EtherCAT to Mechatrolink III bus protocol conversion device and method

Abstract

This invention relates to the field of communication technology, and particularly to an EtherCAT to Mechatrolink III bus protocol conversion apparatus and method. The apparatus includes: a first receiving unit for receiving a first data interrupt signal and a first synchronization interrupt signal from a first conversion object; a first reading unit for reading first data buffered by the first conversion object according to the first data interrupt signal; a correction unit for correcting the first synchronization interrupt signal to obtain a corresponding second synchronization interrupt signal; a conversion unit for converting the first data into second data; and a first sending unit for sending the second data and the second synchronization interrupt signal to a second conversion object. Through the aforementioned scheme, EtherCAT slave stations and Mechatrolink III master stations can perform protocol conversion while ensuring the synchronization of data transmission.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to an EtherCAT and Mechatrolink III bus protocol conversion device and method. Background Technology

[0002] In recent years, fieldbus based on industrial Ethernet has been widely used in the field of CNC. Due to the lack of a unified international standard and other industry factors, there are currently multiple bus standards, such as EtherCAT (Ether Control Automation Technology) and Mechatrolink III. EtherCAT is a fieldbus communication protocol based on industrial Ethernet, while Mechatrolink is an open communication protocol used in industrial automation. It was originally developed by Yaskawa Electric Corporation of Japan and later maintained by the Mechatrolink Association. Mechatrolink III is a fieldbus communication protocol developed by Yaskawa Electric Corporation of Japan.

[0003] Due to the existence of multiple bus standards, bus integration is often necessary. Current bus integration technologies primarily rely on protocol conversion gateways, which achieve interconnection between different bus devices by performing one-to-one conversion of bus data frames. However, for EtherCAT and Mechatrolink III protocol conversion, currently only protocol conversion between Mechatrolink III slaves and EtherCAT masters is possible.

[0004] Therefore, improvements are still needed to existing bus protocol conversion devices to address the issue that existing devices can only...

[0005] The shortcomings of Mechatrolink III slave stations in protocol conversion between EtherCAT master stations. Summary of the Invention

[0006] The main objective of this invention is to provide an EtherCAT to Mechatrolink III bus protocol conversion device and method to address the shortcomings of existing devices that can only perform protocol conversion between Mechatrolink III slave stations and EtherCAT master stations.

[0007] To achieve the above objectives,

[0008] This invention provides an EtherCAT to Mechatrolink III bus protocol conversion device for converting first data into second data between a first conversion object and a second conversion object; one of the first conversion object and the other of the second conversion object is an EtherCAT slave station and the other is a Mechatrolink III master station; one of the first data and the other of the second data is EtherCAT data and the other is Mechatrolink data; the EtherCAT to Mechatrolink III bus protocol conversion device includes:

[0009] The first receiving unit is configured to receive a first data interruption signal and a first synchronization interruption signal from the first conversion object;

[0010] The first reading unit is used to read the first data cached by the first conversion object according to the first data interruption signal;

[0011] The correction unit is used to correct the first synchronization interrupt signal to obtain the corresponding second synchronization interrupt signal;

[0012] A conversion unit is used to convert the first data into the second data;

[0013] The first sending unit is used to send the second data and the second synchronization interrupt signal to the second conversion object; wherein the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal.

[0014] This invention also provides a method for converting EtherCAT to Mechatrolink III bus protocols, used to convert first data into second data between a first conversion object and a second conversion object; the first conversion object and the second conversion object are, respectively, an EtherCAT slave and a Mechatrolink III master; the first data and the second data are, respectively, EtherCAT data and Mechatrolink data; the EtherCAT to Mechatrolink III bus protocol conversion method includes the following steps:

[0015] Receive a first data interrupt signal and a first synchronization interrupt signal from the first conversion object;

[0016] Read the first data cached by the first conversion object according to the first data interruption signal;

[0017] The first synchronization interrupt signal is corrected to obtain the corresponding second synchronization interrupt signal;

[0018] Convert the first data into the second data;

[0019] The second data and the second synchronization interrupt signal are sent to the second conversion object; wherein, the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal.

