Bending machine control method

Abstract

The invention relates to the technical field of automatic control, in particular to a bending machine control method which comprises an upper computer, a master station controller, a bending machine special IO slave station, matched HMI software and a lower motion control program, the upper computer provides a user operation platform through the HMI software, the HMI software generates working steps and control data, and the upper computer communicates with the master station controller; and the master station controller performs motion planning according to the working step data, is connected with the bending machine special IO slave station and the shaft servo driver through the EtherCAT bus, and performs control instruction issuing and state and data uploading, so that basic motion of the bending machine tool is realized. An EtherCAT bus communication technology is adopted, the control system is superior to a conventional bending machine control system in the aspects of interference resistance, reliability and motion control response, and the control system can meet the control requirements of all-electric servo bending machine products and hydraulic bending machine products.

Description

Technical Field

[0001] The invention relates to the technical field of automatic control, and in particular to a bending machine control method. Background Art

[0002] Due to its application requirements, bending machine tools have different configuration requirements for the number of back gauge axes: 2 / 4 / 6. Conventional analog bending machine control systems are limited by hardware interfaces and cannot flexibly adapt to the expansion of the number of back gauge axes. Additional axis-specific interface hardware is required. At the same time, the axis motion instructions are transmitted using analog signals, which has poor anti-interference performance. Summary of the invention

[0003] The problem to be solved by the present invention is to provide a bending machine control method to solve the technical problems that the axis expansion of the existing bending machine system is limited and the anti-interference performance of analog motion instructions is poor.

[0004] In view of the deficiencies of the prior art, the present invention solves the technical problems by adopting a technical solution: a bending machine control method, comprising the following steps:

[0005] Step 1: Establish a host computer, a master station controller and a dedicated IO slave station for the bending machine. The dedicated IO slave station for the bending machine is equipped with an MCU chip and a peripheral interface circuit; wherein the host computer communicates with the master station controller through TCP / IP, and the master station controller and the dedicated IO slave station for the bending machine communicate through the EtherCAT bus;

[0006] Step 2: The HMI software runs on the host computer and is responsible for processing the PLC program, processing files, mold files, parameter database and bus configuration configuration files, and generates PLC program data, process step data, mold data, setting parameter data and bus configuration parameter data respectively; the host computer is equipped with a touch screen, and the HMI software generates operation instructions in response to touch operations, including start, stop and reset. The host computer sends the generated data and operation instructions to the master station controller through TCP / IP communication;

[0007] Step 3: The main station controller runs motion control software, which receives data and operation instructions sent by the host computer HMI software, processes and responds to the data and operation instructions sent by the host computer, and generates motion control instructions for several axes and logic instructions for the peripheral interface circuit. The several axes include the slider Y1 axis, the slider Y2 axis, the rear stopper X axis, the rear stopper R axis...; the motion control instructions of several axes are sent to the corresponding servo drive for execution through EtherCAT bus communication; the motion control instructions of the slider Y1 axis and the slider Y2 axis and the logic instructions of the peripheral interface circuit are sent to the bending machine dedicated IO slave station through EtherCAT bus communication;

[0008] Step 4: The MCU chip of the bending machine dedicated IO slave station is used to process the peripheral interface circuit signal. The peripheral interface circuit includes digital input and output, analog input and output, encoder / grating ruler input and hydraulic proportional valve control; in the MCU chip kernel program, the logic instructions of the peripheral interface circuit received through the EtherCAT bus communication perform logical processing on the digital input to generate digital output; the MCU chip kernel program further processes the motion control instructions of the slider Y1 axis and the slider Y2 axis to generate the motion planning position; when applied to hydraulic bending machine products, the motion planning positions of the slider Y1 axis and the slider Y2 axis are converted into hydraulic proportional valve control signals and output, and the hydraulic proportional valve is controlled to realize the movement of the slider Y1 axis and the slider Y2 axis; when applied to all-electric servo bending machine products, the motion planning positions of the slider Y1 axis and the slider Y2 axis are generated through PID calculation to generate speed instructions, which are sent to the slider Y1 axis and the slider Y2 axis servo drive for execution through EtherCAT bus communication;

[0009] Step 5: The master controller communicates via the EtherCAT bus and obtains the following information from the dedicated IO slave station for the bending machine: digital input and output, analog input and output, encoder / grating ruler input data; servo drive status of several axes, axis position information data; alarm information generated by the motion control software; the above data are aggregated to form process data, and uploaded to the host computer via TCP / IP for display or file recording processing.

