Bending machine control method

Abstract

A bending machine control method, comprising a superordinate computer, a master station controller and a bending machine-dedicated IO slave station, as well as matching HMI software and subordinate motion control program, wherein the superordinate computer provides a user operation platform by means of the HMI software, the HMI software generates process step data and control data, and the superordinate computer communicates with the master station controller; the master station controller performs motion planning on the basis of the process step data, and is connected to the bending machine-dedicated IO slave station and axis servo drives by means of EtherCAT buses, so as to issue control instructions and upload status and data, thereby achieving basic motion of a bending machine tool. By using EtherCAT bus communication technology, the present invention is superior to conventional bending machine control systems in terms of anti-interference performance, reliability and motion control response, and can be applied to the control requirements of all-electric servo bending machine products and hydraulic bending machine products.

Description

A bending machine control method TECHNICAL FIELD

[0001] The present application relates to the field of automation control, in particular to a bending machine control method. BACKGROUND

[0002] The bending machine tool is required to have different configurations of 2 / 4 / 6 rear material blocking shafts due to application requirements. The conventional analog quantity type bending machine control system cannot flexibly adapt to the expansion of the number of rear material blocking shafts due to the limitation of hardware interface, and needs to additionally increase shaft dedicated interface hardware. Meanwhile, the analog quantity signal transmission is used for the shaft motion instruction, which has the problem of poor anti-interference performance. SUMMARY

[0003] The present application solves the technical problem of the existing bending machine system shaft expansion limitation and poor anti-interference performance of the analog quantity motion instruction.

[0004] In view of the deficiencies of the prior art, the technical solution adopted by the present application to solve the technical problems is as follows: a bending machine control method, comprising the following steps:

[0005] Step 1: establishing an upper computer, a master controller and a bending machine dedicated IO slave station, the bending machine dedicated IO slave station being provided with an MCU chip and a peripheral interface circuit; wherein the upper computer communicates with the master controller through TCP / IP, and the master controller and the bending machine dedicated IO slave station communicate with each other through an EtherCAT bus;

[0006] Step 2: the HMI software runs on the upper computer and is responsible for processing the PLC program, the processing file, the die file, the parameter database and the bus configuration file to generate PLC program data, step data, die data, setting parameter data and bus configuration parameter data respectively; the upper computer is provided with a touch screen, and the HMI software generates operation instructions in response to touch operations, the operation instructions including start, stop and reset; the upper computer sends the generated data and operation instructions to the master controller through TCP / IP communication;

[0007] Step 3: the motion control software runs in the master controller, receives the data and operation instructions sent by the upper computer HMI software, processes and responds according to the data and operation instructions sent by the upper computer, generates motion control instructions of a plurality of shafts and logic instructions of the peripheral interface circuit, the plurality of shafts including a slider Y1 shaft, a slider Y2 shaft, a rear material X shaft, a rear material R shaft, etc.; wherein the motion control instructions of the plurality of shafts are sent to the corresponding servo drive for execution through the EtherCAT bus communication; the motion control instructions of the slider Y1 shaft and the slider Y2 shaft and the logic instructions of the peripheral interface circuit are sent to the bending machine dedicated IO slave station through the EtherCAT bus communication;

[0008] Step 4: The MCU chip of the bending machine special IO slave station is used for processing peripheral interface circuit signals, and the peripheral interface circuit includes digital input and output, analog input and output, encoder / raster scale input, and hydraulic proportional valve control; in the kernel program of the MCU chip, the logic instructions of the peripheral interface circuit received through the EtherCAT bus communication are used to perform logic processing on the digital input to generate digital output; the kernel program of the MCU chip further processes the motion control instructions of the slider Y1 axis and the slider Y2 axis to generate a motion planning position; when applied to a hydraulic bending machine product, the motion planning position of the slider Y1 axis and the slider Y2 axis is converted into a hydraulic proportional valve control signal and output, and the hydraulic proportional valve is controlled to realize the action of the slider Y1 axis and the slider Y2 axis; when applied to an all-electric servo bending machine product, the motion planning position of the slider Y1 axis and the slider Y2 axis is subjected to PID operation to generate a speed instruction, which is sent to the servo drive of the slider Y1 axis and the slider Y2 axis through the EtherCAT bus communication for execution;

