by a user on the EtherCAT topology configuration interface, the alarm information in the alarm information column on the EtherCAT topology configuration interface is cleared.

5. An EtherCAT bus topology configuration method, applied to each motion controller to be configured, characterized in that: include: If a configuration preparation instruction is received, restart the motion controller to be configured according to the configuration preparation instruction, and send a configuration preparation completion instruction to the configuration platform after the restart is completed; If a topology scanning request sent by the configuration platform is received, the topology structure is scanned according to the topology scanning request to obtain initial slave station topology information; Determine the slave station topology information according to the preset slave station topology information and the initial slave station topology information; Sending the slave station topology information to the configuration platform; If a file generation request sent by the configuration platform is received, a topology configuration file is generated according to the topology configuration information carried in the file generation request and the preset slave station topology information.

6. The method according to claim 5, characterized in that The step of determining the slave station topology information according to the preset slave station topology information and the initial slave station topology information comprises: If the initial slave station topology information is consistent with the preset slave station topology information, the initial slave station topology information is used as the slave station topology information; If the initial slave station topology information is inconsistent with the preset slave station topology information, the inconsistent slave station information in the initial slave station topology information is marked to obtain the slave station topology information.

7. An EtherCAT bus topology configuration device, applied to a configuration platform, characterized in that: include: A first sending unit, configured to send a configuration preparation instruction to a plurality of motion controllers to be configured in response to a device scanning instruction from a user on an EtherCAT topology configuration interface; A second sending unit is configured to send a topology scan request to the multiple motion controllers to be configured if a configuration preparation completion instruction sent by the multiple motion controllers to be configured is received; A first updating unit, configured to receive a plurality of slave station topology information sent by the plurality of motion controllers to be configured, and update the topology information in a plurality of configuration sub-pages according to the plurality of slave station topology information, wherein the plurality of configuration sub-pages are pages corresponding to the plurality of motion controllers to be configured on the EtherCAT topology configuration interface; The third sending unit is used for obtaining the topology configuration information in the configuration sub-page for each configuration sub-page and each motion controller to be configured in response to the file generation instruction of the user on the configuration sub-page, and sending the topology configuration information to the motion controller to be configured, so that the motion controller to be configured generates a topology configuration file according to the topology configuration information.

8. An EtherCAT bus topology configuration device, applied to each motion controller to be configured, characterized in that: include: A restart unit, configured to restart the motion controller to be configured according to the configuration preparation instruction if a configuration preparation instruction is received, and send a configuration preparation completion instruction to the configuration platform after the restart is completed; A scanning unit, configured to scan the topology structure according to the topology scanning request to obtain initial slave station topology information if a topology scanning request sent by the configuration platform is received; A second updating unit, configured to determine the slave station topology information according to the preset slave station topology information and the initial slave station topology information; A fourth sending unit, configured to send the slave station topology information to the configuration platform; A generating unit is configured to generate a topology configuration file according to the topology configuration information carried in the file generation request and the preset slave station topology information if a file generation request sent by the configuration platform is received.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 4 or executes the method according to any one of claims 5 to 6 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the computer program can implement the method according to any one of claims 1 to 4 or execute the method according to any one of claims 5 to 6.

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