[0020] The apparatus provided by this invention includes a first receiving unit receiving a first data interruption signal and a first synchronization interruption signal from a first conversion object; a first reading unit reading first data cached by the first conversion object according to the first data interruption signal; a correction unit correcting the first synchronization interruption signal to obtain a corresponding second synchronization interruption signal; a conversion unit converting the first data into second data; and a first sending unit sending the second data and the second synchronization interruption signal to a second conversion object, wherein the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interruption signal. Through the aforementioned apparatus, EtherCAT slave stations and Mechatrolink III master stations can perform protocol conversion. Simultaneously, by obtaining the second synchronization interruption signal through correction and using it as the synchronization signal of the second conversion object, the synchronization between Mechatrolink III data and EtherCAT data is guaranteed, enabling devices using the EtherCAT protocol and devices using the Mechatrolink III protocol to work collaboratively under the same controller. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the EtherCAT and Mechatrolink III bus protocol conversion device provided in Embodiment 1 of the present invention;

[0022] Figure 2 This is a schematic diagram of the EtherCAT and Mechatrolink III bus protocol conversion device provided in Embodiment 2 of the present invention;

[0023] Figure 3 These are schematic diagrams illustrating the applications of embodiments one, five, six, and ten of the present invention;

[0024] Figure 4 This is a flowchart of the EtherCAT and Mechatrolink III bus protocol conversion method provided in Embodiment Six of the present invention.

[0025] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0027] Example 1

[0028] As background information:

[0029] (1) A system consisting of one EtherCAT master station and multiple EtherCAT slave stations is usually called an EtherCAT network. EtherCAT networks are commonly used in industrial automation and control systems. In an EtherCAT network, the EtherCAT master station connects to each EtherCAT slave station. The EtherCAT master station is responsible for the centralized management and coordination of the entire network. Through one EtherCAT master station, the operator can centrally control and monitor all EtherCAT slave stations, realizing real-time data communication and control. When an EtherCAT slave station is connected to a bus protocol conversion device, the EtherCAT slave station is responsible for performing actual control and data processing tasks and exchanging data in real time within the EtherCAT network.

[0030] (2) A system consisting of one Mechatrolink III master station and multiple Mechatrolink III slave stations is usually called a Mecharolink III system. Mecharolink III systems are commonly used in CNC automation control. In a Mecharolink III system, the Mecharolink III master station is responsible for sending control commands to the Mecharolink III slave stations, collecting data, and coordinating communication between the Mecharolink III slave stations, thereby achieving collaborative operation of the entire system. Each Mecharolink III slave station represents a device or module, such as a servo drive or sensor. They communicate with the Mecharolink III master station to receive control commands and feed back data to the Mecharolink III master station, thereby achieving precise control and real-time monitoring of the device or module. When a Mecharolink III slave station is connected to a bus protocol conversion device, the Mecharolink III slave station is responsible for performing actual control and data processing tasks and exchanging data in real time within the Mecharolink III system.

[0031] Figure 3Since multiple EtherCAT slaves can be configured, corresponding serial numbers are added to distinguish them. However, it should be noted that only one EtherCAT slave can transmit data with the bus protocol conversion device. Similarly, multiple physical channels can be configured, and corresponding serial numbers are added to distinguish them. Likewise, multiple Mechatrolink III slaves can be configured, and corresponding serial numbers are added to distinguish them. The ellipsis indicates that more EtherCAT slaves, Mechatrolink III slaves, or physical channels can be added.

[0032] This invention provides an EtherCAT to Mechatrolink III bus protocol conversion device, such as... Figure 3 As shown, this is used to convert first data into second data between a first conversion object and a second conversion object; one of the first conversion object and the other of the second conversion object is an EtherCAT slave station and the other is a Mechatrolink III master station; one of the first data and the other of the second data is EtherCAT data and the other is Mechatrolink data; as shown... Figure 1 As shown, the EtherCAT to Mechatrolink III bus protocol conversion device includes:

[0033] The first receiving unit 30 is used to receive a first data interrupt signal and a first synchronization interrupt signal from the first conversion object;

[0034] The first reading unit 31 is used to read the first data cached by the first conversion object according to the first data interruption signal;

[0035] The correction unit 32 is used to correct the first synchronization interrupt signal to obtain the corresponding second synchronization interrupt signal;

[0036] Conversion unit 33 is used to convert the first data into the second data;

[0037] The first transmitting unit 34 is used to send the second data and the second synchronization interrupt signal to the second conversion object; wherein the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal.