[0009] Step 5: The master controller obtains the following information from the bending machine special IO slave station through the EtherCAT bus communication: digital input and output, analog input and output, encoder / raster scale input data, and state and axis position information data of the servo drive of a plurality of axes; alarm information generated by the motion control software; process data is formed by summarizing the above data, and is uploaded to the upper computer through TCP / IP for display or file recording processing.

[0010] Preferably, the master controller is provided with an ARM chip, a network port 1 and a network port 2, the ARM chip communicates with the upper computer through TCP / IP communication through the network port 1; the network port 2 is an EtherCAT special network port, which is connected with the bending machine special IO slave station and the servo drive of a plurality of axes to form an EtherCAT field bus.

[0011] Preferably, the MCU chip in the bending machine special IO slave station communicates with the master controller through the network port chip and the EtherCAT slave station protocol stack.

[0012] Preferably, the step 3 specifically includes the following steps:

[0013] Step S3-1: In the master controller, the motion control software obtains bus configuration parameters and setting parameter data from the upper computer through TCP / IP communication, starts and completes real-time threads and EtherCAT master initialization;

[0014] Step S3-2: The motion control software compiles and executes the PLC program data to generate the logic instructions of the peripheral interface circuit; processes the working step data to generate the motion control instructions for controlling several axes, which include the motion planning positions of the slide block Y1 axis and the slide block Y2 axis and the planning positions of the rear material blocking X axis and the rear material blocking R axis;

[0015] Step S3-3: The motion control software periodically writes the motion control instructions and the logic instructions generated in step S3-2 into the EtherCAT communication data frame through a real-time thread, and distributes them to the bending machine special IO slave station and the servo drives of each rear material blocking axis through the IGH master station module;

[0016] Step S3-4: The slide block Y1 axis and the slide block Y2 axis of the bending machine special IO slave station retrieve the motion planning positions and the logic instructions from the received EtherCAT communication data frame; the MCU chip performs PID operation processing according to the actual positions of the slide blocks fed back by the encoder interface and the received periodic planning positions of the slide blocks to generate the speed instructions of the slide block Y1 axis and the slide block Y2 axis;

[0017] Step S3-5: The MCU chip controls the digital output port through the peripheral interface circuit according to the logic instructions; the speed instructions of the slide block Y1 axis and the slide block Y2 axis generated in step S3-4 are converted into hydraulic proportional valve control signals when applied to the hydraulic bending machine product, which are output through the hydraulic proportional valve interface in the peripheral interface circuit; when applied to the all-electric servo bending machine product, the speed instructions are written into the EtherCAT communication data frame and sent to the corresponding servo drives of the slide block Y1 axis and the slide block Y2 axis for execution; at the same time, the MCU chip obtains the digital input / output, analog input / output and encoder / raster scale input feedback data through the peripheral interface circuit, writes them into the EtherCAT communication data frame and returns them to the master controller;

[0018] Step S3-6: The servo drives of the rear material blocking axes operate in the CSP mode, periodically obtain the planning positions of the rear material blocking axes from the EtherCAT communication data frame to execute positioning motion, and write the servo drive states and the actual positions of the rear material blocking axes into the EtherCAT communication data frame and return them to the master controller;

[0019] Step S3-7: The servo drives of the slide block Y1 axis and the slide block Y2 axis operate in the CSV mode, periodically obtain the speed instructions of the slide block Y1 axis and the slide block Y2 axis from the EtherCAT communication data frame to execute motion, and write the servo drive states and the actual positions of the axes into the EtherCAT communication data frame and return them to the master controller.