[0010] Preferably, the master station controller is provided with an ARM chip, network port 1 and network port 2, and the ARM chip communicates with the host computer via TCP / IP through network port 1; network port 2 is an EtherCAT dedicated network port, which is respectively connected to the bending machine dedicated IO slave station and the servo drives of several axes to form an EtherCAT field bus.

[0011] Preferably, the MCU chip in the bending machine-specific IO slave station communicates with the master station controller via the network port chip and the EtherCAT slave station protocol stack.

[0012] Preferably, the step 3 specifically comprises the following steps:

[0013] Step S3-1: In the master station controller, the motion control software obtains bus configuration parameters and sets parameter data from the host computer through TCP / IP communication, and starts and completes the real-time thread and EtherCAT master station initialization;

[0014] Step S3-2: The motion control software compiles and executes the PLC program data to generate logic instructions for the peripheral interface circuit; processes the work step data to generate motion control instructions for controlling several axes, and the motion control instructions include the motion planning positions of the slider Y1 axis and the slider Y2 axis and the planning positions of the back gauge X axis and the back gauge R axis;

[0015] Step S3-3: The motion control software periodically writes the motion control instructions and logic instructions generated in step S3-2 into the EtherCAT communication data frame through the real-time thread, and distributes them to the dedicated IO slave station of the bending machine and the servo drive of each rear stop shaft through the IGH master module;

[0016] Step S3-4: The bending machine dedicated IO slave station retrieves the motion planning position and logic instructions of the slider Y1 axis and the slider Y2 axis from the received EtherCAT communication data frame; the MCU chip performs PID calculation processing according to the actual position of the slider fed back by the encoder interface and the received slider periodic planning position, and generates the speed instructions of the slider Y1 axis and the slider Y2 axis;

[0017] Step S3-5: The MCU chip controls the digital output port through the peripheral interface circuit according to the logic instruction; the speed instructions of the slider Y1 axis and the slider Y2 axis generated in step S3-4 are converted into hydraulic proportional valve control signals when applied to hydraulic bending machine products, and output through the hydraulic proportional valve interface in the peripheral interface circuit; when applied to all-electric servo bending machine products, the speed instructions are written into the EtherCAT communication data frame and sent to the servo drive corresponding to the slider Y1 axis and the slider Y2 axis for execution; at the same time, the MCU chip obtains digital input and output, analog input and output, and encoder / grating ruler input feedback data through the peripheral interface circuit, writes them into the EtherCAT communication data frame and transmits them back to the master station controller;

[0018] Step S3-6: The servo drive of the rear gauge shaft operates in CSP mode, periodically obtains the planned position of the rear gauge shaft from the EtherCAT communication data frame to perform positioning movement, and writes the servo drive state and the actual position of the rear gauge shaft into the EtherCAT communication data frame and transmits it back to the master station controller;

[0019] Step S3-7: The servo drive of the slider Y1 axis and the slider Y2 axis runs in CSV mode, periodically obtains the speed instructions of the slider Y1 axis and the slider Y2 axis from the EtherCAT communication data frame to execute movement, and writes the servo drive status and the actual position of the axis into the EtherCAT communication data frame and transmits it back to the master station controller.

[0020] Preferably, a Linux system whose kernel is transformed into real-time mode using the Preempt-RT patch is deployed in the master station controller.

[0021] Preferably, motion control software is deployed in the master station controller, and the motion control software includes an axis point motion module, a synchronous control module, an axis enable module, a stop module and a return reference function module, so as to realize the control of machine tool axis point motion, synchronous control, axis enable, stop and return reference functions based on EtherCAT bus communication through the EtherCAT communication master station.

[0022] Preferably, the motion control modules of the slider Y1 axis and the slider Y2 axis are deployed in the MCU chip kernel program of the bending machine dedicated IO slave station, which are used for enabling, returning to the reference, stopping, motion planning and position closed-loop PID control of the slider Y1 axis and the slider Y2 axis. The closed-loop control PID algorithm of the slider Y1 axis and the slider Y2 axis is as follows:

[0023] Y1_Output=Y1_RefVel+Kp*Y1_Err+Ki*Y1_ErrAdd–Kp_G*SynErr,

[0024] Y2_Output=Y2_RefVel+Kp*Y2_Err+Ki*Y2_ErrAdd+Kp_G*SynErr,

[0025] Among them, Y1_Output is the speed command output to the slider Y1 axis drive, Y2_Output is the speed command output to the slider Y2 axis drive, Y1_RefVel is the speed planning command of the slider Y1 axis, Y2_RefVel is the speed planning command of the slider Y2 axis, Kp is the proportional gain, Ki is the integral gain, Kp_G is the parallelism gain, Y1_Err is the following error of the slider Y1 axis in the current cycle, Y2_Err is the following error of the slider Y2 axis in the current cycle, Y1_ErrAdd is the active following error of the slider Y1 axis in the current cycle, Y1_ErrAdd is the active following error of the slider Y2 axis in the current cycle; SynErr is the parallelism error, which is calculated by subtracting the actual position of Y2 from the actual position of Y1.

