Master-slave architecture type multi-shaft printing machine

Abstract

The invention discloses a master-slave architecture type multi-shaft printing machine, and relates to the technical field of industrial automation control. The printing machine comprises an upper computer, a scraper mechanism, a printing platform, a visual positioning system and a plurality of motor drivers. The upper computer is integrated with an EtherCAT master station, sequentially communicates with the driver through a bus and determines the logic position of the driver. The core is that an axial position configuration table is pre-stored in the upper computer, and whether the actual equipment identification information of the driver at each position is matched with the expectation or not can be automatically checked. And after the verification is passed, the system obtains a corresponding motion control parameter set from a parameter set template library based on a target process function associated with the axial configuration table, maps a standardized parameter key name to an object dictionary index of a specific driver through a special configuration file, and finally completes parameter one-key issuing by using an SDO service of EtherCAT. According to the invention, automatic and standardized configuration of multi-manufacturer driver parameters is realized, the efficiency and reliability are greatly improved, and the problems of tedious configuration and error proneness in a traditional mode are solved.

Description

Technical Field

[0001] This invention relates to the field of printing equipment technology, and in particular to a master-slave architecture multi-axis printing press. Background Technology

[0002] Solder paste printers are key equipment in surface mount technology (SMT) production lines, and their printing quality directly determines the soldering yield of circuit boards. Modern high-speed, high-precision solder paste printers typically feature a complex motion system consisting of multiple axes of motion, such as a squeegee axis that controls the squeegee pressure and angle, a transport platform axis that carries and positions the printed circuit board, and a camera movement axis for vision alignment and compensation. Each of these axes is powered by a drive motor and controlled by a matching motor driver.

[0003] To meet the specific requirements of different motion axes for dynamic response, positioning accuracy, and load capacity, equipment manufacturers often need to select drive motors and their dedicated motor drivers from different suppliers (such as Mingzhi, Mitsubishi, and Panasonic) to create the optimal drive solution. However, this coexistence of multiple supplier servo drive systems also brings significant challenges to equipment debugging, production, and maintenance. The core problem is that the hardware interfaces of these motor drivers (such as USB, RS-232 / 485 serial ports, etc.) are incompatible with the manufacturers' proprietary communication protocols, and their internal parameter object dictionary address mappings also vary greatly. Currently, when configuring parameters, engineers must use the dedicated host computer software provided by each manufacturer to connect to each of the aforementioned motor drivers one by one, manually searching, setting, and saving motion control parameters for the drive motors they drive. This discrete operation mode is extremely inefficient; for example, for a device equipped with more than ten drivers, complete configuration can take tens of minutes or even more than an hour, severely restricting the debugging efficiency in mass production. Meanwhile, purely manual operation is prone to errors or omissions in parameter settings and cannot effectively verify the correctness of physical wiring (such as misaligned shaft sequence or confused models), which poses a hidden danger to the stability and reliability of equipment operation.

[0004] Therefore, there is an urgent need in the field to improve existing printing presses to solve the problems of low efficiency, poor consistency and insufficient security when configuring parameters for multiple drive motors due to differences in interfaces and protocols between different motor drivers.

[0005] The information disclosed in this background section is included only to enhance the understanding of the context of this disclosure, and therefore may contain information that does not constitute prior art known to those skilled in the art. Summary of the Invention

[0006] One objective of this invention is to provide a master-slave architecture multi-axis printing press that can solve the problems of low efficiency, poor consistency, and insufficient security in configuring parameters for multiple drive motors due to differences in interfaces and protocols between different motor drivers in existing printing presses.

[0007] To achieve the above objectives, the present invention provides a master-slave architecture multi-axis printing press, comprising:

[0008] It includes a squeegee mechanism for applying solder paste, a printing platform for holding the substrate to be screen printed, a vision positioning system for acquiring image information, a host computer, and several motor drivers.

[0009] At least one of the scraper mechanism, printing platform, and vision positioning system is driven by several drive motors.

[0010] The host computer integrates an EtherCAT master station module.

[0011] The EtherCAT master station communicates sequentially with each of the motor drivers through the EtherCAT bus network, and determines the logical position of each motor driver according to the communication order.

[0012] Each of the motor drivers is connected to at least one of the drive motors and stores the actual device identification information of each of the connected drive motors;

[0013] The host computer has a pre-stored axis position configuration table, which is used to associate each logical position with the corresponding expected device identification information and motion control parameter set.

