Control system of extensible IO module

Abstract

The utility model relates to the field of industrial production, in particular to a control system of an extensible IO module. The utility model discloses a control system capable of expanding IO modules, which comprises a motion controller and a plurality of IO modules, and the motion controller and the IO modules are respectively provided with an LVDS (Low Voltage Differential Signaling) interface; the motion controller is connected with the IO module through the LVDS interface; the IO modules are connected through the LVDS interfaces, flexible expansion of the IO modules is achieved, the flexibility of the topological structure of the control system is improved, connection is established through the LVDS interfaces, the communication rate of the motion controller and the IO modules is improved, and therefore the refresh rate of the IO modules is improved.

Description

Technical Field

[0001] The utility model relates to the field of industrial production, in particular to a control system of an expandable IO module. Background Art

[0002] The IO module is a component used to realize input and output functions. It can input signals from external devices into the control system, and can also output signals from the control system to external devices, thereby realizing the interaction between the control system and the external environment. With the development of science and technology, in the field of industrial production, the requirements for the expansion flexibility of the control system are getting higher and higher. Therefore, how to improve the scalability of the IO module of the control system has become a technical problem that needs to be solved urgently. Utility Model Content

[0003] The embodiment of the utility model discloses a control system with an expandable IO module, which is used to improve the expandability of the IO module of the control system.

[0004] The present invention provides a control system for an expandable IO module, including:

[0005] A motion controller and a plurality of IO modules, wherein the motion controller and the IO modules are both provided with LVDS interfaces;

[0006] The motion controller is connected to the IO module via the LVDS interface;

[0007] Each of the IO modules is connected via the LVDS interface.

[0008] Optionally, the motion controller includes a microprocessor unit, a memory unit, a flash memory unit, a network port unit, a serial interface unit, and a first programmable logic gate array;

[0009] The microprocessor unit, the flash memory unit, the network port unit, and the serial interface unit are respectively connected to the microprocessor unit;

[0010] The microprocessor unit is connected to the first programmable logic gate array;

[0011] The first programmable logic gate array is connected to the LVDS interface.

[0012] Optionally, the IO module includes a second programmable logic gate array, a first micro control unit, and a peripheral module;

[0013] The second programmable logic gate array is connected to the first micro control unit and the LVDS interface respectively;

[0014] The first micro control unit is connected to the peripheral module.

[0015] Optionally, the interface subunit and PS pin of the microprocessor unit are respectively connected to the first programmable logic gate array; the interface subunit includes a serial peripheral interface and a parallel interface.

[0016] Optionally, it also includes: an EtherCAT coupler;

[0017] The motion controller is connected to the EtherCAT coupler, and the EtherCAT coupler is connected to the IO module via the LVDS interface.

[0018] Optionally, the EtherCAT coupler comprises: a first communication interface unit, a second communication interface unit, a third programmable logic gate array, and a second micro control unit;

[0019] The first communication interface unit is connected to the motion controller;

[0020] The second communication interface unit is connected to the EtherCAT device;

[0021] The second micro control unit is connected to the first communication interface unit and the second communication interface unit respectively;

[0022] The second micro control unit is connected to the third programmable logic gate array respectively, and the third programmable logic gate array is connected to the LVDS interface.

[0023] Optionally, the first communication interface unit includes: a first communication interface and a first PHY chip connected to each other;

[0024] The first PHY chip is connected to the second micro control unit.

[0025] Optionally, the second communication interface unit includes: a second communication interface and a second PHY chip connected to each other;

[0026] The second PHY chip is connected to the second micro control unit.

[0027] Optionally, a model of the first micro control unit includes STM32 or GD32.

[0028] Optionally, a model of the second micro control unit includes XMC4300 or XMC4800.

[0029] It can be seen from the above technical solutions that the embodiments of the utility model have the following advantages:

[0030] The utility model provides a control system of an expandable IO module, comprising a motion controller and a plurality of IO modules, wherein the motion controller and the IO modules are both provided with LVDS interfaces; the motion controller is connected to the IO modules via the LVDS interfaces; and each of the IO modules is connected via the LVDS interfaces.