[0038] In the device provided in this embodiment:

[0039] (1) The first conversion object, which is connected to the bus protocol conversion device, is the window through which the associated master station and / or slave station communicates with the second conversion object. When the first conversion object or its associated master station and / or slave station needs the second conversion object to perceive specified content (such as temperature detection content, location information, image information) or perform specific actions (such as robot arm rotation, cutting operation), the specified content to be transmitted (i.e., the first data) needs to be cached on the first conversion object first.

[0040] (2) The first receiving unit 30 receives the first data interrupt signal and the first synchronization interrupt signal from the first conversion object.

[0041] On one hand, when the first conversion object detects the presence of specified content (i.e., the first data), it sends a first data interrupt signal to the first receiving unit 30. A data interrupt signal is a signal used to notify that an event has occurred, typically indicating that new data is available or has arrived and needs to be read or processed. Therefore, the data interrupt signal triggers an interrupt mechanism to enable real-time operations, such as reading data. Correspondingly, the first data interrupt signal here is used to notify the bus protocol conversion device that new data (i.e., the first data) is available or has arrived and needs to be read.

[0042] On the other hand, when the first conversion object detects the presence of specified content (i.e., the first data), it also sends a first synchronization interrupt signal to the first receiving unit 30. A synchronization interrupt signal is a signal used for synchronization operations; it coordinates the actions of different stations in a network or system to ensure they perform a certain operation at a specific point in time. Synchronization interrupt signals are typically generated by a timer, clock, or periodic event. In industrial automation, especially in real-time control systems, synchronization interrupt signals are widely used to ensure different stations operate at the same time. Correspondingly, the first synchronization interrupt signal here is for the second conversion object to perform synchronization operations, coordinating its associated master and / or slave stations to achieve efficient real-time communication.

[0043] (3) The first reading unit 31 reads the first data cached by the first conversion object according to the first data interrupt signal.

[0044] (4) The correction unit 32 corrects the first synchronization interrupt signal to obtain the corresponding second synchronization interrupt signal. The main reason for correcting the first synchronization interrupt signal is that in a real-time control system, when different devices, sensors, and actuators are involved in synchronous operation, it is crucial to ensure that all devices operate at precise times. However, due to factors such as hardware delays and clock drift, time synchronization between devices may have errors. Therefore, it is necessary to correct the synchronization interrupt signal to eliminate these errors. Accordingly, the purpose of correcting the first synchronization interrupt signal is to ensure that the first synchronization interrupt signal sent from the first conversion object is consistent with the synchronization time expected by the second conversion object. By correcting the first synchronization interrupt signal, it can be ensured that data communication between two different bus protocols occurs within a predetermined time interval, thereby achieving efficient protocol conversion and data transmission.

[0045] (5) The conversion unit 33 converts the first data into the second data; the first sending unit 34 sends the second data and the second synchronization interrupt signal to the second conversion object, wherein the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal.

[0046] On the one hand, the primary reason for converting the first data is that Mechatrolink III and EtherCAT are two different industrial Ethernet communication protocols. The protocol differences between them prevent the first and second conversion objects from directly processing each other's data. Correspondingly, after converting the first data into the second data, the protocol used by the second data becomes consistent with the protocol used by the second conversion object, allowing the second conversion object to process the second data.

[0047] On the other hand, the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal, so that the associated master station and / or slave station responds to the first conversion object or its associated master station and / or slave station, thereby realizing interactive control.