[0014] The host computer is configured as follows:

[0015] Obtain the actual device identification information of the motor driver at each logical location;

[0016] The actual equipment identification information is verified against the expected equipment identification information at the corresponding logical position in the axis configuration table;

[0017] If the verification matches, the corresponding motion control parameter set is sent to the motor driver at that logical location to configure the motion performance of the corresponding drive motor.

[0018] Optionally, both the actual equipment identification information and the expected equipment identification information include the supplier identifier and the product code.

[0019] Optional,

[0020] The axis configuration table also defines the target process function corresponding to each of the logical positions;

[0021] The host computer has a parameter set template library pre-stored. The parameter set template library is used to define at least one standardized parameter key name corresponding to each of the target process functions, and the process parameter value corresponding to each of the standardized parameter key names.

[0022] Optionally, the step of "sending the corresponding set of motion control parameters to the motor driver at the logical location" includes:

[0023] Based on the logical position, the corresponding target process function is obtained from the axis configuration table;

[0024] Based on the target process function, the corresponding standardized parameter key names and process parameter values ​​are determined from the pre-stored parameter set template library.

[0025] Optional,

[0026] The host computer also has several dedicated configuration files pre-stored for different models of motor drivers; each dedicated configuration file is associated with a device identification information.

[0027] The dedicated configuration file contains: dedicated parameter key names, object dictionary indexes corresponding to the dedicated parameter key names, and conversion rules from process parameter values ​​to driver transmission values.

[0028] Optionally, the step of "sending the corresponding motion control parameter set to the motor driver at the logical location" further includes:

[0029] Based on the actual device identification information of the motor driver at the current logical position, the corresponding dedicated configuration file is matched;

[0030] Establish a mapping relationship between the standardized parameter key names in the parameter set template library and the special parameter key names in the matched special configuration files;

[0031] According to the conversion rules, the process parameter values ​​are converted into corresponding driver transmission values;

[0032] The driver sends the value and writes it into the object dictionary index corresponding to the dedicated parameter key name through the EtherCAT protocol service data object to complete the distribution.

[0033] Optionally, the host computer is configured to: before "sending the corresponding motion control parameter set to the motor driver at the logical location",

[0034] First, switch the EtherCAT bus network to a safe operating state to suspend process data object communication during parameter writing operations and avoid watchdog timeout.

[0035] Optionally, if the configuration of a motor driver at a certain logical position fails during the configuration process, the error message is recorded and the driver is skipped. The configuration of motor drivers at subsequent logical positions is then performed, and an error summary message is displayed after all configuration attempts are completed.

[0036] Optional,

[0037] The host computer is configured to, after completing the distribution of all motion control parameter sets, sequentially restart each motor driver in the order from the end to the front end of the EtherCAT bus network topology.

[0038] Optional,

[0039] The host computer is also configured to: send motion control parameter sets to all motor drivers, and after each motor driver restarts, reread the current parameters of each motor driver and compare them with the motion control parameter sets associated with the axis configuration table to verify whether the configuration is successful.

[0040] The beneficial effects of this invention are as follows: It provides a master-slave architecture multi-axis printing machine, and the specific working process is as follows:

[0041] S10: An EtherCAT master module is integrated into the host computer. The EtherCAT master communicates serially with each motor driver in sequence through the EtherCAT bus network.

[0042] S20: During system power-on initialization, the EtherCAT master station automatically determines the logical position of each motor driver based on the communication sequence by scanning the network topology.

[0043] S30: The host computer has a pre-stored axis configuration table, which predefines the expected device identification information of the motor driver that should appear at each logical position and associates it with the corresponding set of motion control parameters;

[0044] S40: During the configuration process, the host computer first obtains the actual device identification information reported by the motor driver at each logical position, and then verifies it with the expected device identification information in the axis configuration table. If the verification matches, the host computer automatically generates or obtains the corresponding motion control parameter set based on the information associated with that logical position, and sends it to the motor driver at that logical position, thereby completing the one-click configuration of the motion performance of the associated drive motor.

[0045] The above design transforms the traditional discrete operation, which relies on manual, one-by-one connections, into a fully automated process based on network topology identification. Its primary benefit is a significant improvement in configuration efficiency, reducing work that would otherwise take tens of minutes or even hours to minutes, making it particularly suitable for mass production and rapid debugging scenarios. Secondly, through an automated identity verification mechanism, potential risks such as wiring errors and mismatched component models can be effectively identified at the beginning of configuration, preventing potential safety incidents and equipment damage caused by incorrectly written parameters to drivers, thus significantly improving system reliability and security.

