Motion control card and motion control system

Abstract

The utility model provides a motion control card and a motion control system, the motion control card comprises a first microprocessor, a second microprocessor, an EtherCAT module and a local servo / stepping pulse control module, the EtherCAT module comprises multiple paths of EtherCAT interfaces, and the local servo / stepping pulse control module comprises at least one servo / stepping pulse control shaft. And the multi-path EtherCAT interface and the servo / stepping pulse control shaft can be independently connected to a port of the first microprocessor or a port of the second microprocessor, and can also be simultaneously connected to a port of the first microprocessor and a port of the second microprocessor. On the premise that the motion control card is ensured to have higher performance by using the double microprocessors, the motion control card is connected with the bus driver and the pulse driver in combination with two modes of the multi-path EtherCAT interface and the servo / stepping pulse control shaft, so that the real-time performance and the response speed of the system are improved; and the control precision of the driver is enhanced, and stable operation of external slave station equipment is ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to EtherCAT industrial ethernet bus technology and general servo / step pulse quantity interface control technical field, concretely relates to a motion control card and motion control system. BACKGROUND

[0002] EtherCAT ((Ethernet for Control Automation Technology, Ethernet for Control Automation Technology) is a kind of high-performance, real-time industrial ethernet communication protocol, is designed for real-time industrial control system, it is increasingly popular and promotion as integrated component of industrial control, this makes the control system based on PC more widely used.Meanwhile, servo / step unit is a kind of commonly used drive controller in industrial control, is widely used in numerical control machine tool and other high-precision equipment, can be as the slave station of EtherCAT bus.

[0003] In actual numerical control technology application, motion control card is the core component of digitized manufacturing.However, the traditional alternating current servo control system is generally composed of multiple alternating current servo motors, servo driver corresponding to servo motor one by one and field bus.Currently, it is more common on the market to set multiple EtherCAT interfaces on motion control card, for connecting multiple servo units to realize pulse quantity control, realize more quantity of servo control.With the increasingly rich industrial application scene, the performance requirement of motion control card is higher and higher, but due to the response period and transmission influence of EtherCAT bus control, servo control period cannot meet some application scenes with higher real-time communication requirements. SUMMARY

[0004] The utility model provides a kind of motion control card and motion control system, can solve the technical problems of long servo control period, low efficiency and possible control card precision decline of existing multiple EtherCAT bus motion control card.

[0005] Firstly, the embodiment of the application provides a kind of motion control card, comprising:

[0006] First microprocessor has multiple connection ports;

[0007] Second microprocessor, with the first microprocessor based on communication protocol communication, and have multiple connection ports;

[0008] EtherCAT module includes multiple EtherCAT interfaces;The EtherCAT interface is used to transmit bus control signal to the connected bus type driver;

[0009] The local servo / stepping pulse control module comprises at least one servo / stepping pulse control shaft, which is used to input / output pulse control signals to the connected pulse type driver;

[0010] One of the connection ports of the first microprocessor or the second microprocessor is used to receive a message sent by an external main controller, and after the connected microprocessor analyzes and processes the message, feedback data generated according to the processing result is sent to the external main controller;

[0011] The multiple connection ports of the first microprocessor are used to connect with all or part of the multiple EtherCAT interfaces and one or more servo / stepping pulse control shafts;

[0012] The multiple connection ports of the second microprocessor are used to connect with all or part of the multiple EtherCAT interfaces and one or more servo / stepping pulse control shafts.

[0013] In some embodiments, the first microprocessor comprises an ARM board card, and the second microprocessor comprises an FPGA board card.

[0014] In some embodiments, one connection port of the first microprocessor is connected with the main controller;

[0015] The multiple connection ports of the first microprocessor are connected with all the multiple EtherCAT interfaces, and one or more connection ports of the second microprocessor are connected with one or more servo / stepping pulse control shafts;

[0016] Alternatively, the multiple connection ports of the first microprocessor are connected with part of the EtherCAT interfaces, and the multiple connection ports of the second microprocessor are connected with part of the EtherCAT interfaces and one or more servo / stepping pulse control shafts.

[0017] In some embodiments, one or more connection ports of the first microprocessor are connected with one or more servo / stepping pulse control shafts.

[0018] In some embodiments, one connection port of the second microprocessor is connected with the main controller;

[0019] One or more connection ports of the first microprocessor are connected with one or more servo / stepping pulse control shafts, and the multiple connection ports of the second microprocessor are connected with all the multiple EtherCAT interfaces;

[0020] Alternatively, the plurality of connection ports of the first microprocessor are connected with part of the EtherCAT interface and one or more servo / stepping pulse control axes; the plurality of connection ports of the second microprocessor are connected with part of the EtherCAT interface.