[0048] In summary, the device provided in this embodiment enables EtherCAT slave stations and Mechatrolink III master stations to perform protocol conversion. At the same time, by correcting and obtaining a second synchronization interrupt signal, and using it as the synchronization signal of the second conversion object, the synchronization between Mechatrolink III data and EtherCAT data is guaranteed, allowing devices using the EtherCAT protocol and devices using the Mechatrolink III protocol to work collaboratively under the same controller.

[0049] Example 2

[0050] This invention provides an EtherCAT to Mechatrolink III bus protocol conversion device. The similarities to Embodiment 1 are not repeated here; the differences are as follows: Figure 2 As shown, the EtherCAT to Mechatrolink III bus protocol conversion device also includes:

[0051] The second receiving unit 35 is used to receive a second data interruption signal from the second conversion object;

[0052] The second reading unit 36 ​​is used to read the third data cached in the second conversion object according to the second data interrupt signal; wherein, the third data is used to provide feedback on the execution result of the second data in the master station and / or slave station associated with the second conversion object;

[0053] The third receiving unit 37 is used to receive a third synchronization interrupt signal from the first conversion object; wherein the third synchronization interrupt signal is the next synchronization interrupt signal after the first synchronization interrupt signal;

[0054] The conversion unit 33 is also used to convert the third data into fourth data; wherein the third data and the fourth data are, respectively, EtherCAT data and Mechatrolink data;

[0055] The second transmitting unit 38 is used to send the fourth data to the first conversion object according to the third synchronization interrupt signal.

[0056] In the device provided in this embodiment

[0057] (1) The second receiving unit 35 receives the second data interrupt signal from the second conversion object. The function of the second data interrupt signal is similar to that of the first data interrupt signal, except that the object it applies to is different, and will not be described in detail here.

[0058] (2) The second reading unit 36 ​​reads the third data cached by the second conversion object according to the second data interrupt signal. The third data is used to provide feedback on the execution result of the second data by the master station and / or slave station associated with the second conversion object. After the execution of the second data by the master station and / or slave station associated with the second conversion object, corresponding data will be generated. This data may be used to describe the completion rate or other information generated by the execution. In order for the first conversion object and the master station and / or slave station associated with the first conversion object to perceive the execution status in a timely manner, it is necessary to send the relevant data to the bus protocol conversion device and then send it back to the first conversion object. The data sent to the bus protocol conversion device can be the original data or the processed data.

[0059] (3) The third receiving unit 37 receives the third synchronization interrupt signal from the first conversion object, wherein the third synchronization interrupt signal is the next synchronization interrupt signal after the first synchronization interrupt signal. The function of the third synchronization interrupt signal is similar to that of the first synchronization interrupt signal, only the object of action is different, and will not be described in detail here.

[0060] (4) The conversion unit converts the third data into the fourth data, wherein the third data and the fourth data are respectively EtherCAT data and Mechatrolink data. This step is similar in purpose to the step of converting the first data into the second data, only the objects of action are different, and will not be described in detail here.

[0061] (5) The second transmitting unit 38 sends the fourth data to the first conversion object according to the third synchronization interrupt signal.

[0062] In summary, the device provided in this embodiment can return the fourth data to the first conversion object, enabling the first conversion object to promptly perceive the task execution status and take the corresponding next action. By using a synchronous interrupt signal, the transmission of the fourth data is ensured to occur within a predetermined time sequence, reducing communication and execution delays and helping to improve the real-time performance of the system. Furthermore, the feedback mechanism ensures the consistency of data between different conversion objects, preventing data loss or inconsistency.

[0063] Example 3

[0064] This invention provides an EtherCAT to Mechatrolink III bus protocol conversion device, which is the same as that in Embodiment 1 and will not be repeated here. The difference is that the correction unit 32 is specifically used for:

[0065] Obtain the parameter jitter; where jitter is the jitter value of the first synchronization interrupt signal, and the unit is ns;

[0066] Solve for k using k = jitter / 100ns; where k is the output coefficient of the jitter time filter.

[0067] Given T = 10 * k, calculate T; where T is the synchronous interrupt trigger time.

[0068] The synchronous interrupt trigger time of the first synchronous interrupt signal is corrected to T to obtain the corresponding second synchronous interrupt signal.