[0046] Therefore, the master-slave architecture multi-axis printing press provided by the present invention can solve the problems of low efficiency, poor consistency and insufficient security when configuring parameters for multiple drive motors due to differences in interfaces and protocols between different motor drivers in existing printing presses. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 A schematic diagram of a master-slave architecture multi-axis printing press provided for an embodiment.

[0049] In the picture:

[0050] 1. Scraper mechanism;

[0051] 2. Printing platform;

[0052] 3. Visual positioning system;

[0053] 4. Host computer;

[0054] 5. Motor driver;

[0055] 6. Drive motor. Detailed Implementation

[0056] In this invention, the term "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the invention. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this invention, as long as there is no technical contradiction or conflict, the technical features mentioned in each embodiment can be combined in any way to form a corresponding implementable technical solution.

[0057] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0058] In the description of this invention, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0059] In this invention, terms such as “first” and “second” are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any actual quantity, hierarchy, or order between these entities or operations.

[0060] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a list of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0061] Similar to the understanding in the Examination Guidelines, in this invention, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this invention, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0062] In the description of the embodiments of the present invention, the spatial related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the purpose of describing the specific embodiments of the present invention or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention.

[0063] Unless otherwise explicitly stated or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this invention, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral arrangement; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this invention according to the specific circumstances.

[0064] This invention provides a master-slave architecture multi-axis printing press, which can solve the problems of low efficiency, poor consistency and insufficient security in the parameter configuration of multiple drive motors caused by the differences in interfaces and protocols between different motor drivers in existing printing presses.

[0065] See Figure 1 The master-slave architecture multi-axis printer provided in this embodiment includes a squeegee mechanism 1 for applying solder paste, a printing platform 2 for holding the substrate to be screen printed, a vision positioning system 3 for acquiring image information, a host computer 4, and several motor drivers 5.

[0066] At least one of the scraper mechanism 1, printing platform 2, and vision positioning system 3 is driven by a plurality of drive motors 6 (servo motors or stepper motors, etc.).

[0067] The host computer 4 has an integrated EtherCAT master station module;

[0068] The EtherCAT master station communicates sequentially with each of the motor drivers 5 through the EtherCAT bus network, and determines the logical position of each motor driver 5 according to the communication order.

[0069] Each of the motor drivers 5 is connected to at least one of the drive motors 6 and stores the actual device identification information of each of the connected drive motors 6;

[0070] The host computer 4 has a pre-stored axis position configuration table, which is used to associate each logical position with the corresponding expected device identification information and motion control parameter set.

[0071] The host computer 4 is configured as follows:

[0072] Obtain the actual device identification information of motor driver 5 at each logical location;

[0073] The actual equipment identification information is verified against the expected equipment identification information at the corresponding logical position in the axis configuration table;

[0074] If the verification matches, the corresponding motion control parameter set is sent to the motor driver 5 at that logical location to configure the motion performance of the corresponding drive motor 6.

[0075] The master-slave architecture multi-axis printing press provided in this embodiment solves the problems of complex and inefficient configuration of five parameters for multi-supplier motor drivers through an automated configuration system. The specific working process is as follows:

[0076] S10: An EtherCAT master module is integrated into the host computer 4. The EtherCAT master communicates sequentially with each motor driver 5 through the EtherCAT bus network.

[0077] S20: During system power-on initialization, the EtherCAT master station automatically determines the logical position of each motor driver 5 according to the communication sequence by scanning the network topology.

[0078] S30: The host computer 4 has a pre-stored axis position configuration table, which predefines the expected device identification information of the motor driver 5 that should appear at each logical position and associates it with the corresponding motion control parameter set;

[0079] S40: During the configuration process, the host computer 4 first obtains the actual device identification information reported by the motor driver 5 at each logical position, and then verifies it with the expected device identification information in the axis configuration table. If the verification matches, the host computer 4 automatically generates or obtains the corresponding motion control parameter set based on the information associated with the logical position, and sends it to the motor driver 5 at that logical position, thereby completing the automated configuration of the motion performance of the associated drive motor 6.