[0031] In the utility model, by setting an LVDS interface in the IO module and the motion controller, each IO module can establish a physical connection with the motion controller through the LVDS interface, thereby realizing flexible expansion of the IO module and improving the flexibility of the control system topology. In addition, by using the LVDS interface to establish a connection, the communication rate between the motion controller and each IO module is improved, thereby improving the refresh rate of the IO module. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 A schematic diagram of the structure of a control system of an expandable IO module provided in an embodiment of the utility model;

[0034] Figure 2 A schematic diagram of the hardware structure of a motion controller provided in an embodiment of the utility model;

[0035] Figure 3 A schematic diagram of the hardware structure of the IO module provided in an embodiment of the present utility model;

[0036] Figure 4 Another structural schematic diagram of a control system of an expandable IO module provided in an embodiment of the utility model;

[0037] Figure 5 This is a schematic diagram of the hardware structure of the EtherCAT coupler provided in an embodiment of the utility model. DETAILED DESCRIPTION

[0038] The utility model provides a control system with an expandable IO module, which is used to improve the expandability of the IO module of the control system.

[0039] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0040] In the description of the present invention, it should be noted that the terms "front", "rear", "upper", "lower", "two ends", "center", "horizontal", "inner", "outer", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Relational terms such as "first", "second", etc. are only used to distinguish one entity from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities.

[0041] Unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0042] See also Figure 1-Figure 3 An embodiment of a control system of an expandable IO module provided in an embodiment of the utility model includes:

[0043] Both the motion controller 1 and the IO module 2 are provided with LVDS interfaces;

[0044] The motion controller 1 is connected to the IO module 2 via the LVDS interface;

[0045] Each IO module 2 is connected via an LVDS interface.

[0046] It should be noted that the motion controller 1 is a device for controlling motion, which is widely used in industrial control systems. Common application scenarios include CNC machine tools, robots, automated production lines, etc. The LVDS (Low-Voltage Differential Signaling) interface is a high-speed, low-power, low-noise differential signal transmission interface. It has the characteristics of high-speed transmission, low voltage swing, low noise, and low power consumption. Among them, the number and type of IO modules 2 can be determined according to the needs of the actual industrial production environment. For example, the type of IO module 2 can be one or more of a digital input module, a digital output module, a relay module, an analog input module, an analog output module, a high-speed pulse output module, a high-speed counting module, a PWM module, a temperature sampling module, and a temperature control module. The number of IO modules 2 is n, where n ≥ 1. For example Figure 1 As shown, from left to right, the first IO module 2, the second IO module 2, the third IO module 2, the n-1th IO module 2, and the n-5 IO modules 2 between the third and n-1th IO modules 2 are respectively illustrated.

[0047] In this embodiment, the motion controller 1 and each IO module 2 are provided with an LVDS interface, wherein the motion controller 1 is connected to the IO module 2 via the LVDS interface, and each IO module 2 is connected in sequence via the LVDS interface, so that various IO modules 2 can establish a connection with the motion controller 1 based on the LVDS interface, thereby improving the expansibility of the IO module 2 of the control system, improving the flexibility of the topological structure of the control system, and realizing the free expansion of the IO module 2.

[0048] The LVDS interface is provided with a data transmission port TX and a data receiving port RX. When the motion controller 1 transmits data to the IO module 2, the data can be sent to the IO module 2 through the data transmission port TX in the LVDS interface. When data needs to be received, the motion controller 1 receives the data transmitted by the IO module 2 through the data receiving port RX in the LVDS interface. Similarly, the IO module 2 connected to the motion controller 1 can transmit data to the motion controller 1 through the data transmission port TX in the LVDS interface, or transmit data to the IO module 2 connected thereto.

[0049] Therefore, this embodiment sets an LVDS interface in the IO module 2 and the motion controller 1, so that each IO module 2 can establish a physical connection with the motion controller 1 through the LVDS interface, thereby realizing flexible expansion of the IO module 2 and improving the flexibility of the control system topology. In addition, by establishing a connection using the LVDS interface, the communication rate between the motion controller 1 and each IO module 2 is improved, thereby improving the refresh rate of the IO module 2.

[0050] In a specific embodiment, this embodiment adopts an LVDS interface with a data transmission rate of 100 Mbps.

[0051] Compared with the RS485 communication used in the existing control system, this embodiment increases the communication rate within the control system by 50 times by using an LVDS interface with a data transmission rate of 100Mbps, thereby greatly improving the refresh rate of the IO module 2.