[0021] In some embodiments, one or more connection ports of the second microprocessor are connected with one or more servo / stepping pulse control axes.

[0022] In some embodiments, the motion control card further comprises a peripheral interface module connected with the second microprocessor; the peripheral interface module comprises input circuit and output circuit, and is used for connecting with external equipment or external network, obtaining data transmitted by the external equipment or external network through the input circuit, and sending the data back to the external equipment or external network through the output circuit after analysis and processing.

[0023] In some embodiments, the motion control card further comprises at least one storage module; the storage module is connected with the first microprocessor and / or the second microprocessor; the storage module comprises at least one of memory, flash memory and read-only memory.

[0024] In some embodiments, the first microprocessor or the second microprocessor is connected with the main controller through a PCIe interface.

[0025] In a second aspect, the embodiments of the present application provide a motion control system, comprising an upper computer and a motion control card as described in any of the embodiments of the first aspect.

[0026] The upper computer comprises a main controller connected with the motion control card through a PCIe interface, and is used for sending messages to the motion control card and receiving feedback data sent by the motion control card.

[0027] The motion control card and the motion control system provided by the embodiments of the present application, the motion control card comprises a first microprocessor, a second microprocessor, an EtherCAT module and a local servo / step pulse control module, wherein the EtherCAT module comprises a plurality of EtherCAT interfaces, the local servo / step pulse control module comprises at least one servo / step pulse control axis, and the plurality of EtherCAT interfaces and the servo / step pulse control axis can be connected on the port of the first microprocessor or the second microprocessor individually, or can be connected on the port of the first microprocessor and the second microprocessor simultaneously. The present application combines the plurality of EtherCAT interfaces and the servo / step pulse control axis with the bus type driver and the pulse type driver of at least two types of drivers in two ways under the premise of ensuring that the motion control card has higher performance by using the dual microprocessor, which not only improves the real-time performance and the response speed of the system, but also enhances the control accuracy of the driver, ensures that the external slave station device can operate stably, and effectively solves the problems of delay and insufficient response speed caused by the traditional communication protocol. BRIEF DESCRIPTION OF DRAWINGS

[0028] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the present application.

[0029] Figure 1 The structure schematic diagram of the motion control card provided by an embodiment of the present application.

[0030] Figure 2 The structure schematic diagram of the motion control card provided by the first embodiment of the present application.

[0031] Figure 3 The structure schematic diagram of the motion control card provided by the second embodiment of the present application.

[0032] Figure 4 The structure schematic diagram of the motion control card provided by the third embodiment of the present application.

[0033] Figure 5 The structure schematic diagram of the motion control card provided by the fourth embodiment of the present application.

[0034] Figure 6 The structure schematic diagram of the motion control card provided by another embodiment of the present application.

[0035] Figure 7 The structure schematic diagram of the motion control system provided by an embodiment of the present application.

[0036] The specific embodiments of the application have been shown by way of example in the above figures, and will be described in more detail hereafter. These figures and this written description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate the inventive concept to one of ordinary skill in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0037] The utility model will be described in further detail below by specific embodiments combined with the figures. In different embodiments, similar elements are associated with similar element labels. In the following embodiments, many details are described in order to make the application better understood. However, those skilled in the art can easily realize that part of the features can be omitted in different cases, or can be replaced by other elements, materials or methods. In some cases, some operations related to the application are not shown or described in the specification in order to avoid the core part of the application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail according to the description in the specification and general technical knowledge in the art.

[0038] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate way to form various embodiments. At the same time, the steps or actions in the method description can also be sequentially adjusted or adjusted in a way that those skilled in the art can easily see. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment, and do not mean the necessary sequence, unless otherwise stated that a certain sequence must be followed.

[0039] The terms "first", "second", etc. in the specification and claims of the application are used to distinguish similar objects, not to describe a specific sequence or chronological order. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are usually a class, not limited to the number of objects, for example, the first object can be one or more. In addition, the specification and the claims "and / or" indicate at least one of the connected objects, the character " / ", generally indicates that the front and rear associated objects are in an "or" relationship. The "connection" and "coupling" in the application include direct and indirect connections (couplings) unless otherwise specified.

