171 results about "EtherCAT" patented technology

The invention discloses a communication method, system and equipment based on an improved Ethercat protocol, and the method comprises the steps: carrying out the analysis of a message frame when the message frame is received, and obtaining the address information in the message frame; performing data positioning according to the address information, and determining a target sub-protocol data unit corresponding to the slave station; executing an instruction in the target sub-protocol data unit to obtain an operation result; and when the target sub-protocol data unit is the last sub-protocol data unit, storing the operation result to an operation result feedback field of the target sub-protocol data unit. In the application, through optimization of the WKC fields, the WKC fields included in the sub-protocol data unit are reduced, the space waste of the data frame is reduced, and the transmission efficiency is improved.

The invention discloses a laser marking control card and a laser processing system, and the control card comprises a kernel module and a bus interconnection module connected with the kernel module. The control card is also provided with an input power interface for receiving an external 24V direct-current power supply, an Ethernet interface for being connected with external EtherCAT equipment, an EtherCAT interface for being connected with an industrial personal computer and a serial port for debugging; the control card is also provided with a galvanometer control interface, a motion shaft control interface and a shaft limiting interface; wherein the galvanometer control interface is connected with a galvanometer, the motion axis control interface is connected with a motion platform, and the laser interface is connected with a laser for real-time synchronous linkage control. Aiming at the problems of an existing laser marking control card, high integration and real-time synchronous linkage of motion control, galvanometer control and laser control are achieved through the integrated control card, and the speed, precision and intelligent level of laser processing are remarkably improved.

The invention discloses an EtherCAT master station distributed clock synchronization method based on an ARM and an FPGA, and relates to the technical field of industrial control, the method comprises the following steps: S1, using an FPGA chip integrated with the ARM and programmable logic resources to construct an EtherCAT master station distributed clock module, the ARM and the programmable logic resources interacting through an internal AXI interconnection bus; s2, the programmable logic resource obtains an enable signal sent by the ARM end, and if the enable signal is 1, the master station performs topology scanning, delay calculation, clock compensation and dynamic drift compensation operations on the slave station to obtain a delay compensation value and a local clock compensation value of the slave station; s3, after compensation is completed, the state machine of the master station automatically jumps to a synchronous signal generation module, SYNC parameters are obtained from the ARM end, and SYNC signal starting time of the slave station is calculated according to the SYNC parameters; s4, respectively converting the delay compensation value, the local clock compensation value and the starting time of the slave station into message information, sending the message information to the slave station, adding 1 to the address of the slave station, and returning to the step S1 until the distributed clock configuration of all the slave stations is completed; the EtherCAT master station distributed clock synchronization method solves the problem that a synchronization (SYNC) signal generated after a distributed clock algorithm is started is unstable, and shows potential and value in the field of higher-frequency slave station synchronization.

The invention relates to the technical field of clock synchronization, in particular to a clock synchronization method of a master station system based on EtherCAT, which comprises the following steps: when a master station periodically sends time synchronization frames to all slave stations, collecting slave station feedback time data, respectively calculating a clock offset value between master time and slave time, and simultaneously, calculating a clock offset value between the master time and the slave time; constructing a master-slave offset time feature matrix according to the collected multi-periodic data, extracting initial static offset, an offset fluctuation trend and offset collaboration features among multiple slave stations from the constructed master-slave offset time feature matrix, and determining an initial estimation set according to the extracted features; constructing a master-slave offset prediction set based on the initial estimation set, and performing master-slave clock offset adaptive compensation correction based on the determined master-slave offset prediction set; according to the method, the initial offset estimation set is constructed, the offset trend estimation function is introduced, secondary fitting of the offset sequence of each slave station node is achieved, and it is ensured that the prediction precision is remarkably improved through an error comparison mechanism.