[0020] Preferably, the main station controller is deployed with a Linux system which is kernel real-time modified using Preempt-RT patch.

[0021] Preferably, the main station controller is deployed with motion control software which contains axis point motion module, synchronization control module, axis enable module, stop module and feedback function module, so as to realize machine tool axis point motion, synchronization control, axis enable, stop and feedback function control based on EtherCAT bus communication through the EtherCAT communication main station.

[0022] Preferably, the bending machine special IO slave station MCU chip kernel program is deployed with the motion control modules of the slider Y1 axis and the slider Y2 axis, which are used for enabling, feedback, stopping, motion planning and position closed loop PID control of the slider Y1 axis and the slider Y2 axis.

[0023] Y1_Output=Y1_RefVel+Kp*Y1_Err+Ki*Y1_ErrAdd-Kp_G*SynErr,

[0024] Y2_Output=Y2_RefVel+Kp*Y2_Err+Ki*Y2_ErrAdd+Kp_G*SynErr,

[0025] Wherein, Y1_Output is the speed instruction output to the slider Y1 axis drive, Y2_Output is the speed instruction output to the slider Y2 axis drive, Y1_RefVel is the speed planning instruction of the slider Y1 axis, Y2_RefVel is the speed planning instruction of the slider Y2 axis, Kp is the proportional gain, Ki is the integral gain, Kp_G is the parallelism gain, Y1_Err is the current period slider Y1 axis following error, Y2_Err is the current period slider Y2 axis following error, Y1_ErrAdd is the current period slider Y1 axis positive following error, Y2_ErrAdd is the current period slider Y2 axis positive following error; SynErr is the parallelism error, which is calculated by subtracting the actual position of Y2 from the actual position of Y1.

[0026] The present application has the following advantages: the present application solves the problem that the existing bending machine system is limited by hardware interface and cannot flexibly adapt to different numbers of rear material blocking shaft configurations, and the motion control instruction is transmitted through the EtherCAT bus, which is better than the analog signal transmission mode of the existing bending machine system in terms of anti-interference, control efficiency and response speed.

[0027] Compared with the conventional bending machine control system using analog quantity control, the bending machine control system is better in anti-interference, reliability and motion control response, and can effectively improve the machine tool performance when applied to full electric servo bending machine product. Meanwhile, the bending machine special IO slave station is integrated with the bending machine tool peripheral interface circuit signal and the input and output interface of the hydraulic pump and valve, which can meet the control requirements of the hydraulic bending machine product. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 is a system architecture diagram of the present application;

[0029] Fig. 2 is a motion control software architecture diagram related to the present application;

[0030] Fig. 3 is a flow chart of HMI software data issuing of the present application;

[0031] Fig. 4 is a flow chart of HMI software data receiving of the present application. DETAILED DESCRIPTION

[0032] The present application will be further described below in conjunction with the drawings and specific embodiments. The embodiments of the present application are given for illustration and description only, and are not intended to be exhaustive or to limit the present application to the forms disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. Embodiments are chosen and described in order to best explain the principles of the application and its practical application, and to enable others skilled in the art to understand the application for various embodiments with various modifications as are suited to the particular use contemplated.

