Tension signal amplification device with EtherCAT and control method thereof

Abstract

The invention relates to a tension signal amplification device with EtherCAT and a control method thereof.The tension signal amplification device with the EtherCAT comprises a signal acquisition module, a master control data processing module and an EtherCAT processing module, the signal output end of the master control data processing module is connected with the signal input end of the EtherCAT processing module, and the signal output end of the signal acquisition module is connected with the signal input end of the EtherCAT processing module; the master control data processing module is used for conducting data filtering, conditioning and operation processing on sensing signals collected by the signal collecting module and sending tension data generated after processing to the EtherCAT processing module, and the signal output end of the EtherCAT processing module is connected with the data communication end of a master station. And the EtherCAT processing module is used for packaging the received tension data according to an EtherCAT protocol, and sending the packaged data to a master station through a signal output end of the EtherCAT processing module, so as to realize real-time communication and data transmission. Through the efficient data transmission characteristic of the EtherCAT protocol, the real-time performance, the reliability and the communication efficiency of the system are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of a tension signal amplifying device with EtherCAT, and in particular to a tension signal amplifying device with EtherCAT and a control method thereof. Background Art

[0002] At present, in the field of modern industrial automation control, tension control is an indispensable and important link in the textile, printing, packaging, cable manufacturing and other industries. The tension signal amplifier is responsible for accurately detecting and amplifying the output signal of the tension sensor to ensure that the tension control of the entire system is accurate and stable, so as to achieve neat and uniform material winding. However, with the continuous improvement of the level of industrial automation, the requirements of the tension control system for real-time, reliability and data transmission rate are also constantly increasing. Traditional tension signal amplifiers usually use analog signal transmission, which has problems such as signal attenuation, susceptibility to interference, and complex wiring. In addition, traditional communication protocols, such as the Modbus protocol based on RS485, are difficult to meet the needs of modern industry for high-speed and real-time communication. Summary of the invention

[0003] In order to solve the problems of signal attenuation, susceptibility to interference, complex wiring and difficulty in meeting high-speed and real-time requirements of communication protocols in traditional tension signal amplifying devices, the present application provides a tension signal amplifying device with EtherCAT and a control method thereof.

[0004] A tension signal amplifying device with EtherCAT is located on a slave station and is used to communicate with a master station. The tension signal amplifying device with EtherCAT comprises a signal acquisition module, a master control data processing module and an EtherCAT processing module. The signal input end of the signal acquisition module is used to acquire sensor signals of various sensors in the slave station. The signal output end of the signal acquisition module is connected to the signal input end of the master control data processing module. The signal output end of the master control data processing module is connected to the signal input end of the EtherCAT processing module. The master control data processing module is used to perform data filtering, conditioning and operation processing on the collected sensor signals, and send the tension data generated after processing to the EtherCAT processing module. The signal output end of the EtherCAT processing module is connected to the data communication end of the master station. The EtherCAT processing module is used to package the received tension data according to the EtherCAT protocol, and send the packaged data to the master station through the signal output end of the EtherCAT processing module to realize real-time communication and data transmission.

[0005] By adopting the above technical solution, in order to solve the problems of signal attenuation, susceptibility to interference, complex wiring, and difficulty in communication protocols to meet high-speed and real-time requirements in traditional tension signal amplification devices, the device adopts a communication method based on the EtherCAT protocol. After the sensor signal collected by the signal acquisition module is filtered, conditioned and processed by the main control data processing module, the data is packaged using the EtherCAT processing module, and real-time communication with the master station is achieved through a high-speed network interface (such as an RJ45 connector). The efficient data transmission characteristics of the EtherCAT protocol ensure that the signal has high speed, low latency and strong anti-interference during transmission, thereby improving the real-time performance, reliability and communication efficiency of the system.

[0006] Preferably, the signal acquisition module includes a pressure sensing unit and a signal amplifying unit. The signal acquisition module includes a pressure sensing unit and a signal amplifying unit. The signal output end of the pressure sensing unit is connected to the signal input end of the signal amplifying unit. The signal amplifying unit is used to amplify the weak signal collected by the pressure sensing unit. The signal output end of the signal amplifying unit is connected to the signal input end of the main control data processing module to ensure that the collected signal has sufficient strength for subsequent processing during the transmission process. The signal amplifying unit includes at least one operational amplifier, and the model of the operational amplifier is AD623.

[0007] By adopting the above technical solution, the tension signal can be accurately collected through the pressure sensing unit, and the signal amplification unit can effectively amplify the weak sensing signal, avoiding data loss and signal attenuation problems caused by insufficient signal strength during signal transmission, thereby improving the integrity and accuracy of the signal and ensuring the stability of subsequent data processing.

[0008] Preferably, the main control data processing module includes a main control chip, the model of the main control chip is STM32F407, and the main control chip is respectively provided with a display output terminal, an analog output terminal and a relay output terminal, the display output terminal is connected to the display and button module, and is used to display the processing results and adjust the parameters, the analog output terminal is used to output the processed tension signal, and the relay output terminal is used to control the triggering of the alarm signal. The main control chip is also connected to the EtherCAT processing module through the SPI interface to realize communication with the EtherCAT network, and the signal input terminal of the main control chip is connected to the signal output terminal of the signal acquisition module.

[0009] By adopting the above technical solution, the powerful computing power of the main control chip STM32F407 can be used to quickly process the tension signal, and the processing result can be displayed in real time through the display output end. At the same time, the conditioned tension signal is transmitted through the analog output end, and the relay output end can be used to trigger the alarm signal. The SPI interface is connected to the EtherCAT processing module to ensure that the tension data can be transmitted to the master station in time, thereby improving the system processing efficiency and the real-time performance of signal transmission.

[0010] Preferably, the EtherCAT processing module includes an ESC chip and an RJ45 connector, the ESC chip is AX58100, the signal input end of the ESC chip is connected to the signal output end of the main control data processing module, the ESC chip is used to perform EtherCAT protocol packaging processing on the tension data transmitted by the main control chip to generate corresponding EtherCAT network data, the RJ45 connector is used to realize network communication with an external master station, the communication input end of the RJ45 connector is connected to the communication output end of the ESC chip, and the communication output end of the RJ45 connector is connected to the communication input end of the ESC chip, so as to realize data interaction and communication between the slave station and the master station.

[0011] By adopting the above technical solution, the EtherCAT protocol packaging processing of tension data can be realized through the ESC chip AX58100, and the RJ45 connector is used to ensure the physical network connection and communication between the slave station and the master station, so that the tension signal can be transmitted efficiently and quickly in the EtherCAT network, and stable communication can be achieved in the multi-node network, thereby improving the speed and reliability of data transmission.