[0052] In a specific embodiment, the motion controller 1 includes a microprocessor unit 11, a memory unit 12, a flash memory unit 13, a network port unit 14, a serial interface unit 15, and a first programmable logic gate array 16;

[0053] The microprocessor unit 11, the flash memory unit 13, the network port unit 14, and the serial interface unit 15 are respectively connected to the microprocessor unit 11;

[0054] The microprocessor unit 11 is connected to the first programmable logic gate array 16;

[0055] The first programmable logic gate array 16 is connected to the LVDS interface.

[0056] It should be noted that the memory unit 12 adopts DDR (Double Data Rate SDRAM, double data rate synchronous dynamic random access memory), which is used to cache high-speed data when the system is running. The flash memory unit 13, that is, the Flash unit, is used to realize the storage of non-volatile data. The microprocessor unit 11, that is, the MPU unit (Microprocessor Unit), is connected to the first programmable logic gate array 16, and is used to receive data transmitted by the first programmable logic gate array 16. The first programmable logic gate array 16 is connected to the IO module 2 through the LVDS interface, and is used to receive data transmitted by the IO module 2, and send data to the IO module 2 to realize data transmission between the IO module 2. The network port unit 14 is used to connect to network equipment. Among them, the first programmable logic gate array 16 can adopt an FPGA chip.

[0057] In one embodiment, the serial interface unit 15 may be a USB interface.

[0058] In a specific embodiment, the interface subunit and the PS pin of the microprocessor unit 11 are respectively connected to the first programmable logic gate array 16; the interface subunit includes a serial peripheral interface SPI and a parallel interface.

[0059] It should be noted that the microcomputer processor unit can be connected to the first programmable logic gate array 16 through a serial peripheral interface SPI, and can also be connected to the first programmable logic gate array 16 through a parallel interface. And the PS pin of the microcomputer processor unit is connected to the first programmable logic gate array 16. In practical applications, the microcomputer processor unit can load data in the first programmable logic gate array 16 through the PS pin, and can be used to configure the first programmable logic gate array 16.

[0060] In a specific embodiment, the IO module 2 includes a second programmable logic gate array 21, a first micro control unit 22, and a peripheral module 23;

[0061] The second programmable logic gate array 21 is connected to the first micro control unit 22 and the LVDS interface respectively;

[0062] The first micro control unit 22 is connected to the peripheral module 23 .

[0063] It should be noted that the second programmable logic gate array 21 is connected to the LVDS interface, so the second programmable logic gate array 21 can send or receive data through the LVDS interface.

[0064] The first microcontroller unit 22, i.e., the first MCU unit (Microcontroller Unit), can be connected to the second programmable logic gate array 21 through a parallel interface or a serial peripheral interface SPI, and the PS pin of the first microcontroller unit 22 is connected to the second programmable logic gate array 21. Therefore, the first microcontroller unit 22 can load data of the second programmable logic gate array 21 through the PS pin and can configure the second programmable logic gate array 21.

[0065] The first micro control unit 22 is connected to the peripheral module 23 and is used to transmit data obtained from the second programmable logic gate array 21 to the peripheral module 23 .

[0066] The peripheral module 23 includes a digital input unit DI, a digital output unit DO, an analog input unit AI, an analog output unit AO, a high-speed pulse unit, and a high-speed counting unit.

[0067] In a specific embodiment, the second programmable logic gate array 21 adopts an FPGA chip.

[0068] In another preferred embodiment, see Figure 1-Figure 5 , the control system provided in this embodiment further includes: an EtherCAT coupler 3;

[0069] The motion controller 1 is connected to the EtherCAT coupler 3, and the EtherCAT coupler 3 is connected to the IO module 2 via the LVDS interface.

[0070] It should be noted that the EtherCAT (Ethernet Control Automation Technology, Industrial Ethernet) coupler 3 can be used for data transmission between the EtherCAT network, the motion controller 1 and the IO module 2.

[0071] Among them, the motion controller 1 is connected to the EtherCAT coupler 3 through the EtherCAT network, and the EtherCAT coupler 3 is connected to the IO module 2 through the LVDS interface. Therefore, the IO module 2 can be connected to the EtherCAT coupler 3 through the LVDS interface, and the long-distance expansion of the IO points can be realized, thereby further improving the flexibility of the control system topology and the expansibility of the IO module.