[0033] As shown in the figure, a bending machine control method comprises a host computer, a master station controller and a bending machine special IO slave station, an EtherCAT bus connects a plurality of shafts, the bending machine special IO slave station and the master station controller, an HMI software runs in the host computer, and the bending machine special IO slave station is provided with an MCU chip. The master station controller is provided with an ARM chip, a motion control software, a network port 1 and a network port 2; the ARM chip communicates with the host computer through the network port 1 in TCP / IP mode; the network port 2 is an EtherCAT special network port, which is connected with the bending machine special IO slave station and the servo drives of the plurality of shafts respectively, thereby constituting an EtherCAT field bus; the motion control software comprises a shaft point position motion module, a synchronization control module, a shaft enable module, a stop module and a feedback function module, so as to realize the control of the machine tool shaft point position motion, synchronization control, shaft enable, stop and feedback function based on the EtherCAT bus communication through the EtherCAT communication master station. The master station controller can be deployed with a Linux system which is modified in real time by using a Preempt-RT patch. The bending machine special IO slave station comprises an MCU chip and a peripheral interface circuit, the MCU chip communicates with the master station controller through an EtherCAT bus in an EtherCAT bus communication mode through a network port chip and an EtherCAT slave station protocol stack; the peripheral interface circuit comprises a digital quantity input and output, an analog quantity input and output, an encoder / raster scale input and a hydraulic proportional valve control.

[0034] The bending machine control method comprises the following steps:

[0035] Step 1: establishing a host computer, a master station controller and a bending machine special IO slave station, the bending machine special IO slave station being provided with an MCU chip and a peripheral interface circuit; wherein the host computer communicates with the master station controller through TCP / IP, and the master station controller and the bending machine special IO slave station communicate with each other through an EtherCAT bus;

[0036] Step 2: an HMI software runs in the host computer, is responsible for processing a PLC program, a processing file, a mold file, a parameter database and a bus configuration file, and generates PLC program data, working step data, mold data, setting parameter data and bus configuration parameter data respectively; the host computer is provided with a touch screen, the HMI software generates operation instructions in response to touch operations, the operation instructions comprising start, stop and reset, and the host computer sends the generated data and operation instructions to the master station controller through TCP / IP communication;

[0037] Step 3: the motion control software running in the master controller receives the data and operation instructions sent by the host computer HMI software, processes and responds according to the data and operation instructions issued by the host computer, generates motion control instructions for several axes including the slider Y1 axis, the slider Y2 axis, the rear material blocking X axis, the rear material blocking R axis, and logic instructions for the peripheral interface circuit; the motion control instructions for the several axes are sent to the corresponding servo drive for execution through EtherCAT bus communication; the motion control instructions for the slider Y1 axis and the slider Y2 axis and the logic instructions for the peripheral interface circuit are sent to the bending machine special IO slave station through EtherCAT bus communication;

[0038] Step 3 specifically includes the following steps:

[0039] Step S3-1: in the master controller, the motion control software obtains bus configuration parameters and setting parameter data from the host computer through TCP / IP communication, starts and completes real-time threads and EtherCAT master initialization;

[0040] Step S3-2: the motion control software compiles and executes PLC program data to generate logic instructions for the peripheral interface circuit; processes step data to generate motion control instructions for controlling several axes, which include the motion planning positions of the slider Y1 axis and the slider Y2 axis and the planning positions of the rear material blocking X axis and the rear material blocking R axis;

[0041] Step S3-3: the motion control software writes the motion control instructions and logic instructions generated in step S3-2 into the EtherCAT communication data frame through real-time threads, and distributes them to the bending machine special IO slave station and the servo drive of each rear material blocking axis through the IGH master module;

[0042] Step S3-4: the bending machine special IO slave station retrieves the motion planning positions of the slider Y1 axis and the slider Y2 axis and the logic instructions from the received EtherCAT communication data frame; the MCU chip performs PID operation processing according to the actual position of the slider feedback by the encoder interface and the received periodic planning position of the slider to generate the speed instructions of the slider Y1 axis and the slider Y2 axis;

[0043] Step S3-5: The MCU chip controls the digital output port through the peripheral interface circuit according to the logic instruction; the speed instructions of the slider Y1 shaft and the slider Y2 shaft generated in step S3-4 are converted into hydraulic proportional valve control signals when applied to a hydraulic bending machine product, and are output through the hydraulic proportional valve interface in the peripheral interface circuit; when applied to an all-electric servo bending machine product, the speed instructions are written into an EtherCAT communication data frame and sent to the servo drive corresponding to the slider Y1 shaft and the slider Y2 shaft for execution; at the same time, the MCU chip obtains digital input and output, analog input and output, and encoder / raster scale input feedback data through the peripheral interface circuit, and writes them into the EtherCAT communication data frame and returns them to the host controller;

[0044] Step S3-6: The servo drive of the rear material blocking shaft operates in the CSP mode, periodically obtains the planned position of the rear material blocking shaft from the EtherCAT communication data frame to execute positioning movement, and writes the servo drive state and the actual position of the rear material blocking shaft into the EtherCAT communication data frame and returns them to the host controller.