[0069] The apparatus provided in this embodiment includes a correction unit 32 that acquires the parameter jitter, where jitter is the jitter value of the first synchronous interrupt signal, measured in nanoseconds (ns). Then, it calculates k using k = jitter / 100ns, where k is the output coefficient of the jitter time filter. Next, it calculates T using T = 10*k, where T is the synchronous interrupt trigger time. Finally, it corrects the synchronous interrupt trigger time of the first synchronous interrupt signal to T, obtaining the corresponding second synchronous interrupt signal. Since the synchronous interrupt characteristics of the first and second conversion objects differ, adjusting the synchronous interrupt trigger time makes it more consistent with the characteristics of the second conversion object, resulting in more accurate timing of the second data transmission and ensuring high real-time performance.

[0070] Example 4

[0071] This invention provides an EtherCAT to Mechatrolink III bus protocol conversion device. The similarities to Embodiment 3 will not be repeated here, except that the correction unit 32 is further used to perform a preset periodic smoothing filter on the first synchronization interrupt signal. Smoothing filtering reduces jitter and noise in the first synchronization interrupt signal, making it more stable and predictable, thereby improving system stability. This is particularly important in real-time control and data transmission applications, as a stable first synchronization interrupt signal helps ensure accurate task execution and reliable data transmission.

[0072] Optionally, the preset period is 20 periods. This means that the changes in the first synchronization interrupt signal are averaged over 20 consecutive periods. Specifically, the smoothing filter adds up 20 consecutive synchronization interrupt signal values ​​and then averages them to obtain an average value. This reduces the impact of potential noise or jitter within a single period on the overall signal, thus providing a more stable synchronization interrupt signal for more reliable processing in subsequent steps.

[0073] Example 5

[0074] This invention provides an EtherCAT to Mechatrolink III bus protocol conversion device, which is the same as Embodiment 2 and will not be repeated here. The difference is that: Figure 3 As shown, the first conversion object is an EtherCAT slave station; the first data interruption signal is generated by the first conversion object at a first time, and the first synchronization interruption signal is generated by the first conversion object at a second time. Both the first time and the second time are after the first event. The first event is receiving EtherCAT data from the master station and / or slave station associated with the first conversion object; the first data corresponds to the EtherCAT data from the master station and / or slave station associated with the first conversion object.

[0075] The second conversion object is a Mechatrolink III master station, which synchronously sends the second data to its associated slave station according to the second synchronization interrupt signal; the second data interrupt signal is generated by the second conversion object at a third time, which is after the second event, the second event being the receipt of Mechatrolink III data from the slave station associated with the second conversion object; the third data corresponds to the Mechatrolink III data from the slave station associated with the second conversion object.

[0076] The device provided in this embodiment can perform protocol conversion between EtherCAT slave stations and Mechatrolink III master stations, enabling devices using the EtherCAT protocol and devices using the Mechatrolink III protocol to work collaboratively under the same controller.

[0077] Example 6

[0078] This invention provides a method for converting between EtherCAT and Mechatrolink III bus protocols, such as... Figure 3 As shown, this is used to convert first data into second data between a first conversion object and a second conversion object; one of the first conversion object and the other of the second conversion object is an EtherCAT slave station and the other is a Mechatrolink III master station; one of the first data and the other of the second data is EtherCAT data and the other is Mechatrolink data; as shown... Figure 4 As shown, the EtherCAT to Mechatrolink III bus protocol conversion method includes the following steps:

[0079] Step S1: Receive the first data interrupt signal and the first synchronization interrupt signal from the first conversion object.

[0080] Step S2: Read the first data cached by the first conversion object according to the first data interrupt signal.

[0081] Step S3: Correct the first synchronization interrupt signal to obtain the corresponding second synchronization interrupt signal.

[0082] Step S4: Convert the first data into the second data.

[0083] Step S5: Send the second data and the second synchronization interrupt signal to the second conversion object; wherein, the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal.