[0026] The beneficial effects of the present invention are as follows: the present invention solves the problem that the existing bending machine system is limited by the hardware interface and cannot flexibly adapt to the configuration of different numbers of rear stop shafts, and the motion control instructions are transmitted through the EtherCAT bus. Compared with the analog signal transmission method of the existing bending machine system, it is better in anti-interference, control efficiency and response speed.

[0027] In terms of anti-interference, reliability and motion control response, it is better than the conventional bending machine control system using analog control, and when applied to all-electric servo bending machine products, it can effectively improve the performance of the machine tool. At the same time, the present invention integrates the peripheral interface circuit signal of the bending machine tool and the input and output interface of the hydraulic pump and valve through the bending machine dedicated IO slave station, which can take into account the control requirements of hydraulic bending machine products. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a system architecture diagram of the present invention;

[0029] Figure 2 It is a motion control software architecture diagram related to the present invention;

[0030] Figure 3 It is a flow chart of the HMI software of the present invention sending data;

[0031] Figure 4 It is a flow chart of the HMI software receiving data of the present invention. DETAILED DESCRIPTION

[0032] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0033] As shown in the figure, a bending machine control method includes a host computer, a master station controller and a bending machine dedicated IO slave station, an EtherCAT bus connects several axes, a bending machine dedicated IO slave station and a master station controller, an HMI software runs in the host computer, and the bending machine dedicated IO slave station is provided with an MCU chip. The master station controller is provided with an ARM chip, motion control software, network port 1 and network port 2; the ARM chip communicates with the host computer through network port 1 for TCP / IP; network port 2 is an EtherCAT dedicated network port, which is respectively connected to the bending machine dedicated IO slave station and the servo drive of several axes to form an EtherCAT field bus; the motion control software includes an axis point motion module, a synchronous control module, an axis enable module, a stop module and a reference return function module, so as to realize the control of the machine tool axis point motion, synchronous control, axis enable, stop and reference return functions based on EtherCAT bus communication through the EtherCAT communication master station. The master station controller can be deployed with a Linux system after the kernel real-time transformation using the Preempt-RT patch. The IO slave station dedicated to the bending machine includes an MCU chip and a peripheral interface circuit. The MCU chip communicates with the master station controller via the EtherCAT bus through the network port chip and the EtherCAT slave station protocol stack; the peripheral interface circuit includes digital input and output, analog input and output, encoder / grating scale input, and hydraulic proportional valve control.

[0034] The bending machine control method includes the following steps:

[0035] Step 1: Establish a host computer, a master station controller and a dedicated IO slave station for the bending machine. The dedicated IO slave station for the bending machine is equipped with an MCU chip and a peripheral interface circuit; wherein the host computer communicates with the master station controller through TCP / IP, and the master station controller and the dedicated IO slave station for the bending machine communicate through the EtherCAT bus;

[0036] Step 2: The HMI software runs on the host computer and is responsible for processing the PLC program, processing files, mold files, parameter database and bus configuration configuration files, and generates PLC program data, process step data, mold data, setting parameter data and bus configuration parameter data respectively; the host computer is equipped with a touch screen, and the HMI software generates operation instructions in response to touch operations, including start, stop and reset. The host computer sends the generated data and operation instructions to the master station controller through TCP / IP communication;

[0037] Step 3: The main station controller runs motion control software, which receives data and operation instructions sent by the host computer HMI software, processes and responds to the data and operation instructions sent by the host computer, and generates motion control instructions for several axes and logic instructions for the peripheral interface circuit. The several axes include the slider Y1 axis, the slider Y2 axis, the rear stopper X axis, the rear stopper R axis...; the motion control instructions of several axes are sent to the corresponding servo drive for execution through EtherCAT bus communication; the motion control instructions of the slider Y1 axis and the slider Y2 axis and the logic instructions of the peripheral interface circuit are sent to the bending machine dedicated IO slave station through EtherCAT bus communication;