[0045] Step S3-7: The servo drives of the slider Y1 shaft and the slider Y2 shaft operate in the CSV mode, periodically obtain the speed instructions of the slider Y1 shaft and the slider Y2 shaft from the EtherCAT communication data frame to execute movement, and write the servo drive state and the actual position of the shaft into the EtherCAT communication data frame and return them to the host controller.

[0046] Step 4: The MCU chip of the bending machine special IO slave station is used to process the signals of the peripheral interface circuit; in the kernel program of the MCU chip, the logic instructions received through the EtherCAT bus communication of the peripheral interface circuit are logically processed to generate digital output; the motion control instructions of the slider Y1 shaft and the slider Y2 shaft are further processed in the kernel program of the MCU chip to generate motion planning positions; when applied to a hydraulic bending machine product, the motion planning positions of the slider Y1 shaft and the slider Y2 shaft are converted into hydraulic proportional valve control signals and output to control the hydraulic proportional valve to realize the action of the slider Y1 shaft and the slider Y2 shaft; when applied to an all-electric servo bending machine product, the motion planning positions of the slider Y1 shaft and the slider Y2 shaft are converted into speed instructions through PID operation, and are sent to the servo drive of the slider Y1 shaft and the slider Y2 shaft through the EtherCAT bus communication for execution;

[0047] Step 5: The master controller obtains the following information from the bending machine special IO slave station through EtherCAT bus communication: digital input and output, analog input and output, encoder / grating ruler input data; and the state of the servo drive of several axes, axis position information data; alarm information generated by the motion control software; the above data is summarized to form process data, and is uploaded to the upper computer through TCP / IP for display or file record processing.

[0048] The motion control modules of the slider Y1 axis and the slider Y2 axis are deployed in the kernel program of the MCU chip of the bending machine special IO slave station, which are used for enabling, back-referencing, stopping, motion planning and position closed-loop PID control of the slider Y1 axis and the slider Y2 axis. The closed-loop control PID algorithm of the slider Y1 axis and the slider Y2 axis is as follows:

[0049] Y1_Output = Y1_RefVel + Kp * Y1_Err + Ki * Y1_ErrAdd - Kp_G * SynErr,

[0050] Y2_Output = Y2_RefVel + Kp * Y2_Err + Ki * Y2_ErrAdd + Kp_G * SynErr,

[0051] Wherein, Y1_Output is the speed instruction output to the slider Y1 axis drive, Y2_Output is the speed instruction output to the slider Y2 axis drive, Y1_RefVel is the speed planning instruction of the slider Y1 axis, Y2_RefVel is the speed planning instruction of the slider Y2 axis, Kp is the proportional gain, Ki is the integral gain, Kp_G is the parallelism gain, Y1_Err is the current period following error of the slider Y1 axis, Y2_Err is the current period following error of the slider Y2 axis, Y1_ErrAdd is the current period positive following error of the slider Y1 axis, Y2_ErrAdd is the current period positive following error of the slider Y2 axis; SynErr is the parallelism error, which is calculated by subtracting the actual position of Y2 from the actual position of Y1.