[0080] The above design transforms the traditional discrete operation, which relies on manual, one-by-one connections, into a fully automated process based on network topology identification. Its primary benefit is a significant improvement in configuration efficiency, reducing work that would otherwise take tens of minutes or even hours to minutes, making it particularly suitable for mass production and rapid debugging scenarios. Secondly, through an automated identity verification mechanism, potential risks such as wiring errors and mismatched component models can be effectively identified at the beginning of configuration, preventing potential safety incidents and equipment damage caused by incorrectly written parameters to drivers, thus significantly improving system reliability and security.

[0081] Therefore, the master-slave architecture multi-axis printing press provided by the present invention can solve the problems of low efficiency, poor consistency and insufficient security when configuring parameters of multiple drive motors 6 due to differences in interfaces and protocols between different motor drivers 5 in existing printing presses.

[0082] Optionally, both the actual equipment identification information and the expected equipment identification information include a vendor ID and a product code.

[0083] When the host computer 4 performs verification, the specific comparison content between the actual device identification information and the expected device identification information is the vendor ID uniformly assigned by the EtherCAT technical association and the product code defined by the supplier. This set of identification information is used to uniquely distinguish the supplier and product model of the motor driver 5 (for example, all drivers of the same model have the same product code).

[0084] By adopting internationally standardized identification information, this configuration scheme possesses strong versatility and reliability. Supplier identifiers and product codes constitute the unique "identity card" of the equipment within the bus network, ensuring the accuracy of the verification process. This not only simplifies the definition rules of the shaft configuration table but also enables the system to clearly identify and distinguish motor drives from different manufacturers and models, laying a solid foundation for subsequent targeted parameter configuration.

[0085] As a preferred embodiment of the present invention, the method for generating and obtaining the above-mentioned motion control parameter set is as follows:

[0086] The axis configuration table also defines the target process functions to be implemented for each logical position (e.g., "scraper pressure control" and "platform movement control").

[0087] The host computer 4 has a pre-stored parameter set template library, which defines standardized parameter key names (e.g., "position loop gain", "velocity feedforward") and their corresponding process parameter values ​​(e.g., "5000", "80%)" corresponding to each target process function; wherein, the process parameter values ​​are functional settings based on physical units or percentages, and are independent of the driver model;

[0088] When it is necessary to configure the driver at a certain logical position, the step of "sending the corresponding motion control parameter set to the motor driver 5 at that logical position" includes:

[0089] ① First, the host computer 4 finds the corresponding target process function from the axis configuration table according to its logical position;

[0090] ② Then, the host computer 4 queries and obtains all the standardized parameter key names and process parameter values ​​required by the function from the parameter set template library.

[0091] To further achieve compatibility with drivers from multiple manufacturers, as another preferred embodiment of the present invention, the host computer 4 also pre-stores several dedicated configuration files corresponding to different models of motor drivers 5. Each dedicated configuration file is associated with a device identification information and contains three key pieces of information: (1) the dedicated parameter key names supported by the driver model; (2) the index address of each dedicated parameter key name in the driver object dictionary; and (3) the conversion rules for converting general process parameter values ​​into specific transmission values ​​of the driver (for example, for current parameters, the rule may be "process parameter value (unit: A) × 10").

[0092] After obtaining the standardized parameter key name and process parameter value, the step of "sending the corresponding motion control parameter set to the motor driver 5 at the logical location" further includes:

[0093] ③ Match the corresponding dedicated configuration file based on the actual device identification information of the motor driver 5 at the current logical position;

[0094] ④ Subsequently, establish a mapping relationship between the standardized parameter key names in the parameter set template library and the special parameter key names in the matched special configuration files;

[0095] ⑤ Next, according to the conversion rules, the process parameter values ​​are converted into corresponding driver transmission values.

[0096] ⑥ Finally, the EtherCAT Service Data Object (SDO service) is used to write the object dictionary index corresponding to the dedicated parameter key name to complete the transmission. That is, the sent value is written to the mapped index address to complete the parameter transmission.

[0097] The automated generation, adaptation, and distribution process of the motion control parameter set described in this invention begins with the axis configuration table, which defines the target process function (e.g., "scraper pressure control") to be implemented at each logical position. The parameter set template library pre-stored in the host computer 4 provides the corresponding standardized parameter key name (e.g., "position loop gain") and the process parameter value (e.g., "5000") as a functional setting value based on this target process function.

