Method and system for adjusting driving parameters of EtherCAT bus

Abstract

The invention discloses a method and a system for adjusting driving parameters of an EtherCAT bus, and relates to the technical field of bus communication. The method comprises the steps that a servo driver is connected to an EtherCAT bus topological structure, connection verification is carried out, and connection establishment is ensured; starting an EtherCAT bus tool, and selecting a servo driver slave station number of which parameters need to be modified according to the topological structure; importing an equipment description xml file corresponding to the servo driver, and updating and reading parameter values of the servo driver; and querying the data object index of which the parameter needs to be modified, and modifying the corresponding parameter value according to the data object index. The parameters of the servo driver can be adjusted through the bus, the hardware requirement for parameter modification and the requirement for installing upper computer software are reduced, the method and interface for parameter modification are unified, the parameters of servo drivers of various brands can be adjusted in the mode, universality is achieved, and the method and the system are suitable for popularization and application. Compared with a traditional mode, the method is more convenient and faster.

Description

Technical Field

[0001] The present invention relates to the technical field of bus communication, and in particular to a method and system for adjusting drive parameters of an EtherCAT bus. Background Art

[0002] In the field of bus communication, EtherCAT is a very flexible real-time industrial Ethernet protocol. Before the host computer controls the movement of the servo motor, in order to ensure the high precision of motion control, it is usually necessary to modify the parameters of the servo driver. Traditionally, the driver parameter modification is usually done through the host computer software provided by the manufacturer, using a USB data cable or a serial port data cable, one end of which is connected to the computer where the host computer software is located, and the other end is connected to the servo driver. After the host computer software establishes a connection with the driver and loads the servo driver parameters, the host computer software modifies and saves the parameters to the servo driver. Since each driver manufacturer has different host computer software, different USB driver and data cable requirements, modifying the parameters of different brands of drivers requires downloading and installing the corresponding host computer software to modify, which is time-consuming and laborious. Summary of the invention

[0003] Based on the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a method and system for adjusting drive parameters of an EtherCAT bus to solve the above-mentioned technical problems.

[0004] To achieve the above object, the present invention provides the following technical solution: a method for adjusting drive parameters of an EtherCAT bus, comprising:

[0005] S1: Connect the servo drive to the EtherCAT bus topology and perform a connection check to ensure that the connection is established;

[0006] S2: Start the EtherCAT bus tool and select the servo drive slave number whose parameters need to be modified according to the topology structure;

[0007] S3: importing a device description file corresponding to the servo drive, and updating and reading parameter values ​​of the servo drive, wherein the device description file includes an XML file and / or an ESI file;

[0008] S4: Query the data object index whose parameters need to be modified, and modify the corresponding parameter value according to the data object index.

[0009] The present invention is further configured to obtain the slave station numbers of all the servo drives in the EtherCAT bus after the servo drives are connected to the EtherCAT bus topology structure.

[0010] The present invention is further configured such that step S2 includes: S21: running an EtherCAT bus tool in a host computer, and selecting a slave station whose parameters need to be modified in a topological connection diagram of the bus.

[0011] The present invention is further configured such that step S3 includes: S31: selecting the XML file and / or ESI file provided by the servo drive manufacturer, importing it into the EtherCAT bus tool, reading the parameter values ​​of each data object of the servo drive, and updating and writing them into the table.

[0012] The present invention is further configured such that step S4 includes: S41: manually querying the index of the data object whose parameters need to be modified in the xml file and / or ESI file, entering the index or parameter name through the search bar in the EtherCAT bus tool, finding the data object and writing the required value in the table and clicking update to update it to the driver.

[0013] The present invention also provides an EtherCAT bus drive parameter adjustment system, the system comprising:

[0014] Connection establishment module: connects the servo drive to the EtherCAT bus topology, performs connection verification, and ensures that the connection is established;

[0015] Select the number module: Start the EtherCAT bus tool and select the servo drive slave number whose parameters need to be modified according to the topology structure;

[0016] Import file module: import the device description file corresponding to the servo drive, and update and read the parameter value of the servo drive, wherein the device description file includes an XML file and / or an ESI file;

[0017] Update parameter module: query the data object index whose parameters need to be modified, and modify the corresponding parameter value according to the data object index.

[0018] The invention provides an EtherCAT bus driving parameter adjustment method and system. The method connects a servo drive to an EtherCAT bus topology structure, performs connection verification, and ensures that the connection is established; starts an EtherCAT bus tool, and selects a servo drive slave station number whose parameters need to be modified according to the topology structure; imports a device description file corresponding to the servo drive, and updates and reads a parameter value of the servo drive; queries a data object index whose parameters need to be modified, and modifies the corresponding parameter value according to the data object index. The beneficial effects produced include: the EtherCAT bus driving parameter adjustment method proposed by the invention realizes that the servo drive parameters can be adjusted through the bus without using a host computer software, reduces the hardware requirements for modifying the parameters and the requirements for installing the host computer software, unifies the parameter modification method and interface, and servo drives of various brands can use this method to adjust the parameters, thereby achieving universality and being more convenient and quicker than a traditional method.

