Ethercat communication-based redundant master and slave system and method

Abstract

The present invention relates to an EtherCAT communication-based redundant master and slave system and method in which a redundancy structure is used for a slave and a master controlling a driving system, thereby enabling a faulty master to be replaced without a power cutoff, and redundancy switching of the master is performed in real time without stopping the driving system, thereby enabling reliable and stable operation. The EtherCAT communication-based redundant master and slave system of the present invention comprises: a first master and a second master for managing the control of a driving system; and a slave connected to the first master and the second master through a ring network and driving the driving system under the control of the first master and the second master.

Description

ETHERCAT Communication-Based Redundant Master and Slave System and Method

[0001] The present invention relates to an EtherCAT communication-based redundant master and slave system and method, and more specifically, to accommodate a redundancy structure in a master and a slave that control a driving system. Furthermore, the present invention relates to an EtherCAT communication-based redundant master and slave system and method capable of performing redundancy switching in real time without stopping the driving system.

[0002] In environments where systems operate in isolation, such as on ships, the reliability of the drive system is critical. In such cases, when EtherCAT communication is used to control the drive system, redundancy utilizing line structures based on ring or star configurations is employed to enhance communication reliability.

[0003] However, in the case of such existing EtherCAT communication, if the communication line is redundantly set up as a ring type, it is acceptable if one part of the communication line is broken, but there is a disadvantage that it cannot handle cases where a problem occurs with the master or if two or more parts of the communication line within the slave controller are broken.

[0004] Furthermore, since replacing a master requires shutting off the power and replacing it with a new one, it entails a system shutdown; consequently, it fails to meet the redundancy requirements of the industry, and research to resolve this issue has been ongoing.

[0005] For example, Korean Patent Publication No. 10-2012-0020867 discloses a first processor module and a second processor module capable of operating as a master or a slave, each having a shared memory, and recording result data in the said shared memory to share with each other.

[0006] However, this method has the disadvantage that if a problem occurs with the master or the communication module within the slave controller, it is difficult to replace it without stopping the system.

[0007] The objective of the present invention is to provide an EtherCAT communication-based redundant master and slave system and method that accommodates a redundancy structure in the master and slave controlling the driving system, thereby enabling the replacement of a failed master without interrupting the power supply.

[0008] Another objective of the present invention is to provide an EtherCAT communication-based redundant master and slave system and method that enables reliable and stable operation by performing redundant switching of the master in real time without stopping the driving system.

[0009] The EtherCAT communication-based redundant master and slave system according to the present invention may include a first master and a second master that manage the control of a driving system, and a slave that is connected to the first master and the second master via a ring network and performs the driving of the driving system under the control of the first master and the second master.

[0010] Here, the slave may include a first DSP connected to a ring network containing a first master and a second DSP connected to a ring network containing a second master.

[0011] In addition, the first master and the second master can be connected via a master-to-master connection line that uses EAP (EtherCAT Automation Protocol) to ensure real-time connectivity.

[0012] Here, the first DSP and the second DSP can be connected via a connection line within the slave using DPRAM (Dual Port SRAM) communication.

[0013] In addition, at least one slave is connected to a ring network, and the first master and the second master and the slave, or the slaves to the ring network, can be connected by a ring network connection line using ECAT (EtherCAT and Ethernet for Control Automation Technology), a high-performance Ethernet-based communication protocol used in industrial automation and control systems.

[0014] Here, the first master, the second master, the first DSP, and the second DSP can increase the HeartBeat by a certain value and generate it at a constant period, and transmit it through the connection line between masters, the connection line within slaves, and the ring network connection line.

[0015] In addition, the first master can analyze whether there is a problem with the heartbeat of the second master among the heartbeats received from the ring network connection line and transmit the heartbeat of the first master to the second master, and the second master can analyze whether there is a problem with the heartbeat of the first master among the heartbeats received from the ring network connection line and transmit the heartbeat of the second master to the first master.

[0016] Here, the slave can add its own heartbeat to the heartbeat received from the ring network connection line and transmit it to the ring network connection line.