[0040] Motion Control Card is a kind of computer hardware equipment specially used for realizing high-precision motion, usually installed in personal computer (PC) or industrial computer (IPC), used as the upper control unit for various motion control occasions (including displacement, speed, acceleration, etc.). It is based on PC bus, using high-performance microprocessors and large-scale programmable devices to realize multi-axis coordinated control of multiple servo motors. The functions of motion control card include pulse output, encoder counting, digital input, digital output, D / A output, etc., which can send continuous and high-frequency pulse trains, control the speed of the motor by changing the frequency of the sent pulses, and control the position of the motor by changing the number of sent pulses.

[0041] EtherCAT bus-based motion control card is a motion control solution based on Ethernet for Control Automation Technology (EtherCAT). EtherCAT is an open architecture, Ethernet-based fieldbus system with high-speed data transmission, excellent synchronization performance, flexible topology and high reliability. It communicates with bus-type drives in slave devices through EtherCAT protocol. The master device (i.e. motion control card) sends motion instructions and parameters to slave devices, which drive motors according to instructions and parameters. At the same time, slave devices also feedback the actual motion state of motors to the master device through encoders, and the master device adjusts according to the feedback information to ensure the accuracy and smoothness of motion.

[0042] Some EtherCAT bus-based motion control cards have multiple EtherCAT interfaces for connecting slave devices, which can expand the connection of more slave devices, and some control cards can realize up to 64-axis or more-axis synchronous control, meeting the needs of complex motion control.

[0043] However, high-performance hardware often comes with higher cost. For multi-axis synchronous control, higher-level hardware and components may be needed, increasing the overall system cost. Without considering hardware, in actual application, due to various factors (such as network delay, hardware performance, etc.), the synchronization accuracy may not reach the optimal value in theory, and for some slave devices that need to be focused on (such as servo drives, stepper drives, etc.), when higher precision control is needed, network delay will cause the extension of motion control cycle, reducing the control efficiency.

[0044] The technical solutions of the present application and how the technical solutions solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0045] Figure 1 The structure schematic diagram of the motion control card provided by an embodiment of the present application is shown. The motion control card provided by the embodiment at least includes a first microprocessor 110, a second microprocessor 120, an EtherCAT module 130 and a local servo / step pulse control module 140.

[0046] In the embodiment, the first microprocessor 110 and the second microprocessor 120 each have a plurality of connection ports, and the first microprocessor 110 and the second processor 120 are connected through a bus, and can realize communication based on a custom communication protocol. That is, the motion control card of the embodiment adopts a dual processor, which brings many benefits to the performance improvement, function expansion and system reliability enhancement of the motion control card.

[0047] Among them, one of the connection ports in the first microprocessor 110 or the second microprocessor 120 is used to receive the message sent by the external main controller, and after the connected microprocessor analyzes and processes the message, the feedback data generated according to the processing result is sent to the external main controller.

[0048] It can be understood that in the motion control card of the EtherCAT bus, the dual processor can process data in parallel to process data from sensors and actuators faster, realize faster response and more accurate control, and thus significantly improve the data processing speed; based on the powerful processing capability of the dual processor, it is helpful to realize shorter refresh period and faster communication speed; more importantly, the dual processor can run multiple tasks at the same time, which can make the system be able to process multiple control tasks at the same time, such as linear interpolation, circular arc interpolation, spatial circular arc interpolation, etc., and based on its stronger computing power, it can support more complex control algorithms, and when multiple tasks are running at the same time, it can also take into account its motion accuracy and efficiency, improving the overall performance of the system. At the same time, the dual processor design enables the motion control card of the EtherCAT bus to support more interfaces and expansion functions, for example, it can support multiple topologies (such as linear, tree, star, etc.), meeting different industrial field requirements. At the same time, it can also support multiple communication protocols and time sensitive network (TSN), realizing more efficient data transmission and synchronization.

[0049] In some embodiments, the first microprocessor 110 or the second microprocessor 120 can be connected with the host controller through the PCIe interface. Specifically, the motion control card is connected with the mainboard of the host computer through the PCIe slot. When installing, it is necessary to ensure that the PCIe interface of the motion control card is completely matched with the PCIe slot of the mainboard of the host computer and is firmly inserted into the slot. In addition, it is also necessary to install the corresponding driver and configuration software to ensure that the motion control card can work normally.

[0050] In some embodiments, the first microprocessor 110 includes an ARM board card, and the second microprocessor 120 includes an FPGA board card. That is, the motion control card of the embodiment adopts a dual-microprocessor structure composed of ARM and FPGA.