[0084] The method provided in this embodiment receives a first data interruption signal and a first synchronization interruption signal from a first conversion object; then, it reads the first data cached by the first conversion object according to the first data interruption signal; then, it corrects the first synchronization interruption signal to obtain a corresponding second synchronization interruption signal; then, it converts the first data into second data; and then, it sends the second data and the second synchronization interruption signal to a second conversion object, wherein the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interruption signal. Through the aforementioned method, EtherCAT slave stations and Mechatrolink III master stations can perform protocol conversion. Simultaneously, by obtaining the second synchronization interruption signal through correction and using it as the synchronization signal of the second conversion object, the synchronization between Mechatrolink III data and EtherCAT data is guaranteed, enabling devices using the EtherCAT protocol and devices using the Mechatrolink III protocol to work collaboratively under the same controller.

[0085] Example 7

[0086] This invention provides a method for converting between EtherCAT and Mechatrolink III bus protocols. The similarities to Embodiment Six will not be repeated here, except that after the step of sending the second data and the second synchronization interrupt signal to the second conversion object, the method further includes:

[0087] Receive a second data interrupt signal from the second conversion object;

[0088] The third data cached in the second conversion object is read according to the second data interruption signal; wherein, the third data is used to provide feedback on the execution result of the second data in the master station and / or slave station associated with the second conversion object;

[0089] Receive a third synchronization interrupt signal from the first conversion object; wherein the third synchronization interrupt signal is the next synchronization interrupt signal following the first synchronization interrupt signal;

[0090] The third data is converted into the fourth data; where the third data and the fourth data are respectively EtherCAT data and Mechatrolink data.

[0091] Based on the third synchronization interrupt signal, the fourth data is sent to the first conversion object.

[0092] The method provided in this embodiment involves receiving a second data interruption signal from a second conversion object; then, reading third data cached by the second conversion object according to the second data interruption signal, wherein the third data is used to feedback the execution result of the second data at the master station and / or slave station associated with the second conversion object; then, receiving a third synchronization interruption signal from a first conversion object, wherein the third synchronization interruption signal is the next synchronization interruption signal after the first synchronization interruption signal; then, converting the third data into fourth data, wherein the third data and the fourth data are, respectively, EtherCAT data and Mechatrolink data; and then, sending the fourth data to the first conversion object according to the third synchronization interruption signal. Through the aforementioned method, the fourth data can be returned to the first conversion object, allowing the first conversion object to promptly perceive the task execution status and take the corresponding next action; by using the synchronization interruption signal, the transmission of the fourth data is ensured to occur within a predetermined time sequence, reducing communication and execution delays and helping to improve the real-time performance of the system; furthermore, the feedback mechanism ensures data consistency between different conversion objects, preventing data loss or inconsistency.

[0093] Example 8

[0094] This invention provides a method for converting between EtherCAT and Mechatrolink III bus protocols. The similarities to Embodiment Six will not be repeated here, except that the step of correcting the first synchronization interrupt signal to obtain the corresponding second synchronization interrupt signal includes:

[0095] Obtain the parameter jitter; where jitter is the jitter value of the first synchronization interrupt signal, and the unit is ns;

[0096] Solve for k using k = jitter / 100ns; where k is the output coefficient of the jitter time filter.

[0097] Given T = 10 * k, calculate T; where T is the synchronous interrupt trigger time.

[0098] The synchronous interrupt trigger time of the first synchronous interrupt signal is corrected to T to obtain the corresponding second synchronous interrupt signal.

[0099] The method provided in this embodiment obtains the parameter jitter, where jitter is the jitter value of the first synchronous interrupt signal in nanoseconds (ns). Then, k is calculated using k = jitter / 100ns, where k is the output coefficient of the jitter time filter. Next, T is calculated using T = 10*k, where T is the synchronous interrupt trigger time. Finally, the synchronous interrupt trigger time of the first synchronous interrupt signal is corrected to T to obtain the corresponding second synchronous interrupt signal. Since the synchronous interrupt characteristics of the first and second conversion objects are different, adjusting the synchronous interrupt trigger time makes it more suitable for the characteristics of the second conversion object, resulting in more accurate timing of the second data transmission and ensuring high real-time performance.