[0098] To achieve compatibility with motor drivers 5 from multiple manufacturers, the host computer 4 also pre-stores dedicated configuration files corresponding to different models of motor drivers 5. During configuration, the host computer 4 first matches the corresponding dedicated configuration file based on the actual device identification information of the motor driver 5 at the current logical location. Then, it establishes a mapping relationship between standardized parameter key names in the parameter set template library and dedicated parameter key names in the dedicated configuration files. Following the conversion rules defined in the dedicated configuration files, it converts general process parameter values ​​into the driver transmission values ​​required by the specific motor driver 5. Finally, through the EtherCAT Service Data Object (SDO service), this driver transmission value is written to the mapped object dictionary index, completing the parameter distribution.

[0099] The core of this mechanism lies in decoupling "what to do" (i.e., process functions and process parameter values) from "how to do it" (i.e., dedicated parameter key names, object dictionary indexes, and value conversions for a specific motor driver 5). In this way, the present invention achieves universality, automation, and high precision in motion control parameter configuration in an environment where multiple manufacturers' motor drivers 5 coexist, significantly improving configuration efficiency and reliability.

[0100] Furthermore, regarding parameter distribution, there are the following two scenarios:

[0101] (1) Fully automatic one-click configuration of scenarios

[0102] In scenarios involving factory commissioning of equipment or restoration of overall line parameters, the system's predefined axis configuration table strongly binds each logical position to the expected target process function. For example, logical position 1 is fixedly associated with the "scraper pressure control" function, and logical position 2 is fixedly associated with the "platform movement control" function.

[0103] When the user triggers the "one-click configuration" command, the configuration process of the host computer 4 is automatically executed. It automatically scans the topology, verifies the user's identity, and automatically, without manual intervention, determines the target process function for each logical position based on the preset relationships in the axis configuration table. It then obtains the parameter set and completes its distribution. In this mode, the target process function is transparent to the user, requiring no manual intervention or selection. The system completes all configurations according to preset logic, achieving extremely high efficiency and consistency.

[0104] This not only solidifies engineers' process knowledge into the system, ensuring optimal and consistent equipment performance, but also fundamentally eliminates the possibility of configuration deviations due to human error in selection, greatly improving the accuracy and reliability of configuration.

[0105] (2) Manual single-axis configuration scenario

[0106] In scenarios involving equipment maintenance, parameter optimization, or driver replacement, users can manually select the logical location of the motor driver 5 to be configured from the identified network topology list in the human-machine interface of the host computer 4.

[0107] After selection, the system provides a drop-down menu with options such as "scraper pressure control," "platform movement control," and "vision movement control." The user manually selects the corresponding target process function based on the actual mechanical function of the axis. After user confirmation, the host computer 4 retrieves the corresponding motion control parameter set from the parameter set template library based on the selected process function and sends it to the designated motor driver 5. This mode provides flexibility, allowing engineers to fine-tune or debug specific axes.

[0108] Furthermore, in the manual single-axis configuration mode, the optional items provided for "target process function" in the upper computer 4 software interface are named directly corresponding to the process names of key moving parts in the multi-axis printing press, such as, but not limited to, "squeegee pressure control", "platform movement control", "vision movement control", etc.

[0109] This design allows operators to accurately select the function template corresponding to the drive motor 6 to be configured, based solely on their intuitive understanding of the equipment's mechanical structure, without requiring a deep background in servo drive theory. This significantly reduces the technical barrier and training costs for operators, effectively avoiding incorrect selections caused by obscure function names, and further improving the accuracy, ease of use, and efficiency of the configuration process from a human-machine interaction perspective.

[0110] In this embodiment, the host computer 4 is configured to: before "send the corresponding motion control parameter set to the motor driver 5 at the logical location",

[0111] First, switch the EtherCAT bus network to a safe operating state to suspend process data object (PDO) communication during parameter write operations to avoid watchdog timeout.

[0112] Understandably, in the safe operating state, process data object communication is suspended, providing a safe time window for time-consuming parameter writing and saving to non-volatile memory, thereby ensuring the reliability of the configuration process. In other words, by switching the EtherCAT network state, the real-time communication conflict problem during parameter writing is resolved.

[0113] Before the host computer 4 sends the motion control parameter set to the motor driver 5, it first performs a critical operation: switching the entire EtherCAT network from the running state to a safe operating state. In this state, process data object communication for real-time control is temporarily suspended, and the network watchdog timer stops. This allows the host computer 4 to perform time-consuming parameter writing and EEPROM saving operations by serving data objects without causing real-time communication timeouts or network failures due to excessive bus occupancy.