[0051] In the embodiment, the EtherCAT module 130 includes a plurality of EtherCAT interfaces, which are used to be connected with the bus-type drivers in the slave devices, and are used to transmit bus control signals to the connected bus-type drivers through the EtherCAT communication protocol to realize the control of the slave devices. The bus-type drivers include servo bus-type drivers (i.e., servo drivers) and step bus-type drivers (i.e., step drivers). The EtherCAT bus interface can support multiple types of slave devices, including motion controllers, servo drivers, step drivers, I / O modules, etc.

[0052] The local servo / step pulse control module 140 includes at least one servo / step pulse control shaft and a connection interface on the servo / step pulse control shaft, which is used to connect the pulse-type driver in the slave device and can input and / or output pulse control signals to the connected pulse-type driver. The pulse-type driver is one of a servo pulse-type driver and a step pulse-type driver. The local servo / step pulse control module 140 selects the corresponding pulse control signal according to different pulse-type drivers.

[0053] It can be understood that through the plurality of EtherCAT interfaces and the servo / step pulse control shafts, the motion control card can realize the coordinated control of multiple servo motors / step motors, thereby meeting the complex motion control requirements, helping to improve the automation degree of the production line, reducing manual intervention, and improving the production efficiency.

[0054] When the motion control card based on the EtherCAT bus realizes the shaft synchronous control, the mode of using the plurality of EtherCAT interfaces and the servo / step pulse control shafts can have their respective advantages.

[0055] For the way of expansion using multi-channel EtherCAT interface, its communication mode is Ethernet communication protocol, and the data exchange between the controller and the bus-type driver in the slave device is realized through digital communication mode. Based on the characteristics of high-speed data transmission and low delay of EtherCAT bus, multi-channel EtherCAT interface can process a large amount of I / O data in one cycle. Since digital communication mode is used, there is no signal drift problem, and the precision of command and feedback data can reach 32 bits. At the same time, through the distributed clock mechanism, it can ensure that all nodes in the system have high-precision time synchronization. The system structure constructed is a distributed control structure, and the bus-type driver in the controller and the slave device is connected through digital communication mode, which can support the construction of complex network topology such as linear, tree, star, ring, etc., allowing users to flexibly construct EtherCAT network according to actual needs. Moreover, EtherCAT protocol is open, and any manufacturer can develop EtherCAT-supported devices and can interoperate. It can be seen that the way of expansion using multi-channel EtherCAT interface has the advantages of high precision, high speed, flexibility and openness. However, since EtherCAT interface needs to use high-performance controllers and drivers, the cost of motion control card based on EtherCAT interface may be higher. At the same time, in some specific application scenarios, such as the need for shorter control cycle (i.e. high real-time), it may not meet the requirements.

[0056] For the way of using servo / step pulse control axis, its communication mode is to control the speed and position of servo motor / step motor by sending and receiving pulse signals. Pulse signals usually have fixed frequency and duty cycle, which are used to indicate the direction and speed of motor movement. The system structure constructed is a centralized control structure, that is, the controller sends pulse signals to the pulse-type driver through the pulse generator, and the pulse-type driver controls the movement of the motor according to the received pulse signals. Since the pulse control signal is not easily affected by external interference, it has high reliability and shorter control cycle.

[0057] Therefore, in the embodiment, the combination of the multi-channel EtherCAT interface and the servo / step pulse control shaft can be used to connect the bus-type driver and the pulse-type driver in the external slave station device, and the actual application scene and demand can be weighed and selected to make up for each other in communication mode, structure, control accuracy and real-time requirement. The high-precision, high-efficiency data transmission and processing of the EtherCAT interface and the high real-time and fast response of the local servo / step pulse control shaft can significantly improve the comprehensive performance of the whole control system. The flexible topology structure and multi-node support of the EtherCAT interface can make the system adapt to different application scenes, and the modular design of the servo / step pulse control shaft can facilitate the integration and installation with other devices, further enhancing the flexibility of the system. Although the use of the EtherCAT interface and the servo / step pulse control shaft at the same time may increase the initial investment cost, in the long run, the system stability and reliability are improved, the maintenance cost is reduced, and the production efficiency is improved, which can bring significant economic benefits.