[0017] Additionally, the first DSP may add the heartbeat of the first DSP to the heartbeat received from the ring network connection line and transmit it to the second DSP, and then the second DSP may add the heartbeat of the second DSP and transmit it to the ring network connection line, and the second DSP may add the heartbeat of the second DSP to the heartbeat received from the ring network connection line and transmit it to the first DSP, and then the first DSP may add the heartbeat of the first DSP and transmit it to the ring network connection line.

[0018] Here, in the networks between the first master and the second master, between the first master and the first DSP, between the second master and the second DSP, and between the first DSP and the second DSP, if a heartbeat is not received a certain number of times or the same value is received, it can be determined that there is a network failure.

[0019] In addition, the first master, the second master, the first DSP, and the second DSP can determine the failure of the first master, the second master, the first DSP, and the second DSP based on a combination of network failures.

[0020] An EtherCAT communication-based redundant master and slave method according to another embodiment of the present invention may include a driving system control step that manages the control of a driving system at a first master and a second master, and a driving system driving step that is connected to the first master and the second master via a ring network and performs the driving of the driving system at a slave under the control of the first master and the second master.

[0021] Here, the driving system driving step may include connecting to a ring network containing a first master at the first DSP and connecting to a ring network containing a second master at the second DSP.

[0022] In addition, the first master and the second master can be connected via a master-to-master connection line that uses EAP (EtherCAT Automation Protocol) to ensure real-time connectivity.

[0023] Here, the first DSP and the second DSP can be connected via a connection line within the slave using DPRAM (Dual Port SRAM) communication.

[0024] In addition, at least one slave is connected to a ring network during the driving phase of the driving system, and the ring network between the first master and the second master and the slave, or between the slaves, can be connected by a ring network connection line using ECAT (EtherCAT Ethernet for Control Automation Technology), a high-performance Ethernet-based communication protocol used in industrial automation and control systems.

[0025] The EtherCAT communication-based redundant master and slave system and method according to the present invention has the advantage of being able to replace a failed master without interrupting the power supply by incorporating a redundancy structure in the master and slave that control the driving system.

[0026] In addition, the EtherCAT communication-based redundant master and slave system and method according to the present invention has the advantage of enabling reliable and stable operation by performing redundant switching of the master in real time without stopping the operating system.

[0027] FIG. 1 is a schematic diagram showing an EtherCAT communication-based redundant master and slave system according to one embodiment of the present invention.

[0028] Figure 2 is a schematic diagram showing the slave of Figure 1 in detail.

[0029] Figure 3 is a schematic diagram showing in detail the connections between masters, within slaves, and ring network connections of Figure 1.

[0030] Figure 4 is a diagram showing an example of a network failure of the master-to-slave connection line, the slave-to-slave connection line, and the ring network connection line of Figure 1.

[0031] FIG. 5 is a diagram showing the failure locations of the first master, second master, first DSP, and second DSP from the network failure of the master-to-slave connection line, slave-to-slave connection line, and ring network connection line of FIG. 1.

[0032] FIG. 6 illustrates examples of failures in the master-to-slave connection line, slave-to-slave connection line, ring network connection line, first master, and first DSP of FIG. 1, where FIG. 6(a) shows the case where an abnormality occurs in the first master, FIG. 6(b) shows the case where an abnormality occurs in the first master and the first DSP, FIG. 6(c) shows the case where an abnormality occurs between the first master and the first DSP, and FIG. 6(d) shows the case where an abnormality occurs in the first DSP in detail.

[0033] FIG. 7 is a flowchart illustrating an EtherCAT communication-based redundant master and slave method according to an embodiment of the present invention.

[0034] Hereinafter, specific embodiments for carrying out the present invention will be described with reference to the attached drawings.

[0035] In describing the present invention, terms such as first, second, etc. may be used to describe various components, but the components may not be limited by the terms. The terms are intended solely for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be named the second component, and similarly, the second component may be named the first component.

[0036] When it is described that a component is connected to or coupled with another component, it may be directly connected to or coupled with that other component, but it can also be understood that there may be other components in between.