[0019] 1. The traditional driver parameter adjustment method usually requires users to be familiar with and learn the dedicated host computer software provided by each manufacturer. This method not only increases the learning burden of users, but also may cause inconvenience and low efficiency in operation. The present invention provides a universal adjustment method, so that users do not need to learn the dedicated software of multiple manufacturers, thereby reducing the learning cost;

[0020] 2. The traditional driver parameter adjustment method may require specific hardware equipment and dedicated software environment, which not only increases the purchase and maintenance costs of the equipment, but also may limit the user's scope of use and flexibility. The present invention directly implements the parameter adjustment function in the host computer without the need for additional hardware and software support, thereby reducing the hardware and software requirements;

[0021] 3. Since different manufacturers have different methods for adjusting driver parameters, traditional methods may not be able to achieve cross-manufacturer and cross-model driver parameter adjustment. The present invention provides a universal EtherCAT bus method for adjusting driver parameters, which can be applied to servo drivers of different manufacturers and different models, thus improving versatility and compatibility;

[0022] 4. Traditional driver parameter adjustment methods usually involve multiple steps and complex operations, are prone to errors and are inefficient. The present invention simplifies the operation process, allowing users to adjust driver parameters more conveniently and quickly, thereby improving work efficiency.

[0023] The present invention provides a universal, simple and easy-to-use driver parameter adjustment method, which can significantly enhance user experience, reduce user operation difficulty and burden, and increase user satisfaction.

[0024] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0026] Figure 1 A flow chart of a method for adjusting drive parameters on an EtherCAT bus is shown as an exemplary embodiment of the present invention;

[0027] Figure 2 An interface diagram of a device topology connection diagram of a method for adjusting drive parameters via an EtherCAT bus, shown as an exemplary embodiment of the present invention;

[0028] Figure 3 An interface effect diagram after importing XML files and / or ESI files of a method for adjusting drive parameters of an EtherCAT bus shown in an exemplary embodiment of the present invention;

[0029] Figure 4 The present invention is a schematic structural diagram of a system for adjusting drive parameters using an EtherCAT bus, showing an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0031] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0032] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0033] Embodiment 1

[0034] A method for adjusting drive parameters via EtherCAT bus, such as Figure 1 As shown, including:

[0035] S1: Connect the servo drive to the EtherCAT bus topology and perform a connection check to ensure that the connection is established;

[0036] S2: Start the EtherCAT bus tool and select the servo drive slave number whose parameters need to be modified according to the topology structure;

[0037] S3: Select the XML file and / or ESI file provided by the servo drive manufacturer, import it into the EtherCAT bus tool, read the parameter values ​​of each data object of the servo drive, and update and write them into the table;

[0038] S4: Query the data object index whose parameters need to be modified, and modify the corresponding parameter value according to the data object index.

[0039] Specifically, in a feasible embodiment of the present invention, the servo drive is connected to the EtherCAT bus topology structure, including: initializing the connection: initializing the EtherCAT master station software tool and performing necessary settings to establish a communication connection with the EtherCAT network; scanning the device: sending a broadcast frame to detect all connected slave devices, and the device returns a response frame after receiving the broadcast frame, and the master station identifies the device based on the information in the response frame; verifying the device status: checking the status register of each slave device to confirm that the device status is "online". If the status is abnormal, record the error information and perform corresponding processing, such as resending the broadcast frame or prompting the user to check the physical connection.

[0040] See also Figure 2 , Figure 2The present invention is an interface diagram of a device topology connection diagram of a method for adjusting drive parameters of an EtherCAT bus, which is shown as an exemplary embodiment of the present invention. The present invention is further configured to obtain the slave station numbers of all the servo drives in the EtherCAT bus after the servo drive is connected to the EtherCAT bus topology structure; specifically, topology structure analysis: the master station software analyzes the topology structure of the EtherCAT network, establishes a logical connection relationship diagram between devices, and allocates and records the unique number of each slave station according to the topology structure;

[0041] The present invention is further configured such that step S2 includes: S21: running the EtherCAT bus tool in the host computer, selecting the slave station whose parameters need to be modified in the topological connection diagram of the bus, specifically, selecting the slave station: the user selects the servo drive whose parameters need to be modified through the interface, and the master station marks the corresponding slave station number according to the user's selection, and prepares for subsequent operations.