[0058] Figure 2 The structure schematic diagram of the motion control card provided in the first embodiment of the application is shown in FIG. 1. As shown in the figure, the motion control card provided in the embodiment at least includes a first microprocessor 110, a second microprocessor 120, an EtherCAT module 130 and a local servo / step pulse control module 140. Figure 2

[0059] In the embodiment, the first microprocessor 110 includes an ARM board card, and the second microprocessor 120 includes an FPGA board card. When communicating with the external master controller, the first microprocessor 110, i.e. the ARM board card port is connected with the external master controller, and the ARM is responsible for the overall control and scheduling of the system, receives data instructions from the upper layer application, runs the EtherCAT protocol stack, realizes the understanding, analysis and generation of the EtherCAT protocol, and guarantees the accuracy and real-time of the communication.

[0060] The EtherCAT module 130 includes a multi-channel EtherCAT interface, which is used to connect with the bus-type driver in the slave station device and transmit the bus control signal to the connected bus-type driver. The local servo / step pulse control module 140 includes at least one servo / step pulse control shaft, and the connection interface on the servo / step pulse control shaft can also be used to connect the pulse-type driver in the slave station device, and can input and / or output the pulse control signal to the connected external pulse unit.

[0061] ​The multi-channel EtherCAT interface of the EtherCAT module 130 is connected with the multiple connection ports of the first microprocessor 110, and the one or more servo / step pulse control axes of the local servo / step pulse control module 140 are connected with the one or more connection ports of the second microprocessor 120.

[0062] At this time, the first microprocessor 110 serves as a main control chip and is responsible for processing complex control algorithms, human-computer interaction, data storage and the like, and simultaneously implements multi-axis synchronous or asynchronous motion control through the EtherCAT interface, and can be built in multiple topological structures to adapt to various complex industrial field environments. The second microprocessor 120 serves as a coprocessor and is responsible for implementing parallel processing and high-speed interface functions, and simultaneously can implement speed and position regulation of a servo motor based on a pulse signal issued by a motion control card through the one or more servo / step pulse control axes connected therewith, can supplement the case that the bus-type driver is not suitable for being controlled through the EtherCAT interface, and improves the efficiency of motion control.

[0063] Figure 3 A structure schematic diagram of a motion control card provided in a second embodiment of the application is shown in FIG. 2. As shown in the figure, the motion control card provided in the embodiment at least includes a first microprocessor 110, a second microprocessor 120, an EtherCAT module 130 and a local servo / step pulse control module 140. Figure 3

[0064] The same as the above-mentioned embodiments, in the embodiment, the EtherCAT module 130 includes a multi-channel EtherCAT interface, which is used for connecting with the bus-type driver in the slave device and transmitting bus control signals to the connected bus-type driver. The local servo / step pulse control module 140 includes at least one servo / step pulse control axis, and a connection interface on the servo / step pulse control axis is used for connecting the pulse-type driver in the slave device and can input and / or output pulse control signals to and / or from the connected external pulse unit.

[0065] The difference between the embodiment and the above-mentioned embodiments is that, in the embodiment, the one or more servo / step pulse control axes of the local servo / step pulse control module 140 are connected with the one or more connection ports of the second microprocessor 120. Part of the multi-channel EtherCAT interface of the EtherCAT module 130 is connected with the multiple connection ports of the first microprocessor 110, and the other part is connected with the multiple connection ports of the second microprocessor 120. That is, the first microprocessor 110 and the second microprocessor 120 can both be connected with the bus-type driver in the slave device through the multi-channel EtherCAT interface, and implement multi-axis synchronous or asynchronous motion control of the slave device. ​

[0066] In some embodiments, in Figure 2 and Figure 3 based on the motion control card shown in Figure 1 , all of which are connected to the connection port of the first microprocessor 110, the connection interface of the second microprocessor 120, and part of which is connected to the connection port of the first microprocessor 110 and part of which is connected to the connection port of the second microprocessor 120, that is, referring to the motion control card structure shown in

[0067] Figure 4 The structure diagram of the motion control card provided by the third embodiment of the present application is shown in Figure 4 The motion control card provided by the present embodiment at least includes a first microprocessor 110, a second microprocessor 120, an EtherCAT module 130 and a local servo / step pulse control module 140.

[0068] In the present embodiment, the first microprocessor 110 includes an ARM board card, and the second microprocessor 120 includes an FPGA board card. When communicating with an external master controller, the second microprocessor 120, that is, the FPGA board card port is connected with the external master controller, and the FPGA is responsible for the overall control and scheduling of the system, receives data instructions from the upper layer application, runs the EtherCAT protocol stack, realizes the understanding, analysis and generation of the EtherCAT protocol, and guarantees the accuracy and real-time performance of the communication.