[0037] The terms used in this specification are used merely to describe specific embodiments and are not intended to limit the invention. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

[0038] In this specification, terms such as "comprising" or "having" are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0039] In addition, the shapes and sizes of elements in the drawings may be exaggerated for clearer explanation.

[0040] Hereinafter, an EtherCAT communication-based redundant master and slave system and method according to the present invention will be described in detail with reference to the attached drawings.

[0041]

[0042] FIG. 1 is a schematic diagram showing an EtherCAT communication-based redundant master and slave system according to one embodiment of the present invention, and FIG. 2 to 6 are detailed schematic diagrams and drawings for explaining FIG. 1 in detail.

[0043] Hereinafter, an EtherCAT communication-based redundant master and slave system according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6.

[0044] EtherCAT communication is a master-slave communication method in which multiple slaves are connected to a single master. Therefore, it is difficult to utilize multiple masters for master redundancy, and the method utilizes one master and one DSP within the slave.

[0045] In this case, the communication lines are arranged in a ring structure for redundancy, and the system is configured to ensure normal communication even if the line is interrupted in the middle. However, a disadvantage is that it does not support a switching function to take over operation in the event of an EtherCAT failure, so if an EtherCAT problem occurs, the entire system fails.

[0046] The EtherCAT communication-based redundant master and slave system according to the present invention is intended to solve these problems. As shown in FIG. 1, the EtherCAT communication-based redundant master and slave system according to one embodiment of the present invention consists of a first master (110) and a second master (120) that manage the control of a driving system, and a slave (200) that is connected to the first master (110) and the second master (120) via a ring network and performs the driving of the driving system under the control of the first master (110) and the second master (120).

[0047] Here, the slave (200) includes a first DSP (210) connected to a ring network including a first master (110) and a second DSP (220) connected to a ring network including a second master (120), and the first DSP (210) and the second DSP (220) are responsible for driving the slave (200) and communication between the first master (110) and the second master (120).

[0048] In order for the first master (110), the second master (120), the first DSP (210), and the second DSP (220) to communicate with each other, the first master (110) and the second master (120) are connected by a master-to-master connection line (P100) that ensures real-time communication using EAP (EtherCAT Automation Protocol).

[0049] The first DSP (210) and the second DSP (220) are connected by a slave connection line (P200) using DPRAM (Dual Port SRAM) communication, and at least one of the slaves (200) is connected to a ring network.

[0050] Meanwhile, the ring network between the first master (110), the second master (120), and the slave (200), or between the slaves (200), is connected by a ring network connection line (P300) using ECAT (EtherCAT and Ethernet for Control Automation Technology), a high-performance Ethernet-based communication protocol used in industrial automation and control systems.

[0051] That is, in the present invention, two masters accommodating EtherCAT are provided, and two DSPs are provided within the slave (200) to enable real-time processing, and this is explained in detail below in FIGS. 2 to 6.

[0052]

[0053] FIG. 2 is a schematic diagram showing the slave (200) of FIG. 1 in detail.

[0054] As can be seen in FIG. 2, in the present invention, the first master (110), the second master (120), the first DSP (210), and the second DSP (220) generate their own heartbeats at a constant period by increasing them by a constant value and transmit them to the master connection line (P100), the slave connection line (P200), and the ring network connection line (P300).

[0055] In detail, the first master (110) analyzes whether there is a problem with the heartbeat of the second master (120) among the heartbeats received from the ring network connection line (P300) and transmits the heartbeat of the first master (110) to the second master (120). Likewise, the second master (120) also analyzes whether there is a problem with the heartbeat of the first master (110) among the heartbeats received from the ring network connection line (P300) and transmits the heartbeat of the second master (120) to the first master (110).

[0056] Additionally, the slave (200) adds the slave's (200) heartbeat to the heartbeat received from the ring network connection line (P300) and transmits it to the ring network connection line (P300).