Claims

1. A method of controlling a bending machine, characterized by: It comprises the following steps: Step 1: Establish the host computer, master controller and bending machine special IO slave station, the bending machine special IO slave station is provided with MCU chip and peripheral interface circuit; wherein the host computer communicates with the master controller through TCP / IP, and the master controller and the bending machine special IO slave station communicate through EtherCAT bus; Step 2: The HMI software runs on the host computer, responsible for processing PLC program, processing file, mold file, parameter database and bus configuration file, respectively generating PLC program data, process data, mold data, setting parameter data and bus configuration parameter data; the host computer is configured with a touch screen, and the HMI software generates operation instructions in response to touch operation, the operation instructions including start, stop and reset. The host computer sends the generated data and operation instructions to the master controller through TCP / IP communication; Step 3: The motion control software runs in the master controller, which receives the data and operation instructions sent by the host computer HMI software, processes and responds according to the data and operation instructions sent by the host computer, generates motion control instructions of several axes and logic instructions of peripheral interface circuit, and the several axes include slider Y1 axis, slider Y2 axis, rear material X axis, rear material R axis…; wherein the motion control instructions of several axes are sent to the corresponding servo drive for execution through EtherCAT bus communication; the motion control instructions of slider Y1 axis and slider Y2 axis and the logic instructions of peripheral interface circuit are sent to the bending machine special IO slave station through EtherCAT bus communication; Step 4: The MCU chip of the bending machine special IO slave station is used to process the signals of the peripheral interface circuit, which includes digital input and output, analog input and output, encoder / raster input and hydraulic proportional valve control; in the kernel program of the MCU chip, the logic instructions of the peripheral interface circuit received through EtherCAT bus communication are used to process the digital input and generate digital output; the kernel program of the MCU chip further processes the motion control instructions of slider Y1 axis and slider Y2 axis to generate motion planning position; when applied to hydraulic bending machine products, the motion planning position of slider Y1 axis and slider Y2 axis is converted into hydraulic proportional valve control signal and output, controlling the hydraulic proportional valve to realize the action of slider Y1 axis and slider Y2 axis; when applied to full electric servo bending machine products, the motion planning position of slider Y1 axis and slider Y2 axis is converted into speed instruction through PID operation, and is sent to the servo drive of slider Y1 axis and slider Y2 axis for execution through EtherCAT bus communication; Step 5: The master controller acquires the following information from the bending machine special IO slave station through EtherCAT bus communication: digital input and output, analog input and output, encoder / raster input data; as well as the state of servo drive of several axes, axis position information data; alarm information generated by the motion control software; the above data is summarized to form process data, which is uploaded to the host computer through TCP / IP for display or file record processing.

2. A method of controlling a bending machine as claimed in claim 1, characterized in that: The main station controller is internally provided with an ARM chip, a network port 1 and a network port 2, the ARM chip communicates with the upper computer through the network port 1 in TCP / IP mode; the network port 2 is an EtherCAT special network port, is connected with a bending machine special IO slave station and a plurality of servo drives of shafts respectively, and constitutes an EtherCAT field bus.

3. A method of controlling a bending machine as claimed in claim 1, characterized in that: The MCU chip in the bending machine special IO slave station communicates with the main station controller through the network chip and an EtherCAT slave station protocol stack in an EtherCAT bus mode.