[0038] Step 3 specifically includes the following steps:

[0039] Step S3-1: In the master station controller, the motion control software obtains bus configuration parameters and sets parameter data from the host computer through TCP / IP communication, and starts and completes the real-time thread and EtherCAT master station initialization;

[0040] Step S3-2: The motion control software compiles and executes the PLC program data to generate logic instructions for the peripheral interface circuit; processes the work step data to generate motion control instructions for controlling several axes, and the motion control instructions include the motion planning positions of the slider Y1 axis and the slider Y2 axis and the planning positions of the back gauge X axis and the back gauge R axis;

[0041] Step S3-3: The motion control software periodically writes the motion control instructions and logic instructions generated in step S3-2 into the EtherCAT communication data frame through the real-time thread, and distributes them to the dedicated IO slave station of the bending machine and the servo drive of each rear stop shaft through the IGH master module;

[0042] Step S3-4: The bending machine dedicated IO slave station retrieves the motion planning position and logic instructions of the slider Y1 axis and the slider Y2 axis from the received EtherCAT communication data frame; the MCU chip performs PID calculation processing according to the actual position of the slider fed back by the encoder interface and the received slider periodic planning position, and generates the speed instructions of the slider Y1 axis and the slider Y2 axis;

[0043] Step S3-5: The MCU chip controls the digital output port through the peripheral interface circuit according to the logic instruction; the speed instructions of the slider Y1 axis and the slider Y2 axis generated in step S3-4 are converted into hydraulic proportional valve control signals when applied to hydraulic bending machine products, and output through the hydraulic proportional valve interface in the peripheral interface circuit; when applied to all-electric servo bending machine products, the speed instructions are written into the EtherCAT communication data frame and sent to the servo drive corresponding to the slider Y1 axis and the slider Y2 axis for execution; at the same time, the MCU chip obtains digital input and output, analog input and output, and encoder / grating ruler input feedback data through the peripheral interface circuit, writes them into the EtherCAT communication data frame and transmits them back to the master station controller;

[0044] Step S3-6: The servo drive of the rear gauge shaft operates in CSP mode, periodically obtains the planned position of the rear gauge shaft from the EtherCAT communication data frame to perform positioning movement, and writes the servo drive state and the actual position of the rear gauge shaft into the EtherCAT communication data frame and transmits it back to the master station controller;

[0045] Step S3-7: The servo drive of the slider Y1 axis and the slider Y2 axis runs in CSV mode, periodically obtains the speed instructions of the slider Y1 axis and the slider Y2 axis from the EtherCAT communication data frame to execute movement, and writes the servo drive status and the actual position of the axis into the EtherCAT communication data frame and transmits it back to the master station controller.

[0046] Step 4: The MCU chip of the bending machine's dedicated IO slave station is used to process the peripheral interface circuit signal. In the MCU chip kernel program, the logic instructions of the peripheral interface circuit received through the EtherCAT bus communication perform logic processing on the digital input to generate a digital output; the MCU chip kernel program further processes the motion control instructions of the slider Y1 axis and the slider Y2 axis to generate a motion planning position; when applied to hydraulic bending machine products, the motion planning positions of the slider Y1 axis and the slider Y2 axis are converted into hydraulic proportional valve control signals and output, and the hydraulic proportional valve is controlled to realize the movement of the slider Y1 axis and the slider Y2 axis; when applied to all-electric servo bending machine products, the motion planning positions of the slider Y1 axis and the slider Y2 axis are generated through PID calculation to generate speed instructions, which are sent to the slider Y1 axis and the slider Y2 axis servo drive for execution through EtherCAT bus communication;

[0047] Step 5: The master controller communicates via the EtherCAT bus and obtains the following information from the dedicated IO slave station for the bending machine: digital input and output, analog input and output, encoder / grating ruler input data; servo drive status of several axes, axis position information data; alarm information generated by the motion control software; the above data are aggregated to form process data, and uploaded to the host computer via TCP / IP for display or file recording processing.