[0100] Example 9

[0101] This invention provides a method for converting between EtherCAT and Mechatrolink III bus protocols. The similarities to Embodiment 8 will not be repeated here, except that before obtaining the corresponding second synchronous interrupt signal, the method further includes smoothing the first synchronous interrupt signal for a preset period. Smoothing filtering reduces jitter and noise in the first synchronous interrupt signal, making it more stable and predictable, thereby improving system stability. This is particularly important in real-time control and data transmission applications, as a stable first synchronous interrupt signal helps ensure accurate task execution and reliable data transmission.

[0102] Optional, the preset cycle is 20 cycles.

[0103] Example 10

[0104] This invention provides a method for converting between EtherCAT and Mechatrolink III bus protocols. The similarities to Embodiment 7 will not be repeated here; the differences are as follows: Figure 3 As shown, the first conversion object is an EtherCAT slave station; the first data interruption signal is generated by the first conversion object at a first time, and the first synchronization interruption signal is generated by the first conversion object at a second time. Both the first time and the second time are after the first event. The first event is receiving EtherCAT data from the master station and / or slave station associated with the first conversion object; the first data corresponds to the EtherCAT data from the master station and / or slave station associated with the first conversion object.

[0105] The second conversion object is a Mechatrolink III master station, which synchronously sends the second data to its associated slave station according to the second synchronization interrupt signal; the second data interrupt signal is generated by the second conversion object at a third time, which is after the second event, the second event being the receipt of Mechatrolink III data from the slave station associated with the second conversion object; the third data corresponds to the Mechatrolink III data from the slave station associated with the second conversion object.

[0106] The method provided in this embodiment can perform protocol conversion between EtherCAT slave stations and Mechatrolink III master stations, enabling devices using the EtherCAT protocol and devices using the Mechatrolink III protocol to work collaboratively under the same controller.

[0107] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0108] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. An EtherCAT to Mechatrolink III bus protocol conversion device, used to convert first data into second data between a first conversion object and a second conversion object; the first conversion object and the second conversion object are, respectively, an EtherCAT slave and a Mechatrolink III master; the first data and the second data are, respectively, EtherCAT data and Mechatrolink data; characterized in that, The EtherCAT to Mechatrolink III bus protocol conversion device includes: The first receiving unit is configured to receive a first data interruption signal and a first synchronization interruption signal from the first conversion object; The first reading unit is used to read the first data cached by the first conversion object according to the first data interruption signal; The correction unit is used to correct the first synchronization interrupt signal to obtain the corresponding second synchronization interrupt signal; A conversion unit is used to convert the first data into the second data; The first sending unit is used to send the second data and the second synchronization interrupt signal to the second conversion object; wherein the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal; Specifically, the correction unit is used for: Obtain the parameter jitter; where jitter is the jitter value of the first synchronization interrupt signal, and the unit is ns; Solve for k using k = jitter / 100ns; where k is the output coefficient of the jitter time filter. Given T = 10 * k, calculate T; where T is the synchronous interrupt trigger time. The synchronous interrupt trigger time of the first synchronous interrupt signal is corrected to T to obtain the corresponding second synchronous interrupt signal.

2. The EtherCAT to Mechatrolink III bus protocol conversion device according to claim 1, characterized in that, The EtherCAT to Mechatrolink III bus protocol conversion device also includes: The second receiving unit is used to receive a second data interruption signal from the second conversion object; The second reading unit is used to read the third data cached in the second conversion object according to the second data interruption signal; wherein, the third data is used to provide feedback on the execution result of the second data in the master station and / or slave station associated with the second conversion object; The third receiving unit is used to receive a third synchronization interrupt signal from the first conversion object; wherein the third synchronization interrupt signal is the next synchronization interrupt signal following the first synchronization interrupt signal; The conversion unit is further configured to convert the third data into fourth data; wherein the third data and the fourth data are, respectively, EtherCAT data and Mechatrolink data; The second sending unit is used to send the fourth data to the first conversion object according to the third synchronization interrupt signal.

3. The EtherCAT to Mechatrolink III bus protocol conversion device according to claim 1, characterized in that, The correction unit is also used to perform smoothing filtering on the first synchronization interrupt signal for a preset period.