[0012] A control method for a tension signal amplifying device with EtherCAT is applied to a tension signal amplifying device with EtherCAT, comprising the following steps: Start the main control program, enter the main function entry, detect the hardware environment of the slave station device to generate a corresponding hardware detection result, and determine whether to enter the slave station interface control initialization according to the hardware detection result; If the hardware detection result is that the hardware status is normal, the slave station interface control initialization is performed, the ESC chip in the EtherCAT processing module is configured to enable the EtherCAT protocol, and then a network communication connection is established between the slave station and the master station through the RJ45 connector connected to the ESC chip to realize data transmission between the slave station and the master station; Based on the network communication connection, the functional units in the EtherCAT processing module are initialized, and then the corresponding EtherCAT protocol stack is started to initialize relevant communication parameters; After completing each initialization operation, enter the main loop entrance to process the sensor data collected by each sensor in real time to generate corresponding tension data, and transmit the tension data to the main station through the EtherCAT protocol; Receive feedback data from the main station, and perform corresponding closed-loop control operations based on the feedback data, wherein the closed-loop control operations at least include motor adjustment operations and visualization adjustment operations, wherein the motor adjustment operations are used to adjust the speed and / or strength of the motor, and the visualization adjustment operations are used to dynamically adjust the dynamic visualization adjustment features of the visualization layer in the visualization platform.

[0013] By adopting the above technical solution, the hardware environment and interface control of the slave device can be initialized to ensure that the slave device is in normal working condition. After enabling the EtherCAT protocol, a stable network communication connection is established through the RJ45 connector to ensure that the data transmission between the slave and the master is accurate. After completing various initializations, the main loop can process the real-time collected sensor data and generate tension data to ensure that the system responds in real time and performs feedback operations, thereby improving the real-time performance and efficiency of the entire tension control system.

[0014] Preferably, the step of initializing the functional units in the EtherCAT processing module based on the network communication connection, and then starting the corresponding EtherCAT protocol stack to initialize relevant communication parameters includes: Initialize the state machine to enable the slave to correctly switch and operate different working states; Initialize the mailbox to achieve data communication of non-real-time data between the slave station and the master station; Initialize the COE dictionary so that the master station can load the relevant configuration parameters of the slave station; Initialize the emergency message function and set up an alarm mechanism under abnormal conditions so that the slave station can send an emergency message to notify the master station in time when a fault occurs.

[0015] By adopting the above technical solution, during the initialization process, the initialization of the state machine can ensure that the slave device can switch smoothly between different working states. The initialization of the mailbox is used to ensure the asynchronous transmission of non-real-time data. The loading of the COE dictionary enables the master station to easily obtain the configuration parameters of the slave station. The initialization of the emergency message function can send alarm information to the master station in time under abnormal circumstances, thereby improving the stability of the system operation and the exception handling capability.

[0016] Preferably, the method for generating the visualization layer includes: Determine application devices in the slave station, and historical communication flows between each of the application devices; Extracting key device information of the application device, and drawing a visualized device node according to the key device information; Determine the protocol information and vector information of the historical communication flow, determine a first visualization feature according to the protocol information, determine a second visualization feature according to the vector information, and draw a visualization path node according to the first visualization feature and the second visualization feature; According to the second visualization feature, an arrangement rule of each of the visualization path nodes and the visualization device nodes is determined, and according to the arrangement rule, a visualization layer is drawn in the selected blank layer.

[0017] By adopting the above technical solution, it is possible to extract the application devices and their communication flow information in the slave station, generate a visualization layer and draw the device nodes and path nodes, combine the protocol information and vector information, determine the communication flow path between devices, and dynamically generate the arrangement rules of the visualization layer, so that operators can intuitively monitor the data flow and device status in the system, thereby improving the visualization effect and operational convenience of equipment monitoring.

[0018] Preferably, the step of performing a corresponding closed-loop control operation according to the feedback data includes: Determine the corresponding expected data according to the feedback data, and determine the target motor corresponding to the expected data based on the local mapping library; Comparing the expected data with the feedback data to generate a corresponding comparison result; Determining motor adjustment parameters of the target motor according to the comparison result, wherein the motor adjustment parameters are used to perform the motor adjustment operation; The corresponding visualization adjustment operation is determined according to the target motor, the feedback data and the comparison result.

[0019] By adopting the above technical solution, it is possible to determine the expected data through feedback data and match the corresponding target motor. After generating the comparison results, the operating parameters of the motor can be adjusted to make the motor control more accurate and real-time, thereby ensuring the stable control of the system tension. At the same time, visual adjustment operations are performed in combination with feedback data, and the status of the device nodes in the visualization platform is dynamically updated, so that the operator can control the equipment operation status in real time, thereby improving the accuracy of system control and the effect of visual monitoring.

[0020] Preferably, in the step of determining the visualization adjustment operation according to the target motor, the comparison result and the feedback data, the dynamic visualization adjustment feature includes a first dynamic visualization feature and a second dynamic visualization feature, including: According to the target motor, a corresponding visualization device node is matched; Determine the current communication flow according to the feedback data, and match the corresponding visualization path node according to the current communication flow; Determine a preset threshold interval within which the comparison result falls, wherein the preset threshold interval includes at least a normal threshold interval and an abnormal threshold interval; If the comparison result falls within the normal threshold interval, then according to the determined dynamic warning visualization rule, adding a first dynamic visualization feature including at least a first color element to the visualization path node that successfully matches; If the comparison result falls within the abnormal threshold interval, then according to the determined dynamic warning visualization rule, a second dynamic visualization feature including at least a second color element is added to the successfully matched visualization device node, and an interaction point is added for interacting with the user to enable the user to manually determine the motor adjustment parameters, and the interaction point includes at least one limit threshold, which is the maximum value of the adjustment scale of the interaction point.

[0021] By adopting the above technical solution, it is possible to match the corresponding visualization device node through the target motor, determine the current communication flow based on the feedback data, determine the arrangement rules by comparing and analyzing the device nodes and communication flow paths, and add dynamic warning features according to the preset dynamic visualization rules, so that the status changes of the device and communication flow can be reflected in the visualization interface in time. If an abnormality is detected, the system can adjust the display features according to the abnormality level and provide the operator with manually adjusted interaction points, thereby improving the timeliness and accuracy of equipment fault warning and operation.

[0022] Preferably, after the step of adding an interaction point for interacting with the user so that the user can manually determine the motor adjustment parameters, the method further comprises: Acquire an associated terminal of the target motor, wherein the associated terminal includes a wireless terminal and a wired terminal, wherein a visualization platform including interaction points is applied to the wired terminal; Acquiring interaction information of the wireless terminal in real time; An adjustment scale of the interaction point is determined according to the interaction information.