[0072] In a specific embodiment, the EtherCAT coupler 3 includes: a first communication interface unit 31, a second communication interface unit 32, a third programmable logic gate array 33, and a second micro control unit 34;

[0073] The first communication interface unit 31 is connected to the motion controller 1;

[0074] The second communication interface unit 32 is connected to the EtherCAT device;

[0075] The second micro control unit 34 is connected to the first communication interface unit 31 and the second communication interface unit 32 respectively;

[0076] The second micro control unit 34 is respectively connected to the third programmable logic gate array 33 , and the third programmable logic gate array 33 is connected to the LVDS interface.

[0077] It should be noted that the first communication interface unit 31 is the IN port of the EtherCAT coupler, and the second communication unit 32 is the OUT port of the EtherCAT coupler. The network port unit 14 of the motion controller is connected to the first communication interface unit 31, and is used to input data to the first communication interface unit 31 and receive data returned by the first communication interface unit 31. The second micro control unit 34 is connected to the first communication interface unit 31, and is used to receive data transmitted by the first communication interface unit 31, and is used to transmit data to the motion controller 1 through the first communication unit interface 31.

[0078] Furthermore, the second micro control unit 34 is connected to the third programmable logic gate array 33, and is used to transmit the received data to the third programmable logic gate array 33. The third programmable logic gate array 33 is connected to the LVDS interface, and is connected to the IO module 2 through the LVDS interface, so as to receive the data transmitted by the IO module 2 through the LVDS interface, and transmit the data to the IO module 2 through the LVDS interface.

[0079] When the number of expanded IO modules 2 is multiple, data can be forwarded between the IO modules 2 through the LVDS interface to achieve data transmission between the IO modules 2. Therefore, the data of the terminal IO module 2 can be forwarded step by step and can be returned to the EtherCAT coupler 3, and then returned to the motion controller 1 through the EtherCAT coupler 3.

[0080] The second communication interface unit 32 is used as a cascade interface for connecting to an EtherCAT device. It is understandable that the EtherCAT device may be another EtherCAT coupler 3 .

[0081] Figure 3 The topological structure of the control system when there is only one EtherCAT coupler 3 is illustrated. When there is only one EtherCAT coupler 3, the second communication interface unit 32 can be connected only to the second micro control unit 34. When there are two or more EtherCAT couplers 3, in addition to being connected to the second micro control unit 34, the second communication interface unit 32 can also be used as a cascade interface to cascade multiple EtherCAT couplers 3 to form a chain topological structure, wherein the cascade structure is: the second communication interface unit 32 is connected to the first communication interface unit 31 of the next EtherCAT coupler 3, the second communication interface unit 32 of the next EtherCAT coupler 3 is connected to the first communication interface unit 31 of the next EtherCAT coupler 3, and so on, to form a chain topological structure. During the data transmission process, the data transmission between the motion controller 1 and each EtherCAT coupler 3 can be realized by forwarding step by step between the EtherCAT couplers 3.

[0082] In this embodiment, three EtherCAT couplers 3 are cascaded as an example for explanation as follows:

[0083] Assuming that the EtherCAT coupler 3 directly connected to the motion controller 1 is the first EtherCAT coupler 3, and each EtherCAT coupler 3 is respectively connected to an IO module, then: the motion controller 1 is connected to the first communication interface unit 31 of the first EtherCAT coupler 3; the second communication interface unit 32 of the first EtherCAT coupler 3 is connected to the first communication interface unit 31 of the second EtherCAT coupler 3; the second communication interface unit 32 of the second EtherCAT coupler 3 is connected to the first communication interface unit 31 of the third EtherCAT coupler 3.

[0084] When data needs to be transmitted to the IO module connected to the third EtherCAT coupler 3, the motion controller 1 can transmit the data to the second micro control unit 34 in the first EtherCAT coupler 3, the second micro control unit 34 of the first EtherCAT coupler 3 forwards the data to the second micro control unit 34 of the second EtherCAT coupler 3 through the second communication unit interface 32, the second micro control unit 34 of the second EtherCAT coupler 3 forwards the data to the second micro control unit 34 of the third EtherCAT coupler 3 through the second communication unit interface 32, the second micro control unit 34 of the third EtherCAT coupler 3 transmits the data to its own third programmable logic gate array 33, and the third programmable logic gate array 33 transmits the data to the IO module 2 through the LVDS interface. Similarly, when the third EtherCAT coupler 3 receives the data returned by the IO module 2, it forwards the returned data to the second EtherCAT coupler 3, the second EtherCAT coupler 3 forwards the returned data to the first EtherCAT coupler 3, and the first EtherCAT coupler 3 returns the data to the motion controller 1. The data transmission principle between the motion controller 1 and the second EtherCAT coupler 3 is similar to the data transmission principle between the third EtherCAT coupler 3 and the motion controller 1, and will not be described in detail here.