[0048] The motion control modules of the slider Y1 axis and the slider Y2 axis are deployed in the MCU chip kernel program of the bending machine dedicated IO slave station, which are used for enabling, returning to the reference, stopping, motion planning and position closed-loop PID control of the slider Y1 axis and the slider Y2 axis. The closed-loop control PID algorithm of the slider Y1 axis and the slider Y2 axis is as follows:

[0049] Y1_Output=Y1_RefVel+Kp*Y1_Err+Ki*Y1_ErrAdd–Kp_G*SynErr,

[0050] Y2_Output=Y2_RefVel+Kp*Y2_Err+Ki*Y2_ErrAdd+Kp_G*SynErr,

[0051] Among them, Y1_Output is the speed command output to the slider Y1 axis drive, Y2_Output is the speed command output to the slider Y2 axis drive, Y1_RefVel is the speed planning command of the slider Y1 axis, Y2_RefVel is the speed planning command of the slider Y2 axis, Kp is the proportional gain, Ki is the integral gain, Kp_G is the parallelism gain, Y1_Err is the following error of the slider Y1 axis in the current cycle, Y2_Err is the following error of the slider Y2 axis in the current cycle, Y1_ErrAdd is the active following error of the slider Y1 axis in the current cycle, Y1_ErrAdd is the active following error of the slider Y2 axis in the current cycle; SynErr is the parallelism error, which is calculated by subtracting the actual position of Y2 from the actual position of Y1.

Claims

1. A bending machine control method, characterized in that: The steps include: Step 1: Establish a host computer, a master station controller and a dedicated IO slave station for the bending machine. The dedicated IO slave station for the bending machine is equipped with an MCU chip and a peripheral interface circuit; wherein the host computer communicates with the master station controller through TCP / IP, and the master station controller and the dedicated IO slave station for the bending machine communicate through the EtherCAT bus; Step 2: The HMI software runs on the host computer and is responsible for processing the PLC program, processing files, mold files, parameter database and bus configuration configuration files, and generates PLC program data, process step data, mold data, setting parameter data and bus configuration parameter data respectively; the host computer is equipped with a touch screen, and the HMI software generates operation instructions in response to touch operations, including start, stop and reset. The host computer sends the generated data and operation instructions to the master station controller through TCP / IP communication; Step 3: The main station controller runs motion control software, which receives data and operation instructions sent by the host computer HMI software, processes and responds to the data and operation instructions sent by the host computer, and generates motion control instructions for several axes and logic instructions for the peripheral interface circuit. The several axes include the slider Y1 axis, the slider Y2 axis, the rear stopper X axis, the rear stopper R axis...; the motion control instructions of several axes are sent to the corresponding servo drive for execution through EtherCAT bus communication; the motion control instructions of the slider Y1 axis and the slider Y2 axis and the logic instructions of the peripheral interface circuit are sent to the bending machine dedicated IO slave station through EtherCAT bus communication; Step 4: The MCU chip of the bending machine dedicated IO slave station is used to process the peripheral interface circuit signal. The peripheral interface circuit includes digital input and output, analog input and output, encoder / grating ruler input and hydraulic proportional valve control; in the MCU chip kernel program, the logic instructions of the peripheral interface circuit received through the EtherCAT bus communication perform logical processing on the digital input to generate digital output; the MCU chip kernel program further processes the motion control instructions of the slider Y1 axis and the slider Y2 axis to generate the motion planning position; when applied to hydraulic bending machine products, the motion planning positions of the slider Y1 axis and the slider Y2 axis are converted into hydraulic proportional valve control signals and output, and the hydraulic proportional valve is controlled to realize the movement of the slider Y1 axis and the slider Y2 axis; when applied to all-electric servo bending machine products, the motion planning positions of the slider Y1 axis and the slider Y2 axis are generated through PID calculation to generate speed instructions, which are sent to the slider Y1 axis and the slider Y2 axis servo drive for execution through EtherCAT bus communication; Step 5: The master controller communicates via the EtherCAT bus and obtains the following information from the dedicated IO slave station for the bending machine: digital input and output, analog input and output, encoder / grating ruler input data; servo drive status of several axes, axis position information data; alarm information generated by the motion control software; the above data are aggregated to form process data, and uploaded to the host computer via TCP / IP for display or file recording processing.

2. A bending machine control method according to claim 1, characterized in that: The master station controller is provided with an ARM chip, network port 1 and network port 2. The ARM chip communicates with the host computer via TCP / IP through network port 1; network port 2 is an EtherCAT dedicated network port, which is respectively connected to the bending machine dedicated IO slave station and the servo drives of several axes to form an EtherCAT field bus.

3. A bending machine control method according to claim 1, characterized in that: The MCU chip in the bending machine dedicated IO slave station communicates with the master station controller via the network port chip and the EtherCAT slave station protocol stack.