[0069] The same as any of the above embodiments, in the present embodiment, the EtherCAT module 130 includes a multi-channel EtherCAT interface, which is used to connect with the bus type driver in the slave device and transmit bus control signals to the connected bus type driver. The local servo / step pulse control module 140 includes at least one servo / step pulse control axis, and the connection interface on the servo / step pulse control axis is used to connect the pulse type driver in the slave device, and can input and / or output pulse control signals to the connected external servo pulse unit.

[0070] Among them, one or more servo / step pulse control axes of the local servo / step pulse control module 140 are connected with one or more connection ports of the first microprocessor 110. The multi-channel EtherCAT interface of the EtherCAT module 130 is connected with the plurality of connection ports of the second microprocessor 120.

[0071] At this time, the second microprocessor 120 acts as a main control chip, responsible for processing complex control algorithms, human-computer interaction, data storage and other tasks, and at the same time, through the EtherCAT interface, multi-axis synchronous or asynchronous motion control can be realized, and various topological structures can be built to adapt to various complex industrial field environments. While the first microprocessor 110 acts as a coprocessor, responsible for parallel processing and high-speed interface functions, and at the same time, through one or more servo / step pulse control axes connected thereto, the speed and position of the servo motor can be regulated based on the pulse signals issued by the motion control card, which can supplement the situation where the bus-type driver in the slave device is not suitable for control through the EtherCAT interface, and improve the efficiency of motion control.

[0072] Figure 5 The structure diagram of the motion control card provided by the fourth embodiment of the present application is shown in Figure 4. As shown in Figure 4, the motion control card provided by the embodiment includes at least a first microprocessor 110, a second microprocessor 120, an EtherCAT module 130 and a local servo / step pulse control module 140. Figure 5

[0073] The same as the above-mentioned embodiments, in the embodiment, the EtherCAT module 130 includes a plurality of EtherCAT interfaces, which are used to connect with the bus-type driver in the slave device and transmit bus control signals to the connected bus-type driver. The local servo / step pulse control module 140 includes at least one servo / step pulse control axis, and the connection interface on the servo / step pulse control axis is used to connect the pulse-type driver in the slave device, and can input and / or output pulse control signals to the connected external servo pulse unit.

[0074] The difference between the embodiment and the above-mentioned embodiments is that in the embodiment, one or more servo / step pulse control axes of the local servo / step pulse control module 140 are connected with one or more connection ports of the first microprocessor 110. While part of the plurality of EtherCAT interfaces of the EtherCAT module 130 are connected with the plurality of connection ports of the first microprocessor 110, and the other part are connected with the plurality of connection ports of the second microprocessor 120. That is, the first microprocessor 110 and the second microprocessor 120 can both connect with the bus-type driver in the slave device through the plurality of EtherCAT interfaces, and realize multi-axis synchronous or asynchronous motion control of the slave device.

[0075] In some embodiments, the first microprocessor 110 and the second microprocessor 120 are connected with each other through a high-speed serial communication interface, and the first microprocessor 110 and the second microprocessor 120 can exchange data through the high-speed serial communication interface. Figure 4 Figure 5 ​​On the basis of the motion control card shown, one or more servo / step pulse control axes of the local servo / step pulse control module 140 can also be connected to the connection port of the first microprocessor 110, the connection interface of the second microprocessor 120, or partially connected to the connection port of the first microprocessor 110 and partially connected to the connection port of the second microprocessor 120, i.e., referring to Figure 1 On the basis of the motion control card structure shown, the control effect is similar, and details are not repeated here.

[0076] Figure 6 The structure diagram of the motion control card provided by another embodiment of the application is shown. As shown in Figure 6 On the basis of any of the above embodiments, the motion control card provided by the present embodiment further comprises at least one of a peripheral interface module 150 and a storage module 160.

[0077] In the present embodiment, the first microprocessor 110 comprises an ARM board card, and the second microprocessor 120 comprises an FPGA board card. The peripheral interface module 150 is connected to the connection port of the second microprocessor 120, and the peripheral interface module 150 at least comprises an input circuit and an output circuit. The peripheral interface module 150 is used to connect with external devices or external networks, obtain data transmitted by external devices or external networks through the input circuit, and send the data back to external devices or external networks through the output circuit after analysis and processing.