[0057] That is, in the first DSP (210) and the second DSP (220) within the slave (200), the first DSP (210) adds the heartbeat of the first DSP (210) to the heartbeat received from the ring network connection line (P300) and transmits it to the second DSP (220), and then the second DSP (220) adds the heartbeat of the second DSP (220) and transmits it to the ring network connection line (P300). The second DSP (220) adds the heartbeat of the second DSP (220) to the heartbeat received from the ring network connection line (P300) and transmits it to the first DSP (210), and then the first DSP (210) adds the heartbeat of the first DSP (210) and transmits it to the ring network connection line (P300).

[0058] Accordingly, the heartbeat of the first master (110) is included from the first master (110) to the first DSP (210), and the heartbeat of the first master (110) and the heartbeat of the first DSP (210) are included from the first DSP (210) to the second DSP (220). The heartbeat of the second DSP (220) is further added from the second DSP (220) to the second master (120), and since the heartbeat of the first master (110) has been analyzed in the second master (120), the heartbeat of the first DSP (210), the heartbeat of the second DSP (220), and the heartbeat of the second master (120) are transmitted to the first master (110).

[0059] Likewise, the heartbeat of the second master (120) is included from the second master (120) to the second DSP (220), and the heartbeat of the second master (120) and the heartbeat of the second DSP (220) are included from the second DSP (220) to the first DSP (210). The heartbeat of the first DSP (210) is further added from the first DSP (210) to the first master (110), and since the heartbeat of the second master (120) has been analyzed in the first master (110), the heartbeat of the first DSP (210), the heartbeat of the second DSP (220), and the heartbeat of the first master (110) are transmitted to the second master (120).

[0060] Meanwhile, in the present invention, the first master (110), the second master (120), the first DSP (210), and the second DSP (220) can determine a reception failure by analyzing the received heartbeat, and this is explained in detail below in FIGS. 3 to 6.

[0061]

[0062] FIG. 3 is a schematic diagram showing in detail the connections between masters (P100), within slaves (P200), and ring network connections (P300) of FIG. 1.

[0063] As can be seen in FIG. 3, in the present invention, if a heartbeat is not received a certain number of times or the same value is received in a network between the first master (110) and the second master (120), between the first master (110) and the first DSP (210), between the second master (120) and the second DSP (220), and between the first DSP (210) and the second DSP (220), it is determined that there is a network failure, and this is explained in detail in FIG. 4.

[0064]

[0065] FIG. 4 is a diagram showing an example of a network failure of the master-to-master connection line (P100), the slave-to-slave connection line (P200), and the ring network connection line (P300) of FIG. 1.

[0066] As can be seen in FIG. 4, when a failure occurs between the first master (110) and the second master (120), what is received by the first master (110) is that an error occurs in the heartbeat of the second master (120) in the master connection line (P100), and the second master (120) can see that an error occurs in the heartbeat of the first master (110).

[0067] In addition, if a failure occurs between the first master (110) and the first DSP (210), it can be seen that an error occurs in the heartbeat of the first DSP (210) in the ring network connection line (P300) of the first master (110), an error occurs in the heartbeat of the first master (110) in the ring network connection line (P300) of the second master (120), and a heartbeat error occurs in the first DSP (210) and the second DSP (220) in the master connection line (P100).

[0068] At this time, if the first DSP (210) and the second DSP (220) designate the first master (110) as the main master and receive control from the first master (110), when an error occurs in the heartbeat of the first master (110), they can designate the second master (120) as the main master and receive control from the second master (120) in real time.

[0069] Likewise, if a failure occurs between the second master (120) and the second DSP (220), it can be seen that an error occurs in the heartbeat of the second DSP (220) in the ring network connection line (P300) of the second master (120), an error occurs in the heartbeat of the second master (120) in the ring network connection line (P300) of the first master (110), and a heartbeat error occurs in the first DSP (210) and the second DSP (220) in the master connection line (P100).

[0070] At this time, if the first DSP (210) and the second DSP (220) designate the second master (120) as the main master and receive control from the second master (120), when an error occurs in the heartbeat of the second master (120), they can designate the first master (110) as the main master and receive control from the first master (110) in real time.