4. A control method for a bending machine according to claim 1, characterized in that: The step 3 specifically includes the following steps: Step S3-1: In the master station controller, the motion control software obtains bus configuration parameters and sets parameter data from the host computer through TCP / IP communication, and starts and completes the real-time thread and EtherCAT master station initialization; Step S3-2: The motion control software compiles and executes the PLC program data to generate logic instructions for the peripheral interface circuit; processes the work step data to generate motion control instructions for controlling several axes, and the motion control instructions include the motion planning positions of the slider Y1 axis and the slider Y2 axis and the planning positions of the back gauge X axis and the back gauge R axis; Step S3-3: The motion control software periodically writes the motion control instructions and logic instructions generated in step S3-2 into the EtherCAT communication data frame through the real-time thread, and distributes them to the dedicated IO slave station of the bending machine and the servo drive of each rear stop shaft through the IGH master module; Step S3-4: The bending machine dedicated IO slave station retrieves the motion planning position and logic instructions of the slider Y1 axis and the slider Y2 axis from the received EtherCAT communication data frame; the MCU chip performs PID calculation processing according to the actual position of the slider fed back by the encoder interface and the received slider periodic planning position, and generates the speed instructions of the slider Y1 axis and the slider Y2 axis; Step S3-5: The MCU chip controls the digital output port through the peripheral interface circuit according to the logic instruction; the speed instructions of the slider Y1 axis and the slider Y2 axis generated in step S3-4 are converted into hydraulic proportional valve control signals when applied to hydraulic bending machine products, and output through the hydraulic proportional valve interface in the peripheral interface circuit; when applied to all-electric servo bending machine products, the speed instructions are written into the EtherCAT communication data frame and sent to the servo drive corresponding to the slider Y1 axis and the slider Y2 axis for execution; at the same time, the MCU chip obtains digital input and output, analog input and output, and encoder / grating ruler input feedback data through the peripheral interface circuit, writes them into the EtherCAT communication data frame and transmits them back to the master station controller; Step S3-6: The servo drive of the rear gauge shaft operates in CSP mode, periodically obtains the planned position of the rear gauge shaft from the EtherCAT communication data frame to perform positioning movement, and writes the servo drive state and the actual position of the rear gauge shaft into the EtherCAT communication data frame and transmits it back to the master station controller; Step S3-7: The servo drive of the slider Y1 axis and the slider Y2 axis runs in CSV mode, periodically obtains the speed instructions of the slider Y1 axis and the slider Y2 axis from the EtherCAT communication data frame to execute movement, and writes the servo drive status and the actual position of the axis into the EtherCAT communication data frame and transmits it back to the master station controller.

5. A control method for a bending machine as claimed in claim 1, characterized in that: The master station controller is deployed with a Linux system after the kernel is transformed into real-time using the Preempt-RT patch.

6. A control method for a bending machine according to claim 1, characterized in that: The master station controller is deployed with motion control software, which includes an axis point motion module, a synchronous control module, an axis enable module, a stop module and a reference return function module, so as to realize the control of machine tool axis point motion, synchronous control, axis enable, stop and reference return functions based on EtherCAT bus communication through the EtherCAT communication master station.

7. A control method for a bending machine according to claim 1, characterized in that: The motion control modules of the slider Y1 axis and the slider Y2 axis are deployed in the MCU chip kernel program of the bending machine dedicated IO slave station, which are used for enabling, returning to the reference, stopping, motion planning and position closed-loop PID control of the slider Y1 axis and the slider Y2 axis. The closed-loop control PID algorithm of the slider Y1 axis and the slider Y2 axis is as follows: Y1_Output=Y1_RefVel+Kp*Y1_Err+Ki*Y1_ErrAdd–Kp_G*SynErr, Y2_Output=Y2_RefVel+Kp*Y2_Err+Ki*Y2_ErrAdd+Kp_G*SynErr, Among them, Y1_Output is the speed command output to the slider Y1 axis drive, Y2_Output is the speed command output to the slider Y2 axis drive, Y1_RefVel is the speed planning command of the slider Y1 axis, Y2_RefVel is the speed planning command of the slider Y2 axis, Kp is the proportional gain, Ki is the integral gain, Kp_G is the parallelism gain, Y1_Err is the following error of the slider Y1 axis in the current cycle, Y2_Err is the following error of the slider Y2 axis in the current cycle, Y1_ErrAdd is the active following error of the slider Y1 axis in the current cycle, Y1_ErrAdd is the active following error of the slider Y2 axis in the current cycle; SynErr is the parallelism error, which is calculated by subtracting the actual position of Y2 from the actual position of Y1.

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