[0078] In some embodiments, the external input circuit usually receives signals from external devices such as sensors and switches. Commonly, the input circuit mainly consists of a signal conditioning circuit, an opto-isolator circuit, and a filter circuit. The signal conditioning circuit is used to convert the signal output by the external device into a level signal that can be recognized by the motion control card; the opto-isolator circuit is used to achieve electrical isolation to prevent external interference signals from entering the internal circuit of the motion control card; and the filter circuit is used to filter out high-frequency interference signals to ensure the stability and accuracy of the input signal. The external output circuit usually outputs control signals to external devices such as drivers and relays. Commonly, the output circuit mainly consists of a drive circuit, an opto-isolator circuit, and a protection circuit. The drive circuit is used to amplify the signal inside the motion control card to a level sufficient to drive external devices; the opto-isolator circuit is also used to achieve electrical isolation to protect the internal circuit of the motion control card from external interference; and the protection circuit is used to prevent damage to the motion control card when the external device fails or is short-circuited.

[0079] The storage module 160 can have one or more storage units, which can be connected with the first microprocessor 110, the second microprocessor 120, or both. The storage module 160 is mainly used to store motion control related data and instructions, such as various data and results generated during the operation of the motion control card, e.g., position information, speed information, acceleration information, etc., motion control instructions and parameters sent by the upper computer, for the motion control card to call when processing.

[0080] In some embodiments, the storage module 160 can be one or more of memory, flash memory, and read-only memory, to meet the storage needs in different scenarios. Memory (such as SRAM) is usually used to store data and instructions that need to be frequently accessed during the operation of the motion control card. In the motion control card, SRAM can store real-time position information, speed information, acceleration information, etc., as well as parameters and intermediate results required by the motion control algorithm. Flash memory (such as Flash Memory) is a non-volatile electrically erasable memory, which has the characteristics of simple erase and programming process, large capacity, and fast read-write speed. In the motion control card, flash memory is usually used to store fixed program code, fixed data table, and other unchanging data that need to be saved for a long time. In addition, flash memory can also be used to store temporary data during the motion control process to reduce the pressure on the internal memory. Read-only memory (ROM) is an electronic memory used to store data, in which the data is written during the manufacturing process and cannot be modified or erased. In the motion control card, ROM can contain the basic framework of the motion control algorithm, initialization parameters, and other key information. Although the data in ROM cannot be changed after manufacturing, its high reliability and durability make it an ideal choice for storing critical data and confidential information. In summary, in practical applications, the storage module 160 of the motion control card often uses memory, flash memory, and read-only memory in combination according to specific needs, and the specific selection depends on application requirements, system performance requirements, and cost considerations. By reasonably selecting and configuring the storage module 160, the motion control card can be ensured to run stably and reliably in various application scenarios.

[0081] In summary, the motion control card and the motion control system provided by the embodiments of the present application, the motion control card comprises a first microprocessor, a second microprocessor, an EtherCAT module and a local servo / step pulse control module, wherein the EtherCAT module comprises a plurality of EtherCAT interfaces, the local servo / step pulse control module comprises at least one servo / step pulse control shaft, and the plurality of EtherCAT interfaces and the servo / step pulse control shaft can be individually connected to the port of the first microprocessor or the second microprocessor, or can be simultaneously connected to the port of the first microprocessor and the second microprocessor. The present application combines the connection of the plurality of EtherCAT interfaces and the servo / step pulse control shaft with the bus-type driver and the pulse-type driver in the external slave station device under the premise of ensuring that the motion control card has higher performance by using the dual microprocessor, so that the actual application scene and the demand can be weighed and selected, the requirements of the communication mode, the structure and the control accuracy are mutually made up, higher control accuracy and applicability are achieved, and the comprehensive performance of the control card is improved.

[0082] Figure 7 The structure diagram of the motion control system provided by an embodiment of the present application is shown in the figure. Figure 7 As shown in the figure, the motion control system provided by the embodiment comprises an upper computer 710 and a motion control card 720 as described in any of the above embodiments.

[0083] In the embodiment, the upper computer 710 comprises a main controller, is connected with the motion control card 720 based on the EtherCAT bus through a PCIe interface, and is used for sending a message to the motion control card 720 based on the EtherCAT bus and receiving feedback data sent by the motion control card 720.

[0084] The motion control card 720 is connected with an external servo motor assembly. The servo / step motor assembly can comprise a plurality of drivers and a plurality of servo / step motors connected in sequence. The plurality of drivers correspond to the plurality of motors one by one, and the driver can be a bus-type driver or a pulse-type driver. The plurality of drivers are connected with the EtherCAT interface and / or the servo / step pulse control shaft of the motion control card. The plurality of drivers are used for controlling the corresponding plurality of servo motors to rotate according to the motion control instruction and / or the pulse signal output by the motion control card, and sending feedback data in the motion process back to the motion control card.