[0071] Meanwhile, if a failure occurs between the first DSP (210) and the second DSP (220), the first master (110) can see that an error occurs in the heartbeat of the second master (120) and the second DSP (220) in the ring network connection line (P300), and an error occurs in the heartbeat of the first master (110) and the first DSP (210) in the master connection line (P100). Additionally, the second master (120) can see that an error occurs in the heartbeat of the first master (110) and the first DSP (210) in the ring network connection line (P300), and an error occurs in the heartbeat of the second master (120) and the second DSP (220) in the master connection line (P100).

[0072] In the present invention, failures of the first master (110), the second master (120), the first DSP (210), and the second DSP (220) may be determined based on the combination of network failures described above, and this is explained in detail below in FIG. 5.

[0073]

[0074] FIG. 5 is a diagram showing the fault locations of the first master (110), the second master (120), the first DSP (210), and the second DSP (220) from the network failure of the master-to-master connection line (P100), the slave-to-slave connection line (P200), and the ring network connection line (P300) of FIG. 1.

[0075] As can be seen in FIG. 5, the first master (110), the second master (120), the first DSP (210), and the second DSP (220) can determine the failure of the first master (110), the second master (120), the first DSP (210), and the second DSP (220) based on a combination of network failures.

[0076] That is, if both communication between the first master (110), the second master (120), the first DSP (210), and the second DSP (220) fails, the device can be determined to be faulty. For example, if a network failure occurs between the first master (110) and the second master (120) and a network failure occurs between the first master (110) and the first DSP (210), it can be determined that the first master (110) is faulty, and if a network failure occurs between the first master (110) and the second master (120) and a network failure occurs between the second master (120) and the second DSP (220), it can be determined that the second master (120) is faulty.

[0077] Additionally, if a network failure occurs between the first master (110) and the first DSP (210) and a network failure occurs between the first DSP (210) and the second DSP (220), it can be determined that the first DSP (210) is faulty, and if a network failure occurs between the second master (120) and the second DSP (220) and a network failure occurs between the first DSP (210) and the second DSP (220), it can be determined that the second DSP (220) is faulty.

[0078] Accordingly, the EtherCAT communication-based redundant master and slave system according to the present invention can determine network failures and failures of the first master (110), second master (120), first DSP (210), and second DSP (220) based on the heartbeats of the first master (110), second master (120), first DSP (210), and second DSP (220).

[0079]

[0080] Next, FIG. 6 is a diagram showing examples of abnormal occurrences in various cases, and FIG. 6 shows examples of failures in the master-to-slave connection line (P100), slave-to-slave connection line (P200), ring network connection line (P300), first master (110), and first DSP (210) of FIG. 1.

[0081] In FIG. 6, FIG. 6(a) is a detailed diagram showing the case where an abnormality occurs in the first master (110), FIG. 6(b) is a detailed diagram showing the case where an abnormality occurs in the first master (110) and the first DSP (210), FIG. 6(c) is a detailed diagram showing the case where an abnormality occurs between the first master (110) and the first DSP (210), and FIG. 6(d) is a detailed diagram showing the case where an abnormality occurs in the first DSP (210).

[0082] That is, FIG. 6(a) is a case where an abnormality occurs in the first master (110), and it can be determined that a network error has occurred between the first master (110) and the second master (120) and a network error has occurred between the first master (110) and the first DSP (210).

[0083] FIG. 6(b) is a case where an abnormality occurs simultaneously in the first master (110) and the first DSP (210), and it can be determined that a network error between the first master (110) and the second master (120), a network error between the first DSP (210) and the second DSP (220), and a network error between the first master (110) and the first DSP (210) have occurred.

[0084] FIG. 6(c) illustrates a case where an abnormality occurs between the first master (110) and the first DSP (210), and FIG. 6(d) illustrates a case where an abnormality of the first DSP (210) and a network error between the first master (110) and the first DSP (210) occur simultaneously.

[0085] Accordingly, the EtherCAT communication-based redundant master and slave system according to the present invention has the advantage of being able to simultaneously determine network failures and failures of the first master (110), second master (120), first DSP (210), and second DSP (220) based on the heartbeats of the first master (110), second master (120), first DSP (210), and second DSP (220).

[0086]

[0087] FIG. 7 is a flowchart illustrating an EtherCAT communication-based redundant master and slave method according to an embodiment of the present invention.