[0023] By adopting the above technical solution, it is possible to interact with users and use interactive points to provide users with the function of manually adjusting motor parameters. The user's interactive information is obtained in real time through a wireless terminal or a wired terminal. Combined with the adjustment scale of the interactive points, the system can adjust the target motor according to the user's instructions and reflect the adjustment results in real time on the visualization platform, thereby improving the flexibility and operational efficiency of the system and ensuring timely adjustment of the motor operating status.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: In order to solve the problems of signal attenuation, susceptibility to interference, complex wiring, and difficulty in communication protocols to meet high-speed and real-time requirements in traditional tension signal amplification devices, this device adopts a communication method based on the EtherCAT protocol. After the sensor signals collected by the signal acquisition module are filtered, conditioned and processed by the main control data processing module, the data are packaged using the EtherCAT processing module, and real-time communication with the master station is achieved through a high-speed network interface (such as an RJ45 connector). The efficient data transmission characteristics of the EtherCAT protocol ensure that the signal has high speed, low latency and strong anti-interference during transmission, thereby improving the real-time performance, reliability and communication efficiency of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall functional composition of a tension signal amplifying device with EtherCAT in one embodiment of the present application.

[0026] Figure 2 This is a schematic diagram of a partial hardware circuit composition of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Figure 3 It is a flow chart of an implementation method of a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Figure 4 This is a flow chart of a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Figure 5 This is a flowchart for implementing step S40 in a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Figure 6 This is a flowchart of the implementation before step S10 in a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Figure 7 This is a flowchart for implementing step S50 in a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Figure 8 This is a flowchart for implementing step S504 in a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application; Fig. 9 This is another implementation flow chart of step S504 in a control method of a tension signal amplifying device with EtherCAT in one embodiment of the present application. DETAILED DESCRIPTION

[0027] The present application is further described in detail below in conjunction with the accompanying drawings.

[0028] In one embodiment, if Figure 1 As shown, the present application discloses a tension signal amplification device with EtherCAT, which specifically includes the following steps: like Figure 1-2 As shown, a tension signal amplifying device with EtherCAT is located on the slave station and is used to communicate with the master station. The tension signal amplifying device with EtherCAT includes a signal acquisition module, a main control data processing module and an EtherCAT processing module. The signal input end of the signal acquisition module is used to collect the sensor signals of each sensor in the slave station. The signal output end of the signal acquisition module is connected to the signal input end of the main control data processing module. The signal output end of the main control data processing module is connected to the signal input end of the EtherCAT processing module. The main control data processing module is used to perform data filtering, conditioning and operation processing on the collected sensor signals, and send the tension data generated after processing to the EtherCAT processing module. The signal output end of the EtherCAT processing module is connected to the data communication end of the master station. The EtherCAT processing module is used to package the received tension data according to the EtherCAT protocol, and send the packaged data to the master station through the signal output end of the EtherCAT processing module to realize real-time communication and data transmission.

[0029] In this embodiment, in the tension signal amplification device with EtherCAT, the port connection relationship between each module is based on the data transmission logic between the slave device and the master station, forming a complete signal acquisition, processing and communication system. The signal input end of the signal acquisition module is used to collect the sensor signals of each sensor in the slave station. After the signals are collected, they are transmitted to the main control data processing module through the signal output end. The main control data processing module performs data filtering, conditioning and operation processing on the received signals to ensure the accuracy and stability of the data. The processed tension data is transmitted from the signal output end of the main control data processing module to the EtherCAT processing module. After receiving the data, the EtherCAT processing module packages it according to the EtherCAT communication protocol. The packaged data is transmitted to the master station through the signal output end of the EtherCAT processing module for communication and feedback. In terms of control logic, the connection between the signal acquisition module and the main control data processing module ensures the continuity of the signal from acquisition to processing, and the connection between the main control data processing module and the EtherCAT processing module ensures that the processed tension data can be transmitted in real time and efficiently according to the EtherCAT protocol. The introduction of the EtherCAT protocol enables low latency and high stability in communication between the slave and master stations. Combined with the analysis in the previous question and answer, this control logic design solves the common problems of signal attenuation, interference and complex wiring in traditional analog signal transmission, ensuring the real-time, reliability and high-speed data transmission capabilities of the entire system, forming an efficient closed-loop control system.

[0030] In summary, in order to solve the problems of signal attenuation, susceptibility to interference, complex wiring, and difficulty in meeting high-speed and real-time requirements of communication protocols in traditional tension signal amplification devices, this device adopts a communication method based on the EtherCAT protocol. After the sensor signal collected by the signal acquisition module is filtered, conditioned, and processed by the main control data processing module, the data is packaged using the EtherCAT processing module, and real-time communication with the master station is achieved through a high-speed network interface (such as an RJ45 connector). The efficient data transmission characteristics of the EtherCAT protocol ensure that the signal has high speed, low latency, and strong anti-interference during transmission, thereby improving the real-time performance, reliability, and communication efficiency of the system.

[0031] Further, such as Figure 2As shown, the signal acquisition module includes a pressure sensing unit and a signal amplifying unit. The signal acquisition module includes a pressure sensing unit and a signal amplifying unit. The signal output end of the pressure sensing unit is connected to the signal input end of the signal amplifying unit. The signal amplifying unit is used to amplify the weak signal collected by the pressure sensing unit. The signal output end of the signal amplifying unit is connected to the signal input end of the main control data processing module to ensure that the collected signal has sufficient strength for subsequent processing during the transmission process. The signal amplifying unit includes at least one operational amplifier, and the model of the operational amplifier is AD623.

[0032] In this embodiment, in this signal acquisition module, the connection relationship and control logic between the pressure sensing unit and the signal amplification unit are to ensure that the weak pressure signal can enter the main control data processing module after proper processing for further data calculation and analysis. Specifically, the pressure sensing unit first collects the tension signal and converts it into an electrical signal. This electrical signal is usually relatively weak, so it cannot be directly transmitted for subsequent processing, so it needs to be amplified by the signal amplification unit. The signal output end of the pressure sensing unit is directly connected to the signal input end of the signal amplification unit to ensure that the weak signal can be amplified in time. The operational amplifier (AD623) in the signal amplification unit is responsible for accurately amplifying the input weak signal. The amplified signal is transmitted to the main control data processing module through the signal output end of the signal amplification unit to ensure that the signal strength is sufficient for further filtering, conditioning and operation processing. This connection logic ensures the integrity, accuracy and strength of the signal in the whole process from acquisition, amplification to data processing by gradually processing the signal. Combined with the previous Q&A content, the addition of the signal amplification unit effectively solves the problems of signal attenuation and transmission interference in the traditional system, enabling the system to maintain stable data transmission in a high-precision environment, laying a solid foundation for subsequent real-time communication and data processing.

[0033] In summary, the tension signal can be accurately collected through the pressure sensing unit, and the signal amplification unit can effectively amplify the weak sensing signal, avoiding data loss and signal attenuation problems caused by insufficient signal strength during signal transmission, thereby improving the integrity and accuracy of the signal and ensuring the stability of subsequent data processing.