[0085] The embodiment utilizes the dual microprocessor to ensure that the motion control card has higher performance, and combines the multi-channel EtherCAT interface and the servo / step pulse control shaft mode to connect the bus type driver and the pulse type driver of the external slave station equipment, so that the actual application scene and demand can be weighed and selected, the requirements of the communication modes, structures and control accuracies are mutually made up, the control accuracy and applicability are higher, and the comprehensive performance of the control card is improved. The design only improves the real-time performance and response speed of the system, enhances the control accuracy of the driver, ensures that the external slave station equipment can stably operate, effectively solves the problems of the delay and insufficient response speed caused by the traditional communication protocol, and significantly improves the overall performance of the motion control system.

[0086] The embodiments of the application are described above in combination with the drawings, but the application is not limited to the specific implementation described above, and the specific implementation described above is only illustrative but not restrictive. Those skilled in the art can make some simple deductions, deformations or substitutions according to the idea of the application without departing from the scope of the application, and the application also includes the deductions, deformations or substitutions.

Claims

1. A motion control card, characterized by, include: The first microprocessor has multiple connection ports; The second microprocessor communicates with the first microprocessor based on a communication protocol and has multiple connection ports; The EtherCAT module includes multiple EtherCAT interfaces; the EtherCAT interfaces are used to transmit bus control signals to the connected bus-type driver. A local servo / stepping pulse control module includes at least one servo / stepping pulse control axis; the servo / stepping pulse control axis is used to input / output pulse control signals to a connected pulse-type driver; Wherein, one of the connection ports of the first microprocessor or the second microprocessor is used to receive messages sent by an external main controller, and after the connected microprocessor parses and processes the messages, it sends the feedback data generated based on the processing results back to the external main controller; The first microprocessor has multiple connection ports for connecting to all or some of the EtherCAT interfaces in the multi-channel EtherCAT interface, and for connecting to one or more of the servo / stepping pulse control axes. The second microprocessor has multiple connection ports for connecting to all or some of the EtherCAT interfaces in the multi-channel EtherCAT interface, and for connecting to one or more of the servo / stepping pulse control axes.

2. The motion control card of claim 1, wherein, The first microprocessor includes an ARM board; the second microprocessor includes an FPGA board.

3. The motion control card of claim 2, wherein: One connection port of the first microprocessor is connected to the main controller; The first microprocessor has multiple connection ports connected to all of the multiplexed EtherCAT interfaces; the second microprocessor has one or more connection ports connected to one or more of the servo / stepping pulse control axes. Alternatively, multiple connection ports of the first microprocessor are connected to a portion of the EtherCAT interface; multiple connection ports of the second microprocessor are connected to a portion of the EtherCAT interface and one or more of the servo / stepping pulse control axes.

4. The motion control card of claim 3, wherein, One or more connection ports of the first microprocessor are connected to one or more of the servo / stepping pulse control axes.

5. The motion control card of claim 2, wherein, One connection port of the second microprocessor is connected to the main controller; One or more connection ports of the first microprocessor are connected to one or more of the servo / stepping pulse control axes; multiple connection ports of the second microprocessor are connected to all of the multiple EtherCAT interfaces; Alternatively, multiple connection ports of the first microprocessor are connected to a portion of the EtherCAT interface and one or more of the servo / stepping pulse control axes; multiple connection ports of the second microprocessor are connected to a portion of the EtherCAT interface.

6. The motion control card of claim 5, wherein, One or more connection ports of the second microprocessor are connected to one or more of the servo / stepping pulse control axes.

7. The motion control card of claim 2, wherein, Further comprising a peripheral interface module connected with the second microprocessor; the peripheral interface module comprises an input circuit and an output circuit, and is used for connecting with an external device or an external network, obtaining data transmitted by the external device or the external network through the input circuit, and sending the data back to the external device or the external network through the output circuit after analysis and processing.

8. The motion control card of any of claims 1 to 7, wherein, Further comprising at least one storage module; the storage module is connected with the first microprocessor and / or the second microprocessor; the storage module comprises at least one of a memory, a flash memory and a read-only memory.

9. The motion control card of claim 1, wherein, The first microprocessor or the second microprocessor is connected with the main controller through a PCIe interface.

10. A motion control system characterized by, The host computer is independently arranged, and the motion control card is as claimed in any one of claims 1 to 9. The host computer comprises a main controller connected with the motion control card through a PCIe interface, and is used for sending messages to the motion control card and receiving feedback data sent by the motion control card.

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