[0088] As can be seen in FIG. 7, the EtherCAT communication-based redundant master and slave method comprises a drive system control step (S100) in which the first master (110) and the second master (120) manage the control of the drive system, and a drive system driving step (S200) in which the first master (110) and the second master (120) are connected to a ring network and the slave (200) performs the driving of the drive system under the control of the first master (110) and the second master (120).

[0089] Here, the driving system driving step (S200) includes connecting the first DSP (210) to a ring network containing the first master (110) and connecting the second DSP (220) to a ring network containing the second master (120), and is responsible for driving the slave (200) and communication between the first master (110) and the second master (120).

[0090] Meanwhile, in order for the first master (110), the second master (120), the first DSP (210), and the second DSP (220) to communicate with each other, the first master (110) and the second master (120) are connected by a master-to-master connection line (P100) that ensures real-time communication using EAP (EtherCAT Automation Protocol). The first DSP (210) and the second DSP (220) are connected by a slave-to-slave connection line (P200) that uses DPRAM communication, and at least one of the slaves (200) is connected to a ring network. Additionally, the ring network between the first master (110) and the second master (120) and the slave (200), or between the slaves (200), is connected by a ring network connection line (P300) that uses ECAT (EtherCAT and Ethernet for Control Automation Technology), a high-performance Ethernet-based communication protocol used in industrial automation and control systems.

[0091] That is, in the present invention, two masters that accommodate EtherCAT are provided, and two DSPs are provided within the slave (200) to enable real-time processing. Since this has been explained in detail in FIGS. 2 to 6, a detailed explanation is omitted.

[0092]

[0093] As described above, the EtherCAT communication-based redundant master and slave system and method according to the present invention has the advantage of being able to replace a failed master without interrupting the power supply by accommodating a redundancy structure in the master and slave that control the driving system, and has the advantage of being able to reliably and stably operate by performing redundancy switching of the master in real time without stopping the driving system.

[0094]

[0095] Those skilled in the art will understand that the various exemplary logic blocks, modules, processors, means, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented by electronic hardware, various forms of programs or design code (referred to herein as software for convenience), or a combination of all such. To clearly illustrate this interoperability between hardware and software, various exemplary components, blocks, modules, circuits, and steps have been generally described above in relation to their functions. Whether such functions are implemented as hardware or software depends on the design constraints imposed on the specific application and the overall system. Those skilled in the art may implement the functions described in various ways for each specific application, but such implementation decisions should not be interpreted as being outside the scope of the invention.

[0096] The various embodiments presented herein may be implemented as methods, devices, or articles manufactured using standard programming and / or engineering techniques. The term "article manufactured" includes a computer program, a carrier, or a medium accessible from any computer-readable storage device. For example, computer-readable storage media include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, magnetic strips, etc.), optical discs (e.g., CDs, DVDs, etc.), smart cards, and flash memory devices (e.g., EEPROMs, cards, sticks, key drives, etc.). Additionally, the various storage media presented herein include one or more devices and / or other machine-readable media for storing information.

[0097] It should be understood that the specific order or hierarchy of steps in the presented processes is merely an example of exemplary approaches. It should be understood that, based on design priorities, the specific order or hierarchy of steps in the processes may be rearranged within the scope of the invention. The appended method claims provide various step elements in a sample order, but do not imply limitation to the specific order or hierarchy presented.

[0098] The description of the presented embodiments is provided so that any person skilled in the art may use or practice the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the scope of the present invention. Thus, the present invention is not limited to the embodiments presented herein, but should be interpreted in the broadest possible scope consistent with the principles and novel features presented herein.

[0099] The present invention relates to an EtherCAT communication-based redundant master and slave system and method, and is applicable in the field of driving systems.

Claims

1. A first master and a second master managing the control of the drive system; An EtherCAT communication-based redundant master and slave system comprising: a slave connected to the first master and the second master via a ring network and performing operation of the driving system under the control of the first master and the second master.