[0034] Further, such as Figure 2As shown, the main control data processing module includes a main control chip, the model of the main control chip is STM32F407, and the main control chip is respectively provided with a display output terminal, an analog output terminal and a relay output terminal. The display output terminal is connected to the display and key module for displaying the processing result and adjusting the parameters, the analog output terminal is used to output the processed tension signal, and the relay output terminal is used to control the triggering of the alarm signal. The main control chip is also connected to the EtherCAT processing module through the SPI interface to realize communication with the EtherCAT network, and the signal input terminal of the main control chip is connected to the signal output terminal of the signal acquisition module.

[0035] In summary, the powerful computing power of the main control chip STM32F407 can be used to quickly process the tension signal, and the processing results can be displayed in real time through the display output end. At the same time, the conditioned tension signal is transmitted through the analog output end, and the relay output end can be used to trigger the alarm signal. The SPI interface is connected to the EtherCAT processing module to ensure that the tension data can be transmitted to the master station in time, thereby improving the system processing efficiency and the real-time performance of signal transmission.

[0036] Further, such as Figure 2 As shown, the EtherCAT processing module includes an ESC chip and an RJ45 connector. The ESC chip is AX58100. The signal input end of the ESC chip is connected to the signal output end of the main control data processing module. The ESC chip is used to perform EtherCAT protocol packaging processing on the tension data transmitted by the main control chip to generate corresponding EtherCAT network data. The RJ45 connector is used to realize network communication with an external master station. The communication input end of the RJ45 connector is connected to the communication output end of the ESC chip, and the communication output end of the RJ45 connector is connected to the communication input end of the ESC chip, so as to realize data interaction and communication between the slave station and the master station.

[0037] In this embodiment, in the EtherCAT processing module, the ESC chip and the RJ45 connector together constitute the data communication link between the slave station and the master station. The tension data generated by the master data processing module is transmitted to the signal input end of the ESC chip AX58100 through its signal output end. The function of the ESC chip is to package and process these data according to the EtherCAT protocol, and convert ordinary data into network data that conforms to the EtherCAT standard. The data packaged by the protocol is transmitted to the communication input end of the RJ45 connector through the communication output end of the ESC chip. The RJ45 connector, as a physical network interface, transmits these packaged data to the external master station through the network, realizing data interaction between the slave station and the master station. At the same time, the RJ45 connector is also responsible for receiving the feedback data sent by the master station. These feedback data are transmitted from the communication output end of the RJ45 connector back to the communication input end of the ESC chip, and then the feedback data is passed to the master data processing module after unpacking, thereby realizing the closed-loop control of the entire system. Through this communication link design, the ESC chip is responsible for the protocol packaging and unpacking processing, while the RJ45 connector is responsible for the network connection at the physical layer. The combination of the two ensures that the tension data can be transmitted in an efficient and low-latency manner in the EtherCAT network. Combined with the previous Q&A content, this control logic enables the slave station to communicate with the master station in a stable real-time manner, and solves the signal attenuation and interference problems that are prone to occur in traditional analog signal transmission methods, while ensuring the reliability and transmission efficiency of data in complex industrial environments.

[0038] In summary, the ESC chip AX58100 can be used to realize EtherCAT protocol packaging processing of tension data, and the RJ45 connector is used to ensure the physical network connection and communication between the slave station and the master station, so that the tension signal can be transmitted efficiently and quickly in the EtherCAT network, and stable communication can be achieved in the multi-node network, thereby improving the speed and reliability of data transmission.

[0039] like Figure 3-4 As shown, a control method of a tension signal amplifying device with EtherCAT is applied to a tension signal amplifying device with EtherCAT, comprising the following steps: S10, start the main control program, enter the main function entry, detect the hardware environment of the slave device to generate a corresponding hardware detection result, and determine whether to enter the slave interface control initialization according to the hardware detection result; In this embodiment, after starting the main control program, the system enters the main function entry, and first performs a comprehensive detection of the hardware environment through the hardware detection module of the slave device. This process includes detecting the power supply status of the device, whether the sensor connection is normal, whether the communication port is unobstructed, etc., and generates hardware detection results through these detections. The system determines whether it can enter the subsequent slave interface control initialization based on these results. If a hardware failure or communication abnormality is detected, the system will enter the error handling process to ensure that the device does not enter an abnormal operating state; if the detection result is normal, the system enters the next stage, that is, executing the slave interface control initialization.

[0040] S20, if the hardware detection result is that the hardware status is normal, execute the slave station interface control initialization, configure the ESC chip in the EtherCAT processing module to enable the EtherCAT protocol, and then establish a network communication connection between the slave station and the master station through the RJ45 connector connected to the ESC chip to achieve data transmission between the slave station and the master station; In this embodiment, when the hardware status is judged to be normal, the system performs the initialization of the slave interface control, which mainly includes configuring the ESC chip in the EtherCAT processing module. The ESC chip is the core component of the EtherCAT network communication. Its configuration process includes enabling the EtherCAT protocol stack so that it can process the data exchange between the slave and the master. After the configuration is completed, the ESC chip establishes a physical communication connection with the master through the RJ45 connector connected to it. At this point, the system can efficiently transmit data through the EtherCAT network, ensuring real-time data exchange between the slave device and the master.

[0041] S30, based on the network communication connection, initializing the functional units in the EtherCAT processing module, and then starting the corresponding EtherCAT protocol stack to initialize relevant communication parameters; In this embodiment, based on the established network communication connection, the system further initializes the functional units in the EtherCAT processing module, which includes the initialization of various EtherCAT submodules, such as mailboxes, state machines, PDO mapping, etc. The initialization of these functional units is a key step to ensure that the system can operate normally. At the same time, the system will start the EtherCAT protocol stack so that the device can communicate normally in the EtherCAT network. The startup of the protocol stack means that the system has completed the basic communication configuration and can initialize and manage the relevant communication parameters, thereby ensuring that the data communication between the slave station and the master station can be carried out efficiently and accurately.

[0042] S40, after completing each initialization operation, enter the main loop entrance, so as to process the sensor data collected by each sensor in real time to generate corresponding tension data, and transmit the tension data to the master station through the EtherCAT protocol; In this embodiment, after the system completes all initialization operations, it enters the main loop entrance, and the operation of the device officially starts. In this process, the system will process the tension signals collected by each sensor in real time, and filter, condition and calculate the signals through the main control data processing module to generate accurate tension data. The processed data is packaged through the EtherCAT protocol stack and transmitted to the master station in real time through the EtherCAT network. The whole process ensures the efficient transmission of tension signals in the system and ensures that the system can respond to external feedback and instructions in a timely manner.

[0043] S50, receiving feedback data from the main station, and performing corresponding closed-loop control operations according to the feedback data, wherein the closed-loop control operations at least include motor adjustment operations and visualization adjustment operations, wherein the motor adjustment operations are used to adjust the speed and / or strength of the motor, and the visualization adjustment operations are used to dynamically adjust the dynamic visualization adjustment features of the visualization layer in the visualization platform.