[0085] Therefore, in this embodiment, by cascading multiple EtherCAT couplers 3, the expandability of the IO module 2 of the control system can be further improved, making the expansion of the IO module 2 more flexible.

[0086] In a specific embodiment, the third programmable logic gate array 33 adopts an FPGA chip.

[0087] In a specific embodiment, the first communication interface unit 31 includes: a first communication interface 311 and a first PHY chip 312 connected to each other;

[0088] The first PHY chip 312 is connected to the second MCU 34 .

[0089] In a specific embodiment, the second communication interface unit 32 includes: a second communication interface 321 and a second PHY chip 322 connected to each other;

[0090] The second PHY chip 322 is connected to the second MCU 34 .

[0091] It should be noted that the motion controller 1 is connected to the first communication interface 311 and the second communication interface 321 respectively through the EtherCAT network. The first PHY chip 312 and the second PHY chip 322 are both PHY chips (Physical Layer Chip, physical layer chip).

[0092] In a specific embodiment, the first communication interface 311 and the second communication interface 321 may use RJ45 interfaces for connecting to an EtherCAT network.

[0093] In a specific embodiment, the model of the first micro control unit 22 includes STM32 or GD32.

[0094] In a specific embodiment, the model of the second micro control unit 34 includes XMC4300 or XMC4800.

[0095] In another specific embodiment, an ESC chip is integrated inside the second micro control unit 34 .

[0096] Among them, the ESC chip can be used as an EtherCAT slave to receive EtherCAT messages and convert the messages into LVDS data messages.

[0097] The above is a detailed introduction to a control system of an expandable IO module provided by the present invention. For a person skilled in the art, according to the idea of ​​the embodiments of the present invention, there may be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control system with expandable IO modules, characterized in that: include: A motion controller and a plurality of IO modules, wherein the motion controller and the IO modules are both provided with LVDS interfaces; The motion controller is connected to the IO module via the LVDS interface; Each of the IO modules is connected via the LVDS interface.

2. The control system according to claim 1, characterized in that: The motion controller includes a microprocessor unit, a memory unit, a flash memory unit, a network port unit, a serial interface unit, and a first programmable logic gate array; The microprocessor unit, the flash memory unit, the network port unit, and the serial interface unit are respectively connected to the microprocessor unit; The microprocessor unit is connected to the first programmable logic gate array; The first programmable logic gate array is connected to the LVDS interface.

3. The control system according to claim 2, characterized in that: The IO module includes a second programmable logic gate array, a first micro control unit, and a peripheral module; The second programmable logic gate array is connected to the first micro control unit and the LVDS interface respectively; The first micro control unit is connected to the peripheral module.

4. The control system according to claim 2, characterized in that: The interface subunit and PS pin of the microprocessor unit are respectively connected to the first programmable logic gate array; the interface subunit includes a serial peripheral interface and a parallel interface.

5. The control system according to any one of claims 1 to 4, characterized in that: Also includes: EtherCAT coupler; The motion controller is connected to the EtherCAT coupler, and the EtherCAT coupler is connected to the IO module via the LVDS interface.

6. The control system according to claim 5, characterized in that: The EtherCAT coupler comprises: a first communication interface unit, a second communication interface unit, a third programmable logic gate array, and a second micro control unit; The first communication interface unit is connected to the motion controller; The second communication interface unit is connected to the EtherCAT device; The second micro control unit is connected to the first communication interface unit and the second communication interface unit respectively; The second micro control unit is connected to the third programmable logic gate array respectively, and the third programmable logic gate array is connected to the LVDS interface.

7. The control system according to claim 6, characterized in that: The first communication interface unit comprises: a first communication interface and a first PHY chip connected to each other; The first PHY chip is connected to the second micro control unit.

8. The control system according to claim 6, characterized in that: The second communication interface unit comprises: a second communication interface and a second PHY chip connected to each other; The second PHY chip is connected to the second micro control unit.

9. The control system according to claim 3, characterized in that: The model of the first micro control unit includes STM32 or GD32.

10. The control system according to claim 6, characterized in that: Models of the second micro control unit include XMC4300 or XMC4800.

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