[0114] This step ensures that the "one-click configuration" process is stable and automated, requiring no manual intervention. It effectively creates a safe "time window" for batch, non-real-time parameter configuration operations, fundamentally avoiding the bus communication interruptions that would inevitably occur during such operations in normal operating conditions. This significantly improves the success rate of the configuration process and the reliability of the system.

[0115] In this embodiment, if the configuration of a motor driver 5 at a certain logical position fails during the configuration process, the error information is recorded and the driver is skipped. The configuration of the motor driver 5 at subsequent logical positions is continued, and an error summary prompt is given after all configuration attempts are completed.

[0116] In the automated configuration process, if the configuration of a motor driver 5 at a certain logical location fails due to hardware failure, communication interruption, or parameter incompatibility, the host computer 4 will not cause the entire process to stop. Instead, it will automatically record the error information of the driver (such as location and error type), then skip the faulty node and continue to perform normal configuration operations on the motor drivers 5 at subsequent logical locations. After all configuration attempts are completed, the system will provide the user with a summary report containing all success and failure information.

[0117] This fault-tolerant design significantly improves the system's robustness and usability under non-ideal operating conditions. In large-scale batch configurations, the failure of individual nodes should not affect the configuration progress of the entire system or other normal nodes. This mechanism ensures maximum completion of configuration tasks, while providing clear guidance for maintenance personnel to quickly locate and repair specific problems through detailed summary reports. This avoids production debugging delays caused by a single point of failure, further improving the efficiency of automated configuration.

[0118] In this embodiment, the host computer 4 is further configured to: after completing the distribution of all motion control parameter sets, restart each of the motor drivers 5 in sequence from the end of the EtherCAT bus network topology to the front end.

[0119] After successfully sending and saving all motion control parameter sets to the EEPROM of each motor driver 5, the host computer 4 controls the drivers to restart sequentially to load the new parameters. The restart operations are not performed simultaneously, but strictly follow the order of starting from the end of the EtherCAT bus network topology and proceeding forward. Only one driver is restarted at a time, and the next driver is restarted only after it has rejoined the network and the bus loop has been reconstructed.

[0120] This sequential restart strategy is an optimization based on the characteristics of the EtherCAT physical layer. Since restarting a single slave station causes a temporary break in the network loop, restarting from the end ensures that each break only affects one node. The master station can quickly (within microseconds) reconstruct the logical loop, thus ensuring uninterrupted communication for the vast majority of other nodes. This avoids the prolonged network downtime that could result from simultaneously restarting all drivers, enabling configuration updates to be completed in an "online" or "near-online" state, maximizing the continuity and stability of the bus network.

[0121] Optionally, the host computer 4 is further configured to: send motion control parameter sets to all motor drivers 5, and after each motor driver 5 restarts, reread the current parameters of each motor driver 5 and compare them with the motion control parameter sets associated with the axis configuration table to verify whether the configuration is successful.

[0122] After the host computer 4 completes the distribution of all parameters and controls each motor driver 5 to restart sequentially, it does not immediately consider the configuration successful. Instead, it actively rereads the current operating parameters of each motor driver 5 through service data object communication. Subsequently, the system compares these read actual parameter values ​​item by item with the expected set of motion control parameters in the axis configuration table.

[0123] This verification step provides the final and most direct evidence of successful configuration. It effectively detects situations where parameters are ineffective or incorrectly applied due to EEPROM write failures, driver failure to restart properly, or other unknown reasons. This provides quality assurance for the configuration results, achieving true "closed-loop control." Once a deviation is detected, the system can promptly issue an alarm, prompting user intervention, thereby ensuring that the device's performance state is completely consistent with design expectations before being put into operation, further enhancing the credibility and security of the entire configuration scheme.

[0124] Example 2

[0125] Based on Embodiment 1 above, this embodiment details the workflow of a master-slave architecture multi-axis printing press for a specific scenario:

[0126] Scenario setting: A master-slave architecture multi-axis printing press is assembled and connected to the EtherCAT network. The engineer needs to configure parameters for its three core motion axes: the doctor blade axis (controls the pressure and movement of the doctor blade mechanism), the transport axis (controls the entry and exit of the printing platform), and the vision axis (controls the movement and positioning of the vision positioning system).