[0044] In this embodiment, after receiving the feedback data from the master station, the system performs the corresponding closed-loop control operation. The closed-loop control operation includes two key parts: motor adjustment operation and visual adjustment operation. The motor adjustment operation is to adjust the speed or strength of the motor according to the feedback from the master station to ensure the accuracy and stability of the tension control. The visual adjustment operation is used to dynamically update the visualization layer in the visualization platform to reflect the real-time status of the current system. Through visual adjustment, the operator can intuitively see the working status of the system and make further adjustments and optimizations based on the visual information. This closed-loop control mechanism ensures the adaptability and control accuracy of the system, making the entire tension control process more intelligent and automated.

[0045] In summary, by initializing the hardware environment and interface control of the slave device, it is possible to ensure that the slave device is in normal working condition. After enabling the EtherCAT protocol, a stable network communication connection is established through the RJ45 connector to ensure that the data transmission between the slave and the master is accurate. After completing various initializations, the main loop can process the real-time collected sensor data and generate tension data to ensure that the system responds in real time and performs feedback operations, thereby improving the real-time and efficiency of the entire tension control system.

[0046] In one embodiment, if Figure 5 As shown, in step S40, that is, based on the network communication connection, the functional unit in the EtherCAT processing module is initialized, and then the corresponding EtherCAT protocol stack is started to initialize the relevant communication parameters, including: S401, initializing the state machine to enable the slave station to correctly switch and operate different working states; In this embodiment, the purpose of initializing the state machine is to ensure that the slave device can correctly switch and operate between different working states. EtherCAT devices usually have multiple states, including Init (initialization), Pre-Operational (pre-operation), Operational (operation) and Safe-Operational (safe operation), etc., and each state corresponds to a different working stage and function. By initializing the state machine, the system can correctly switch these states according to the instructions of the master station, ensuring that the slave performs corresponding operations in different working states, such as device configuration in the Pre-Operational state and normal real-time communication and control in the Operational state. Correct initialization of the state machine can ensure the stability and functional integrity of the system in different working modes, and avoid failures or erroneous operations when switching states.

[0047] S402, initializing the mailbox to realize data communication of non-real-time data between the slave station and the master station; In the present embodiment, the main function of the initialization mailbox is to realize the data communication of non-real-time data between the slave station and the master station. In addition to real-time data transmission, the EtherCAT system also needs to process some non-real-time data, such as device configuration files, diagnostic information, etc., which are transmitted asynchronously through the mailbox. The process of initializing the mailbox includes setting a storage area and a communication channel for data transmission, so that the slave station can exchange non-real-time information of large data blocks with the master station. For example, when the master station needs to read the configuration parameters of the slave station or send non-real-time instructions, these data will be transmitted through the mailbox without affecting the transmission efficiency of real-time data. In this way, the initialization of the mailbox can ensure that the system has the ability to process non-real-time large data blocks and improve the flexibility and reliability of communication.

[0048] S403, initializing the COE dictionary so that the master station loads the relevant configuration parameters of the slave station; In this embodiment, the main function of initializing the COE dictionary is to enable the master station to load the relevant configuration parameters of the slave station. COE (CANopen over EtherCAT) is a device configuration protocol based on EtherCAT, which allows the master station to access the device parameters, status information and configuration files of the slave station through the COE dictionary. When initializing the COE dictionary, the system will load the parameter configuration of the slave device, such as the control parameters of the motor, the sensitivity of the tension sensor, etc. These configuration parameters are stored in the COE dictionary, and the master station can manage and configure the device by accessing these parameters. In this way, the initialization of the COE dictionary enables the master station to flexibly read and modify the parameters of the slave station, thereby achieving precise control and remote configuration management of the device, and improving the operability and flexibility of the system.

[0049] S404, initializing the emergency message function, setting an alarm mechanism under abnormal conditions, so that when a fault occurs, the slave station sends an emergency message to notify the master station in time.

[0050] In this embodiment, the emergency message function is initialized to set up an alarm mechanism for abnormal situations, so that the slave station can send an emergency message to notify the master station in time when a fault occurs. The emergency message function is a special message mechanism that is used to send an alarm message to the master station immediately when the slave station detects an abnormal situation without waiting for the regular data communication cycle. For example, when a sensor in the system fails, a motor is overloaded, or the network connection is interrupted, the emergency message will immediately trigger an alarm and notify the master station to take appropriate emergency measures. The process of initializing the emergency message function includes setting the trigger conditions and alarm parameters of the emergency message to ensure that the system can respond quickly in abnormal situations, thereby improving the safety and reliability of the system and avoiding serious consequences caused by delays.

[0051] In summary, during the initialization process, the initialization of the state machine can ensure that the slave device can switch smoothly between different working states. The initialization of the mailbox is used to ensure the asynchronous transmission of non-real-time data. The loading of the COE dictionary enables the master station to easily obtain the configuration parameters of the slave station. The initialization of the emergency message function can send alarm information to the master station in time under abnormal circumstances, thereby improving the stability of the system operation and the exception handling capability.

[0052] In one embodiment, if Figure 6 As shown, before step S10, the method for generating the visualization layer includes: S01. Determine the application devices in the slave station and the historical communication flows between the application devices; In the present embodiment, the process of determining the application devices in the slave station and the historical communication flow between each application device is to accurately depict the communication relationship between the slave station devices. In the EtherCAT system, the slave station devices generally include a variety of application devices such as sensors, actuators, and controllers, which exchange data and synchronize states through the EtherCAT network. The historical communication flow refers to the data transmission path and mode between devices in the past period of time. By analyzing the historical communication flow, the interactive relationship between each application device, the frequency of data transmission, and the reliability of communication can be understood. The purpose of this step is to obtain the interconnection structure of each device in the entire system and provide basic data for subsequent visual drawing. For example, in an industrial automation system, the communication flow between a certain sensor and a corresponding controller can display the data flow direction of the sensor and the receiving mode of the controller.

[0053] S02. Extract key device information of application devices, and draw visualized device nodes according to the key device information; In this embodiment, the key device information of the application device is extracted and the visualized device nodes are drawn in order to intuitively display the core information of each device in the visualization layer. Key device information usually includes the device's ID, function, status, and communication address, etc. This information can help operators quickly identify key devices in the system. Based on this information, the system draws each device as a device node in the visualization layer, and the size, color, or shape of the node can be designed differently according to the importance or status of the device. For example, a working sensor can be represented by a green node, while a standby device may be distinguished by a gray node. In this way, the operator can see the operating status and specific location of each device at a glance in the layer, greatly improving the operability of the system and the clarity of information visualization.