2. In Paragraph 1, The above slave is, A first DSP connected to the ring network including the first master; and An EtherCAT communication-based redundant master and slave system characterized by including a second DSP connected to the ring network including the second master.

3. In Paragraph 1, An EtherCAT communication-based redundant master and slave system characterized by being connected between the first master and the second master via a master-to-master connection line that ensures real-time capability using EAP (EtherCAT Automation Protocol).

4. In Paragraph 2, An EtherCAT communication-based redundant master and slave system characterized by being connected between the first DSP and the second DSP via a slave connection line using DPRAM (Dual Port SRAM) communication.

5. In Paragraph 1, An EtherCAT communication-based redundant master and slave system characterized in that at least one of the slaves is connected to the ring network, and the ring network between the first master and the second master and the slave, or between the slaves, is connected by a ring network connection line using ECAT (EtherCAT; Ethernet for Control Automation Technology), a high-performance Ethernet-based communication protocol used in industrial automation and control systems.

6. In Paragraph 2, An EtherCAT communication-based redundant master and slave system characterized by the first master, the second master, the first DSP, and the second DSP increasing the heartbeat by a certain value at a certain period and transmitting it through a connection line between masters, a connection line within slaves, and a ring network connection line.

7. In Paragraph 6, The first master analyzes whether there is a problem with the heartbeat of the second master among the heartbeats received from the ring network connection line, and transmits the heartbeat of the first master to the second master, and An EtherCAT communication-based redundant master and slave system characterized by the second master analyzing whether there is a problem with the heartbeat of the first master among the heartbeats received from the ring network connection line and transmitting the heartbeat of the second master to the first master.

8. In Paragraph 7, An EtherCAT communication-based redundant master and slave system characterized by the above slave adding the slave's heartbeat to the heartbeat received from the ring network connection line and transmitting it to the ring network connection line.

9. In Paragraph 8, The first DSP adds the heartbeat of the first DSP to the heartbeat received from the ring network connection line and transmits it to the second DSP, and subsequently, the second DSP adds the heartbeat of the second DSP and transmits it to the ring network connection line, An EtherCAT communication-based redundant master and slave system characterized in that the second DSP adds the heartbeat of the second DSP to the heartbeat received from the ring network connection line and transmits it to the first DSP, and subsequently the first DSP adds the heartbeat of the first DSP and transmits it to the ring network connection line.

10. In Paragraph 9, An EtherCAT communication-based redundant master and slave system characterized by determining a network failure when the heartbeat is not received a certain number of times or the same value is received in a network between the first master and the second master, between the first master and the first DSP, between the second master and the second DSP, and between the first DSP and the second DSP.

11. In Paragraph 10, An EtherCAT communication-based redundant master and slave system characterized in that the first master, the second master, the first DSP, and the second DSP determine the failure of the first master, the second master, the first DSP, and the second DSP based on a combination of network failures.

12. A drive system control step that manages the control of the drive system in the first master and the second master; and An EtherCAT communication-based redundant master and slave method comprising: a driving system driving step in which the driving system is driven by the control of the first master and the second master, and the slave is connected to the first master and the second master via a ring network.

13. In Paragraph 12, In the above-mentioned drive system driving step, An EtherCAT communication-based redundant master and slave method characterized by including connecting to the ring network containing the first master at the first DSP and connecting to the ring network containing the second master at the second DSP.

14. In Paragraph 12, An EtherCAT communication-based redundant master and slave method characterized by being connected between the first master and the second master via a master-to-master connection line that ensures real-time capability using EAP (EtherCAT Automation Protocol).

15. In Paragraph 14, An EtherCAT communication-based redundant master and slave method characterized by being connected between the first DSP and the second DSP via a slave connection line using DPRAM (Dual Port SRAM) communication.

16. In Paragraph 12, An EtherCAT communication-based redundant master and slave method characterized in that, in the driving stage of the above-described driving system, at least one of the slaves is connected to the ring network, and the ring network between the first master and the second master and the slave, or between the slaves, is connected by a ring network connection line using ECAT (EtherCAT; Ethernet for Control Automation Technology), a high-performance Ethernet-based communication protocol used in industrial automation and control systems.

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