[0127] Step 1: Determine the process function and parameter set

[0128] Specific process: The engineer clicks "One-click Configuration" in the host computer software. The system first scans the EtherCAT network bus to confirm that the three motor drivers are connected sequentially to logical positions 1, 2, and 3. Then, the system reads the pre-stored shaft configuration table, which has been predefined:

[0129] (1) Logical location 1 -> Expected equipment identification information (Mingzhi, model MCD123) + Target process function (scraper pressure control)

[0130] (2) Logical location 2 -> Expected equipment identification information (Mitsubishi, model MR-J4) + Target process function (platform movement control)

[0131] (3) Logical location 3 -> Expected equipment identification information (Mingzhi, model MCD456) + Target process function (visual motion control)

[0132] Based on this table, the system automatically determines the target process functions for positions 1, 2, and 3 respectively. Next, it accesses the parameter set template library, which defines standardized parameter key names and their corresponding process parameter values ​​for each process function.

[0133] The system automatically retrieved three different sets of parameter requirements for the three positions. For example, the parameter set retrieved for position 1 (scraper axis) includes:

[0134] Standardized parameter key name: Load inertia ratio -> Process parameter value: 3.5 (This value is a dimensionless ratio)

[0135] Standardized parameter key name: Operating current -> Process parameter value: 2.4A

[0136] ... (and several other parameters)

[0137] At this point, the system has clearly defined "what parameters need to be configured" and "what the physical values ​​of these parameters should be".

[0138] Step 2: Parameter Mapping and Value Conversion

[0139] Specific process: Now, the system needs to "adapt" the general parameter requirements to the specific servo driver. This process includes mapping and value transformation:

[0140] 1. First, based on the scanned actual device identification information, match the corresponding dedicated configuration file for each location, for example:

[0141] ① For the Mingzhi MCD123 servo driver at position 1, match the Mingzhi_MCD123.map file.

[0142] ② For the Mitsubishi MR-J4 servo driver at position 2, match the Mitsubishi_MR-J4.map file.

[0143] 2. Then, the system performs mapping and conversion.

[0144] For example, for the standardized parameter key name of the load inertia ratio and its process parameter value of 3.5:

[0145] In the file Mingzhi_MCD123.map, it is mapped to the dedicated parameter key name: Load inertia ratio and the object dictionary index: 0x2A52:0x00. The conversion rule specified in this file is: multiply the process parameter value (floating-point number) by 1000 and round it down to convert it into hexadecimal data (i.e., the value sent by the driver).

[0146] Therefore, the system performs the following conversion: 3.5 * 1000 = 3500 -> hexadecimal 0x0DAC. The driver's transmitted value is determined to be 0x0DAC.

[0147] In Mitsubishi_MR-J4.map, it is mapped to the dedicated parameter key name: Inertia ratio and the object dictionary index: 0x3004:0x00. The conversion rule is: multiply the process parameter value (floating-point number) by 100, round it down, and then convert it to hexadecimal for transmission.

[0148] Therefore, the system performs the conversion: 3.5 * 100 = 350 -> hexadecimal is 0x015E. The driver sends the value as 0x015E.

[0149] For example, consider the standardized parameter key name for operating current and its process parameter value of 2.4A:

[0150] In Mingzhi_MCD123.map, it is mapped to the special key name I_RUN, index 0x2B01:0x00, and the conversion rule is current value (A) * 10.

[0151] Conversion: 2.4A * 10 = 24 -> hexadecimal 0x0018.

[0152] In Mitsubishi_MR-J4.map, it is mapped to the dedicated key name CL.Current, index 0x3F10:0x00, and the conversion rule is current value (A) * 1000.

[0153] Conversion: 2.4A * 1000 = 2400 -> hexadecimal 0x0960.

[0154] Step 3: Sending Execution Parameters

[0155] Specific process: After the conversion is completed, the system sends precise instructions to each servo drive through EtherCAT Service Data Objects (SDOs).

[0156] 1. Send two SDO commands to the Mingzhi servo drive at position 1:

[0157] Write to address 0x2A52:0x00 = 0x0DAC (configure load inertia ratio)

[0158] Write to address 0x2B01:0x00 = 0x0018 (configure operating current)

[0159] 2. Send two SDO commands to the Mitsubishi servo drive at position 2:

[0160] Write to address 0x3004:0x00 = 0x015E (configure load inertia ratio)

[0161] Write address 0x3F10:0x00 = 0x0960 (Configure operating current)

[0162] Although the internal addresses and required data formats of servo drives from different manufacturers are completely different, through the above "mapping + conversion" process, they all receive configuration instructions equivalent to the physical settings of load inertia ratio 3.5 and operating current 2.4A.