[0054] S03, determining protocol information and vector information of the historical communication flow, determining a first visualization feature according to the protocol information, determining a second visualization feature according to the vector information, and drawing a visualization path node according to the first visualization feature and the second visualization feature; In this embodiment, the protocol information and vector information of the historical communication flow are determined in order to further refine the data transmission path and characteristics between the slave devices. The protocol information includes the protocol and data packet format used for communication between devices in the EtherCAT network, while the vector information indicates the direction and rate of data transmission. By analyzing the protocol information, the system can determine the details of data exchange on the communication path and draw a first visual feature, which usually involves the type of path or the content of the data packet. The vector information is used to draw a second visual feature to describe the transmission direction and speed of the communication flow. After these two visual features are combined, a visual path node is drawn to indicate the actual data flow between the devices. For example, a sensor may send 10 data packets to the controller per second, and the path node can display this rate and direction to help operators understand the communication density and delay between devices.

[0055] S04. According to the second visualization feature, an arrangement rule of each visualization path node and visualization device node is determined, and according to the arrangement rule, a visualization layer is drawn in the selected blank layer.

[0056] In this embodiment, the arrangement rules of each visualization path node and visualization device node are determined according to the second visualization feature in order to ensure that the information layout in the visualization layer is reasonable and easy to understand and operate. The arrangement rules are usually determined based on the physical location, communication frequency or logical relationship between the devices to ensure that the distance and arrangement between the path nodes and the device nodes can accurately reflect the actual relationship between the devices. For example, two devices that communicate frequently can be arranged closer in the layer, while devices that communicate over long distances can be connected through a longer path. Next, the system will draw the visualization layer according to these arrangement rules in the selected blank layer. The final generated layer can help operators intuitively see the interaction and data flow between devices, so that complex communication structures can be presented in a concise and clear manner, greatly improving the monitoring and operation efficiency of the system.

[0057] In summary, by extracting the application devices and their communication flow information in the slave station, generating visualization layers and drawing device nodes and path nodes, combining protocol information and vector information, determining the communication flow path between devices, and dynamically generating arrangement rules for visualization layers, operators can intuitively monitor the data flow and device status in the system, thereby improving the visualization effect and operational convenience of equipment monitoring.

[0058] In one embodiment, if Figure 7 As shown, in step S50, i.e., the step of performing the corresponding closed-loop control operation according to the feedback data, it includes: S501, determining corresponding expected data according to feedback data, and determining a target motor corresponding to the expected data based on a local mapping library; In this embodiment, the corresponding expected data is determined based on the feedback data to ensure that the system can be adjusted and optimized according to the actual operating conditions. The feedback data is the actual operating parameters obtained from the master station or control system, and the expected data is the ideal working state preset by the system. By comparing the feedback data and the expected data, the system can determine the current difference in order to make further control adjustments. Based on the use of the local mapping library, the system can quickly find the target motor corresponding to the expected data, ensuring that the adjustment process is highly targeted and the operation is fast. The information in the mapping library includes the operating parameters and status of each motor, ensuring that when the system receives the feedback data, it can accurately match the motor that needs to be adjusted.

[0059] S502, comparing the expected data and the feedback data to generate a corresponding comparison result; In this embodiment, the process of comparing expected data and feedback data is used to generate the difference between the current operating state of the system and the ideal state. By comparing the actual feedback data with the preset expected data, the system can derive the degree and direction of the actual operation deviation, and the generated comparison result reflects whether the current system works as expected. The generation of the comparison result is a key step in closed-loop control, which provides a basis for subsequent motor adjustments. For example, if the feedback data indicates that the motor speed is lower than the expected value, the system will make necessary adjustments based on this comparison result to restore the motor to the ideal working state.

[0060] S503, determining a motor adjustment parameter of the target motor according to the comparison result, where the motor adjustment parameter is used to perform a motor adjustment operation; In this embodiment, the motor adjustment parameters of the target motor are determined according to the comparison results in order to adjust the operating state of the motor through specific parameters. The motor adjustment parameters include speed, torque, direction, etc. Through the adjustment of these parameters, the system can ensure that the working state of the motor gradually approaches the preset expected data. The motor adjustment operation usually involves adjusting the input signal of the controller to the motor so that the motor can perform corresponding adjustment operations according to the set parameters. For example, if the comparison result shows that the speed of the motor is too low, the adjustment parameters will increase the input power of the motor to increase the speed to ensure that the overall working state of the system meets expectations.

[0061] S504: Determine a corresponding visualization adjustment operation according to the target motor, feedback data and comparison result.

[0062] In this embodiment, the corresponding visual adjustment operation is determined according to the target motor, feedback data and comparison results, in order to intuitively display the adjustment process and results of the motor on the visualization platform. The visual adjustment operation presents the feedback data, comparison results and the adjusted motor status in a graphical manner, which is convenient for the operator to monitor and track the operating status of the motor in real time. For example, through the visualization platform, the operator can see the real-time speed, power consumption and other information of the motor, and dynamically display the changes of these parameters during the adjustment process. In this way, the operation and monitoring of the system are more transparent, ensuring that the operator can find problems in time and intervene manually or further optimize the system operation.

[0063] In summary, the expected data can be determined through feedback data and matched with the corresponding target motor. After generating comparison results, the operating parameters of the motor can be adjusted to make the motor control more accurate and real-time, thereby ensuring stable control of the system tension. At the same time, visual adjustment operations are performed in combination with feedback data, and the status of device nodes in the visualization platform is dynamically updated, so that operators can control the operating status of the equipment in real time, thereby improving the accuracy of system control and the effect of visual monitoring.

[0064] In one embodiment, if Figure 8 As shown, in step S504, i.e., the step of determining the visualization adjustment operation according to the target motor, the comparison result and the feedback data, the dynamic visualization adjustment feature includes a first dynamic visualization feature and a second dynamic visualization feature, including: S5041. Match the corresponding visualization device node according to the target motor; In this embodiment, according to the target motor, the process of matching the corresponding visualization device node is to accurately locate the position of the motor in the visualization layer. Each device node corresponds to an actual device in the visualization system. For example, the node of the target motor represents the position and status information of the motor in the system. By matching the target motor, the system can mark the device node on the visualization platform, which is convenient for users to intuitively view and monitor the operating status of the device in the system. For example, on the visualization platform of the production line, the node of the target motor may display the current status of the motor or whether it needs to be adjusted through icons or color changes.

[0065] S5042, determining the current communication flow according to the feedback data, and matching the corresponding visualization path node according to the current communication flow; In this embodiment, the purpose of determining the current communication flow based on feedback data is to track the real-time communication status between devices and match the corresponding visualization path nodes. The current communication flow reflects the data transmission between devices, such as the communication status between the target motor and the control system. Based on the information of these communication flows, the system generates corresponding visualization path nodes to show the path of data flow. In this way, users can see the data transmission between motors and other devices on the visualization platform to ensure smooth communication. If there is an abnormality in the communication, the visualization path node can prompt the user to check and adjust through color or shape changes.