4. A method of controlling a bending machine as claimed in claim 1, characterized in that: The step 3 specifically comprises the following steps: Step S3-1: in the main station controller, the motion control software acquires bus configuration parameters and setting parameter data from the upper computer through TCP / IP communication, starts and completes real-time threads and EtherCAT master station initialization; Step S3-2: the motion control software compiles and executes PLC program data, generates logic instructions of a peripheral interface circuit, processes work step data, and generates motion control instructions for controlling a plurality of shafts, wherein the motion control instructions contain motion planning positions of a slider Y1 shaft and a slider Y2 shaft and planning positions of a rear material blocking X shaft and a rear material blocking R shaft; Step S3-3: the motion control software periodically writes the motion control instructions and the logic instructions generated in step S3-2 into an EtherCAT communication data frame through real-time threads, and distributes the EtherCAT communication data frame to the bending machine special IO slave station and servo drives of the rear material blocking shafts through an IGH master station module; Step S3-4: the bending machine special IO slave station retrieves the motion planning positions of the slider Y1 shaft and the slider Y2 shaft and the logic instructions from the received EtherCAT communication data frame; the MCU chip performs PID operation processing according to actual positions of the sliders fed back by an encoder interface and the received periodic planning positions of the sliders, and generates speed instructions of the slider Y1 shaft and the slider Y2 shaft; Step S3-5: the MCU chip controls a digital output port through a peripheral interface circuit according to the logic instructions; the speed instructions of the slider Y1 shaft and the slider Y2 shaft generated in step S3-4 are converted into hydraulic proportional valve control signals when applied to a hydraulic bending machine product, and are output through a hydraulic proportional valve interface in the peripheral interface circuit; when applied to an all-electric servo bending machine product, the speed instructions are written into the EtherCAT communication data frame and are sent to corresponding servo drives of the slider Y1 shaft and the slider Y2 shaft for execution; meanwhile, the MCU chip acquires digital input and output, analog input and output and encoder / raster scale input feedback data through the peripheral interface circuit, writes the data into the EtherCAT communication data frame and returns the data to the main station controller; Step S3-6: the servo drives of the rear material blocking shafts operate in a CSP mode, periodically acquire planning positions of the rear material blocking shafts from the EtherCAT communication data frame to execute positioning motion, and write servo drive states and actual positions of the rear material blocking shafts into the EtherCAT communication data frame and return the data to the main station controller. Step S3-7: the servo drives of the slide Y1 axis and the slide Y2 axis are operated in the CSV mode, periodically acquire the speed instructions of the slide Y1 axis and the slide Y2 axis from the EtherCAT communication data frame to execute the motion, and write the servo drive states and the actual positions of the axes into the EtherCAT communication data frame to return to the master controller.

5. A method of controlling a bending machine as claimed in claim 1, characterized in that: The master controller is deployed with a Linux system which is modified in real time by using a Preempt-RT patch.

6. A method of controlling a bending machine as claimed in claim 1, characterized in that: The master controller is deployed with a motion control software which contains an axis point position motion module, a synchronous control module, an axis enable module, a stop module and a feedback function module, so as to realize the functions of axis point position motion, synchronous control, axis enable, stop and feedback based on the EtherCAT bus communication through the EtherCAT communication master station.

7. A method of controlling a bending machine as claimed in claim 1, characterized in that: The motion control module of the slide Y1 axis and the slide Y2 axis is deployed in the kernel program of the IO slave station MCU chip of the bending machine, and is used for enabling, feedback, stopping, motion planning and position closed-loop PID control of the slide Y1 axis and the slide Y2 axis, and the closed-loop control PID algorithm of the slide Y1 axis and the slide Y2 axis is as follows: Y1_Output=Y1_RefVel+Kp*Y1_Err+Ki*Y1_ErrAdd-Kp_G*SynErr, Y2_Output=Y2_RefVel+Kp*Y2_Err+Ki*Y2_ErrAdd+Kp_G*SynErr, Wherein, Y1_Output is the speed instruction output to the drive of the slide Y1 axis, Y2_Output is the speed instruction output to the drive of the slide Y2 axis, Y1_RefVel is the speed planning instruction of the slide Y1 axis, Y2_RefVel is the speed planning instruction of the slide Y2 axis, Kp is the proportional gain, Ki is the integral gain, Kp_G is the parallelism gain, Y1_Err is the following error of the slide Y1 axis in the current period, Y2_Err is the following error of the slide Y2 axis in the current period, Y1_ErrAdd is the positive following error of the slide Y1 axis in the current period, Y2_ErrAdd is the positive following error of the slide Y2 axis in the current period; SynErr is the parallelism error, which is calculated by subtracting the actual position of Y2 from the actual position of Y1.

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