[0042] The present invention is further configured such that step S3 includes: S31: selecting the xml file and / or ESI file provided by the servo drive manufacturer, importing it into the EtherCAT bus tool, reading the parameter values ​​of each data object of the servo drive, updating and writing them into the table; specifically, importing the device description file and updating the parameters, including: ESI file parsing: the master station software loads and parses the device description file imported by the user, including the xml file and / or ESI file, parsing the device attributes and parameter information defined in the file, and generating a corresponding data structure in the software; parameter updating: reading the current parameter value from the servo drive, updating it to the data structure of the master station software, and displaying the read parameter value for the user to view and modify.

[0043] See also Figure 3 , Figure 3The interface effect diagram after importing XML file and / or ESI file of an EtherCAT bus drive parameter adjustment method shown as an exemplary embodiment of the present invention, the present invention is further configured as follows: step S4 includes: S41: manually querying the index of the data object whose parameters need to be modified in the XML file and / or ESI file, entering the index or parameter name through the search bar in the EtherCAT bus tool, finding the data object and writing the required value in the table and clicking update to update it to the driver. Specifically, modifying the parameter value includes: querying the data object index: the user queries the parameter data object index that needs to be modified through the ESI file, enters the index or parameter name in the master station software, and locates the specific data object through the internal search algorithm; modifying the parameter: the user enters the new parameter value in the master station software interface, and the master station software writes the new parameter value into the corresponding data object; writing the parameter into the driver: the master station software sends a write command through the EtherCAT bus to send the new parameter value to the corresponding servo driver. After receiving the write command, the servo driver updates the internal parameter storage and returns confirmation information to the master station.

[0044] Embodiment 2

[0045] See also Figure 4 , the exemplary EtherCAT bus drive parameter adjustment system includes:

[0046] Connection establishment module: connects the servo drive to the EtherCAT bus topology, performs connection verification, and ensures that the connection is established;

[0047] Select the number module: Start the EtherCAT bus tool and select the servo drive slave number whose parameters need to be modified according to the topology structure;

[0048] Import file module: select the XML file and / or ESI file provided by the servo drive manufacturer, import it into the EtherCAT bus tool, read the parameter values ​​of each data object of the servo drive, update and write it into the table;

[0049] Update parameter module: query the data object index whose parameters need to be modified, and modify the corresponding parameter value according to the data object index.

[0050] It should be noted that the EtherCAT bus drive parameter adjustment system provided in the above embodiment and the EtherCAT bus drive parameter adjustment method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In actual application, the EtherCAT bus drive parameter adjustment system provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the system into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0051] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0052] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0053] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0054] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0055] 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, or a combination of computer software and electronic hardware. 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 this application.

[0056] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0057] In the several embodiments provided in the present application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0058] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0059] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0060] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0061] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for adjusting drive parameters of an EtherCAT bus, characterized in that: include: S1: Connect the servo drive to the EtherCAT bus topology and perform a connection check to ensure that the connection is established; S2: Start the EtherCAT bus tool and select the servo drive slave number whose parameters need to be modified according to the topology structure; S3: importing a device description file corresponding to the servo drive, and updating and reading parameter values ​​of the servo drive, wherein the device description file includes an XML file and / or an ESI file; S4: Query the data object index whose parameters need to be modified, and modify the corresponding parameter value according to the data object index.

2. The method for adjusting drive parameters of an EtherCAT bus according to claim 1, characterized in that: After the servo drives are connected to the EtherCAT bus topology, the slave station numbers of all the servo drives in the EtherCAT bus are obtained.

3. The method for adjusting drive parameters of an EtherCAT bus according to claim 1, characterized in that: Step S2 includes: S21: running the EtherCAT bus tool in the host computer, and selecting a slave station whose parameters need to be modified in the topological connection diagram of the bus.

4. The method for adjusting drive parameters of an EtherCAT bus according to claim 1, characterized in that: Step S3 The method comprises: S31: selecting the XML file and / or ESI file provided by the servo drive manufacturer, importing the file into the EtherCAT bus tool, reading the parameter values ​​of each data object of the servo drive, and updating and writing the values ​​into the table.

5. The method for adjusting drive parameters of an EtherCAT bus according to claim 1, characterized in that: Step S4 includes: S41: manually query the index of the data object whose parameters need to be modified in the xml file and / or ESI file, enter the index or parameter name through the search bar in the EtherCAT bus tool, find the data object and write the required value in the table and click Update to update it to the driver.

6. An EtherCAT bus drive parameter adjustment system, characterized in that: include: Connection establishment module: connects the servo drive to the EtherCAT bus topology, performs connection verification, and ensures that the connection is established; Select the number module: Start the EtherCAT bus tool and select the servo drive slave number whose parameters need to be modified according to the topology structure; Import file module: import the device description file corresponding to the servo drive, and update and read the parameter value of the servo drive, wherein the device description file includes an XML file and / or an ESI file; Update parameter module: query the data object index whose parameters need to be modified, and modify the corresponding parameter value according to the data object index.

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