[0066] S5043, determining the preset threshold interval within which the comparison result falls, where the preset threshold interval at least includes a normal threshold interval and an abnormal threshold interval; In this embodiment, the preset threshold interval into which the comparison result falls is determined in order to evaluate the operating state of the system. The preset threshold interval is a numerical range set in the system, which is used to determine whether the operating state of the motor is within a normal range. For example, the normal threshold interval indicates that the operating state of the system is in line with expectations, while the abnormal threshold interval indicates that the operation of the system deviates from the expected setting. By comparing the feedback data with the preset threshold interval, the system can automatically determine whether the operating state of the motor is within the normal range, thereby determining whether further adjustments or alarms are required.

[0067] S5044: if the comparison result falls within the normal threshold range, then according to the determined dynamic warning visualization rule, add a first dynamic visualization feature including at least a first color element to the visualization path node that successfully matches; In this embodiment, if the comparison result falls within the normal threshold interval, a first dynamic visualization feature is added to the successfully matched visualization path node according to the determined dynamic warning visualization rule. This feature usually includes color, shape or animation effect. The first color element may be green, indicating that the motor and the system are in good operating condition and the data transmission is normal. The dynamic warning visualization rule helps users quickly identify the normal state of the system through this color change and reduces unnecessary intervention operations. For example, when the system is running, if the feedback data of the motor meets expectations, the path node will be displayed in green, prompting the user that this part of the equipment is operating normally.

[0068] S5045. If the comparison result falls into the abnormal threshold range, then according to the determined dynamic warning visualization rule, a second dynamic visualization feature including at least a second color element is added to the successfully matched visualization device node, and an interaction point is added for interacting with the user so that the user can manually determine the motor adjustment parameters. The interaction point includes at least one limiting threshold, and the limiting threshold is the maximum value of the adjustment scale of the interaction point.

[0069] In this embodiment, if the comparison result falls into the abnormal threshold interval, a second dynamic visualization feature is added to the successfully matched visualization device node according to the determined dynamic warning visualization rule. These features usually include color changes, such as red, indicating that there is an abnormality in the operating state of the motor. In addition, the system will add interactive points to the abnormal nodes, allowing users to make manual adjustments. The interactive points provide users with the opportunity to interact with the device. Users can adjust the parameters of the motor by clicking or inputting. The interactive points contain at least one limit threshold to ensure that the user does not exceed a reasonable range when adjusting. For example, if the speed of the motor exceeds the set range, the system will prompt the user to make manual adjustments, but will limit the maximum adjustment range to prevent system failures caused by misoperation.

[0070] In summary, the corresponding visualization device node can be matched through the target motor, and the current communication flow can be determined based on the feedback data. By comparing and analyzing the device nodes and communication flow paths, their arrangement rules can be determined. According to the preset dynamic visualization rules, dynamic warning features are added, so that the status changes of the device and communication flow can be reflected in time on the visualization interface. If an abnormality is detected, the system can adjust the display features according to the abnormality level and provide operators with manually adjusted interaction points, thereby improving the timeliness and accuracy of equipment fault warning and operation.

[0071] In one embodiment, if Fig. 9 As shown, after step S5045, that is, after the step of adding an interaction point for interacting with the user so that the user can manually determine the motor adjustment parameters, the following steps are included: S5046, obtaining an associated terminal of the target motor, the associated terminal including a wireless terminal and a wired terminal, wherein the visualization platform including the interaction point is applied to the wired terminal; In this embodiment, the purpose of obtaining the associated terminal of the target motor is to monitor and adjust the operating status of the motor through different types of terminal devices. The associated terminals include wireless terminals and wired terminals. Wireless terminals usually refer to handheld devices such as tablets or mobile phones, which are convenient for users to view and adjust the operating status of the motor in real time in a remote environment; while wired terminals usually refer to workstations or desktop devices connected to the control system. These devices are more suitable for fine control and operation, especially in complex environments. The wired terminal includes a visualization platform for interactive points, through which users can view the current operating data of the motor and make corresponding manual adjustments. In this way, the system can realize multi-terminal and multi-mode control operations, making monitoring and adjustment more flexible.

[0072] S5047, acquiring interaction information of the wireless terminal in real time; In this embodiment, the purpose of real-time acquisition of the interactive information of the wireless terminal is to ensure that the user can remotely monitor and operate the target motor anytime and anywhere. The wireless terminal receives and sends the operating status and control instructions of the motor through a real-time connection with the system. The interactive information may include adjustment instructions entered by the user on the terminal, such as parameters such as the speed, direction or load of the motor. This process ensures that the user can intervene in the operating status of the system in a timely manner, especially when the motor is abnormal, the wireless terminal can provide the user with a fast-response operating platform. For example, when an operator uses a tablet device on site, he can view the real-time status of the motor through the interface of the wireless terminal and enter instructions to adjust the operating parameters of the motor.

[0073] S5048. Determine the adjustment scale of the interaction point according to the interaction information.

[0074] In this embodiment, the adjustment scale of the interaction point is determined based on the interaction information to ensure that the user's adjustment operation is performed within a reasonable range. The adjustment scale of the interaction point defines the maximum or minimum range that the user can operate to prevent misoperation or excessive adjustment from affecting the stability of the system. For example, when the user adjusts the speed of the motor through the wireless terminal, the system will ensure that the speed does not exceed the safe range according to the established adjustment scale. If the adjustment value entered by the user exceeds the preset limit, the system will automatically correct the input to keep the adjustment operation within a reasonable range. This mechanism can effectively prevent equipment damage or system loss of control due to operational errors when users adjust the motor operating parameters.

[0075] In summary, by interacting with users and utilizing interactive points, the system can provide users with the function of manually adjusting motor parameters, obtain user interaction information in real time through wireless terminals or wired terminals, and combined with the adjustment scale of the interactive points, the system can adjust the target motor according to user instructions and reflect the adjustment results in real time on the visualization platform, thereby improving the flexibility and operational efficiency of the system and ensuring timely adjustment of the motor operating status.

[0076] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above.

[0077] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A tension signal amplifying device with EtherCAT, located on a slave station and used to communicate with a master station, characterized in that: The tension signal amplifying device with EtherCAT comprises a signal acquisition module, a main control data processing module and an EtherCAT processing module, wherein the signal input end of the signal acquisition module is used to acquire the sensor signals of each sensor in the slave station, the signal output end of the signal acquisition module is connected to the signal input end of the main control data processing module, the signal output end of the main control data processing module is connected to the signal input end of the EtherCAT processing module, the main control data processing module is used to perform data filtering, conditioning and operation processing on the collected sensor signals, and send the tension data generated after processing to the EtherCAT processing module, the signal output end of the EtherCAT processing module is connected to the data communication end of the master station, the EtherCAT processing module is used to package the received tension data according to the EtherCAT protocol, and send the packaged data to the master station through the signal output end of the EtherCAT processing module to realize real-time communication and data transmission.