[0163] In summary, engineers only need to press the "One-Click Configuration" button, and the system automatically completes the precise configuration of servo drives from different brands in a short time. The scraper axis obtains high responsiveness parameters, the transport axis obtains stability parameters, and the vision axis obtains high precision parameters. This completely solves the tedious and error-prone problem of traditionally requiring engineers to use multiple specialized software programs, manually look up addresses, perform complex calculations, and input them one by one.

[0164] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A master-slave architecture multi-axis printer, characterized by, The scraper mechanism (1) for scraping tin paste, the printing platform (2) for placing the substrate to be screen printed, the visual positioning system (3) for acquiring image information, the host computer (4), and a plurality of motor drivers (5); At least one of the scraper mechanism (1), the printing platform (2) and the visual positioning system (3) is driven by a plurality of drive motors (6), The host computer (4) has an EtherCAT master module integrated therein; The EtherCAT master sequentially communicates with each motor driver (5) in series through an EtherCAT bus network, and determines the corresponding logical position of each motor driver (5) according to the communication sequence; Each motor driver (5) is connected to at least one drive motor (6) and stores the actual device identification information of each drive motor (6) connected thereto; The host computer (4) has a pre-stored axis position configuration table, which is used to associate each logical position to corresponding expected device identification information and a set of motion control parameters; The host computer (4) is configured to: Obtain the actual device identification information of the motor driver (5) at each logical position; Verify the actual device identification information with the expected device identification information of the corresponding logical position in the axis position configuration table; If the verification matches, the corresponding set of motion control parameters is issued to the motor driver (5) at the logical position to configure the motion performance of the corresponding drive motor (6).

2. The master-slave architecture multi-axis printer according to claim 1, wherein, The actual device identification information and the expected device identification information both include a supplier identification and a product code.

3. The master-slave architecture multi-axis printer of claim 1, wherein: The axis position configuration table further defines a target process function corresponding to each logical position; The host computer (4) has a pre-stored parameter set template library, which is used to define at least one standardized parameter key name corresponding to each target process function, and a process parameter value corresponding to each standardized parameter key name.

4. The master-slave architecture multi-axis printer according to claim 3, wherein, The "issuing of the corresponding set of motion control parameters to the motor driver (5) at the logical position" includes: According to the logical position, the corresponding target process function is obtained from the axis position configuration table; According to the target process function, each standardized parameter key name and process parameter value corresponding to the target process function are determined from the pre-stored parameter set template library.

5. The master-slave architecture multi-axis printer of claim 4, wherein: The host computer (4) further pre-stores a plurality of special configuration files corresponding to different types of motor drivers (5); each special configuration file is associated with a device identification information; The special configuration file has a special parameter key name, an object dictionary index corresponding to the special parameter key name, and a conversion rule of process parameter value to driver transmission value.

6. The master-slave architecture multi-axis printer according to claim 5, wherein, The "issuing of the corresponding set of motion control parameters to the motor driver (5) at the logical position" further includes: According to the actual device identification information of the motor driver (5) at the current logical position, the corresponding special configuration file is matched. A mapping relationship between the standardized parameter key name in the parameter set template library and the special parameter key name in the matched special configuration file is established; According to the conversion rule, the process parameter value is converted into a corresponding driver sending value; The driver sending value is written into the object dictionary index corresponding to the special parameter key name through the service data object of the EtherCAT protocol to complete the delivery.

7. The master-slave architecture multi-axis printer according to claim 1, wherein, The upper computer (4) is configured to: Switch the EtherCAT bus network to a safe running state before delivering the corresponding motion control parameter set to the motor driver (5) of the logical position, suspend the process data object communication during the parameter writing operation, and avoid watchdog timeout.

8. The master-slave architecture multi-axis printer according to claim 7, wherein, If the motor driver (5) of a certain logical position fails to configure during the configuration process, record the error information and skip the driver, continue to configure the motor driver (5) of the subsequent logical position, and perform error summary prompt after all configuration attempts are completed.

9. The master-slave architecture multi-axis printer according to claim 1, wherein The upper computer (4) is configured to: After completing the delivery of all motion control parameter sets, restart each motor driver (5) in turn according to the order from the end to the front of the EtherCAT bus network topology.

10. The master-slave architecture multi-axis printer according to claim 9, wherein The upper computer (4) is further configured to: After delivering the motion control parameter set to all motor drivers (5) and restarting each motor driver (5), re-read the current parameters of each motor driver (5) and compare them with the motion control parameter set associated with the axis position configuration table to verify whether the configuration is successful.

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