4. The EtherCAT to Mechatrolink III bus protocol conversion device according to claim 2, characterized in that, The first conversion object is an EtherCAT slave station; the first data interruption signal is generated by the first conversion object at a first time, and the first synchronization interruption signal is generated by the first conversion object at a second time. Both the first time and the second time are after the first event, which is receiving EtherCAT data from the master station and / or slave station associated with the first conversion object; the first data corresponds to the EtherCAT data from the master station and / or slave station associated with the first conversion object. The second conversion object is a Mechatrolink III master station, which synchronously sends the second data to its associated slave station according to the second synchronization interrupt signal; the second data interrupt signal is generated by the second conversion object at a third time, which is after the second event, the second event being the receipt of Mechatrolink III data from the slave station associated with the second conversion object; the third data corresponds to the Mechatrolink III data from the slave station associated with the second conversion object.

5. A method for converting EtherCAT to Mechatrolink III bus protocols, used to convert first data into second data between a first conversion object and a second conversion object; the first conversion object and the second conversion object are, respectively, an EtherCAT slave and a Mechatrolink III master; the first data and the second data are, respectively, EtherCAT data and Mechatrolink data; characterized in that, The EtherCAT to Mechatrolink III bus protocol conversion method includes the following steps: Receive a first data interrupt signal and a first synchronization interrupt signal from the first conversion object; Read the first data cached by the first conversion object according to the first data interruption signal; The first synchronization interrupt signal is corrected to obtain the corresponding second synchronization interrupt signal; Convert the first data into the second data; The second data and the second synchronization interrupt signal are sent to the second conversion object; wherein, the second conversion object synchronously sends the second data to its associated master station and / or slave station according to the second synchronization interrupt signal; Specifically, the correction unit is used for: Obtain the parameter jitter; where jitter is the jitter value of the first synchronization interrupt signal, and the unit is ns; Solve for k using k = jitter / 100ns; where k is the output coefficient of the jitter time filter. Given T = 10 * k, calculate T; where T is the synchronous interrupt trigger time. The synchronous interrupt trigger time of the first synchronous interrupt signal is corrected to T to obtain the corresponding second synchronous interrupt signal.

6. The EtherCAT to Mechatrolink III bus protocol conversion method according to claim 5, characterized in that, After the step of sending the second data and the second synchronization interrupt signal to the second conversion object, the method further includes: Receive a second data interrupt signal from the second conversion object; The third data cached in the second conversion object is read according to the second data interruption signal; wherein, the third data is used to provide feedback on the execution result of the second data in the master station and / or slave station associated with the second conversion object; Receive a third synchronization interrupt signal from the first conversion object; wherein the third synchronization interrupt signal is the next synchronization interrupt signal following the first synchronization interrupt signal; The third data is converted into fourth data; wherein, the third data and the fourth data are respectively EtherCAT data and Mechatrolink data; The fourth data is sent to the first conversion object according to the third synchronization interrupt signal.

7. The EtherCAT to Mechatrolink III bus protocol conversion method according to claim 5, characterized in that, Before obtaining the corresponding second synchronization interrupt signal, the method further includes: performing a smoothing filter on the first synchronization interrupt signal for a preset period.

8. The EtherCAT to Mechatrolink III bus protocol conversion method according to claim 6, characterized in that, The first conversion object is an EtherCAT slave station; the first data interruption signal is generated by the first conversion object at a first time, and the first synchronization interruption signal is generated by the first conversion object at a second time. Both the first time and the second time are after the first event, which is receiving EtherCAT data from the master station and / or slave station associated with the first conversion object; the first data corresponds to the EtherCAT data from the master station and / or slave station associated with the first conversion object. The second conversion object is a Mechatrolink III master station, which synchronously sends the second data to its associated slave station according to the second synchronization interrupt signal; the second data interrupt signal is generated by the second conversion object at a third time, which is after the second event, the second event being the receipt of Mechatrolink III data from the slave station associated with the second conversion object; the third data corresponds to the Mechatrolink III data from the slave station associated with the second conversion object.

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