2. A tension signal amplifying device with EtherCAT according to claim 1, characterized in that: The signal acquisition module includes a pressure sensing unit and a signal amplifying unit. The signal output end of the pressure sensing unit is connected to the signal input end of the signal amplifying unit. The signal amplifying unit is used to amplify the weak signal collected by the pressure sensing unit. The signal output end of the signal amplifying unit is connected to the signal input end of the main control data processing module to ensure that the collected signal has sufficient strength for subsequent processing during the transmission process. The signal amplifying unit includes at least one operational amplifier, and the model of the operational amplifier is AD623.

3. A tension signal amplifying device with EtherCAT according to claim 1, characterized in that: The main control data processing module includes a main control chip, the model of the main control chip is STM32F407, and the main control chip is respectively provided with a display output terminal, an analog output terminal and a relay output terminal, the display output terminal is connected to the display and key module, and is used to display the processing result and adjust the parameters, the analog output terminal is used to output the processed tension signal, and the relay output terminal is used to control the triggering of the alarm signal. The main control chip is also connected to the EtherCAT processing module through the SPI interface to realize communication with the EtherCAT network, and the signal input terminal of the main control chip is connected to the signal output terminal of the signal acquisition module.

4. The tension signal amplifying device with EtherCAT according to claim 1, characterized in that: The EtherCAT processing module includes an ESC chip and an RJ45 connector. The ESC chip is AX58100. The signal input end of the ESC chip is connected to the signal output end of the main control data processing module. The ESC chip is used to perform EtherCAT protocol packaging processing on the tension data transmitted by the main control chip to generate corresponding EtherCAT network data. The RJ45 connector is used to realize network communication with an external master station. The communication input end of the RJ45 connector is connected to the communication output end of the ESC chip, and the communication output end of the RJ45 connector is connected to the communication input end of the ESC chip, so as to realize data interaction and communication between the slave station and the master station.

5. A control method for a tension signal amplifying device with EtherCAT, applied to a tension signal amplifying device with EtherCAT as claimed in any one of claims 1 to 4, characterized in that: The steps include: Start the main control program, enter the main function entry, detect the hardware environment of the slave station device to generate a corresponding hardware detection result, and determine whether to enter the slave station interface control initialization according to the hardware detection result; If the hardware detection result is that the hardware status is normal, the slave station interface control initialization is performed, the ESC chip in the EtherCAT processing module is configured to enable the EtherCAT protocol, and then a network communication connection is established between the slave station and the master station through the RJ45 connector connected to the ESC chip to realize data transmission between the slave station and the master station; Based on the network communication connection, the functional units in the EtherCAT processing module are initialized, and then the corresponding EtherCAT protocol stack is started to initialize relevant communication parameters; After completing each initialization operation, enter the main loop entrance to process the sensor data collected by each sensor in real time to generate corresponding tension data, and transmit the tension data to the main station through the EtherCAT protocol; Receive feedback data from the main station, and perform corresponding closed-loop control operations based on the feedback data, wherein the closed-loop control operations at least include motor adjustment operations and visualization adjustment operations, wherein the motor adjustment operations are used to adjust the speed and / or strength of the motor, and the visualization adjustment operations are used to dynamically adjust the dynamic visualization adjustment features of the visualization layer in the visualization platform.

6. The control method of a tension signal amplifying device with EtherCAT according to claim 5, characterized in that: The step of initializing the functional units in the EtherCAT processing module based on the network communication connection, and then starting the corresponding EtherCAT protocol stack to initialize relevant communication parameters includes: Initialize the state machine to enable the slave to correctly switch and operate different working states; Initialize the mailbox to achieve data communication of non-real-time data between the slave station and the master station; Initialize the COE dictionary so that the master station can load the relevant configuration parameters of the slave station; Initialize the emergency message function and set up an alarm mechanism under abnormal conditions so that the slave station can send an emergency message to notify the master station in time when a fault occurs.

7. The control method of a tension signal amplifying device with EtherCAT according to claim 5, characterized in that: The method for generating the visualization layer includes: Determine application devices in the slave station, and historical communication flows between each of the application devices; Extracting key device information of the application device, and drawing a visualized device node according to the key device information; Determine the protocol information and vector information of the historical communication flow, determine a first visualization feature according to the protocol information, determine a second visualization feature according to the vector information, and draw a visualization path node according to the first visualization feature and the second visualization feature; According to the second visualization feature, an arrangement rule of each of the visualization path nodes and the visualization device nodes is determined, and according to the arrangement rule, a visualization layer is drawn in the selected blank layer.

8. The control method of a tension signal amplifying device with EtherCAT according to claim 7, characterized in that: The step of performing a corresponding closed-loop control operation according to the feedback data includes: Determine the corresponding expected data according to the feedback data, and determine the target motor corresponding to the expected data based on the local mapping library; Comparing the expected data with the feedback data to generate a corresponding comparison result; Determining motor adjustment parameters of the target motor according to the comparison result, wherein the motor adjustment parameters are used to perform the motor adjustment operation; The corresponding visualization adjustment operation is determined according to the target motor, the feedback data and the comparison result.

9. The control method of a tension signal amplifying device with EtherCAT according to claim 8, characterized in that: In the step of determining the visualization adjustment operation according to the target motor, the comparison result and the feedback data, the dynamic visualization adjustment feature includes a first dynamic visualization feature and a second dynamic visualization feature, including: According to the target motor, a corresponding visualization device node is matched; Determine the current communication flow according to the feedback data, and match the corresponding visualization path node according to the current communication flow; Determine a preset threshold interval within which the comparison result falls, wherein the preset threshold interval includes at least a normal threshold interval and an abnormal threshold interval; If the comparison result falls within the normal threshold interval, then according to the determined dynamic warning visualization rule, adding a first dynamic visualization feature including at least a first color element to the visualization path node that successfully matches; If the comparison result falls within the abnormal threshold interval, then according to the determined dynamic warning visualization rule, a second dynamic visualization feature including at least a second color element is added to the successfully matched visualization device node, and an interaction point is added for interacting with the user to enable the user to manually determine the motor adjustment parameters, and the interaction point includes at least one limit threshold, which is the maximum value of the adjustment scale of the interaction point.

10. The control method of a tension signal amplifying device with EtherCAT according to claim 9, characterized in that: After the step of adding an interaction point for interacting with a user so that the user can manually determine the motor adjustment parameters, the method includes: Acquire an associated terminal of the target motor, wherein the associated terminal includes a wireless terminal and a wired terminal, wherein a visualization platform including interaction points is applied to the wired terminal; Acquiring interaction information of the wireless terminal in real time; An adjustment scale of the interaction point is determined according to the interaction information.

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