The invention discloses a laser processing controller, a processing system and a processing control method.The laser processing controller comprises a digital processing module, an EtherNET interface, an EtherCAT IN interface and an EtherCAT OUT interface, the EtherNET interface is connected with the digital processing module, the EtherCAT IN interface and the EtherCAT OUT interface are connected with the digital processing module, the EtherCAT IN interface is used for receiving state data of slave station equipment in an EtherCAT network, and the EtherCAT OUT interface is used for receiving the state data of the slave station equipment in the EtherCAT network; the EtherCAT OUT interface is used for transmitting a control instruction of the digital processing module to the EtherCAT slave station equipment; the galvanometer interface is connected with the digital processing module, and the galvanometer interface is used for converting the control instruction of the digital processing module into galvanometer parameters conforming to a galvanometer standard protocol and transmitting the galvanometer parameters to a galvanometer; and the laser device interface is connected with the digital processing module, and the laser device interface is used for converting the control instruction of the digital processing module into laser parameters and transmitting the laser parameters to a laser device. The synchronous precision and compatibility of multiple devices are improved, the machining precision and efficiency are improved, the limitation of a traditional system is solved, and the high-precision machining requirement is met.

The invention relates to a real-time hybrid test control and test system and method based on a Linux-RT system and application, and belongs to the technical field of real-time hybrid tests of structural engineering. Comprising the following steps of: realizing deterministic conversion of states by adopting a real-time system manager of a singleton mode and an atomic state variable; according to the real-time executor based on the SCHEDFIFO scheduling strategy, affinity binding of a high-priority thread and a CPU is set, and periodic task scheduling of microsecond-level precision is achieved; a lambda functional programming data processing pipeline is adopted, and efficient data transmission of a filter chain is achieved through a zero copy mechanism; multi-protocol communication interfaces of UDP (User Datagram Protocol), EtherCAT (Ethernet Control Automation Technology) and WebSocket are supported, and a uniform abstraction layer is provided to realize low-delay data exchange between a numerical value and a physical substructure; and a real-time performance monitoring module adopting an exponential moving average algorithm provides accurate statistics of execution time and jitter.

The application discloses an EtherCAT master station clock synchronization method and system. The method comprises the following steps: determining whether the current master station clock drift value is less than the clock drift threshold value; in response to the current master station clock drift value being not less than the clock drift threshold value, adjusting the master station clock according to the master station clock drift value until the master station clock drift value is less than the clock drift threshold value; in response to the current master station clock drift value being less than the clock drift threshold value, sending multiple periodic data frames by the master station and calculating the drift values of the multiple periodic data frames; obtaining the predicted periodic data frame drift value based on the drift values of the multiple periodic data frames; and adjusting the period of the master station clock for sending the periodic data frame based on the predicted periodic data frame drift value. By using the scheme, the clock drift between the master station and the slave station can be reduced, and the clock synchronization accuracy can be improved.

The invention discloses a fault processing method and device and a storage medium, and relates to the technical field of digital information transmission, and the method comprises the steps: when a communication link between a first EtherCAT slave station and a previous EtherCAT station is detected to be interrupted, when a message frame in a preset format is received, sending the message frame to a first EtherCAT slave station; judging whether a message index corresponding to the message frame is written into a message initial index register of the first EtherCAT slave station or not; if yes, modifying a circular flag bit field in the message frame from 0 to 1 to obtain a modified circular flag bit field; and the modified message frame is sent to a second EtherCAT slave station, so that the second EtherCAT slave station carries out discarding operation on the message frame based on the modified circular flag bit field, and the second EtherCAT slave station is an EtherCAT slave station which is located at the downstream of the first EtherCAT slave station and has the smallest distance from the first EtherCAT slave station. The technical problem that when link interruption occurs between slave stations in an EtherCAT protocol scene, the message continuously oscillates in a disconnected loop is solved, so that continuous oscillation of the message is prevented, and the stability and reliability of a system are improved.

The invention discloses a CT scanning bed control method and system based on EtherCAT motion control, and the method comprises the steps: selecting a scanning mode according to a scanning demand, and calculating a motion parameter corresponding to the scanning mode; receiving the scanning mode and the motion parameter information, and converting the scanning mode and the motion parameter information into a motion mode instruction of the scanning bed through TCP protocol processing; receiving the motion mode instruction, and converting the motion mode instruction into an EtherCAT protocol format; and receiving the motion mode instruction in the EtherCAT protocol format, and controlling the scanning bed to act through the servo driver based on the motion mode instruction in the EtherCAT protocol format so as to complete a scanning task. EtherCAT full duplex communication is adopted, so that data transmission is more timely and accurate, and high-speed and stable information interaction is realized; a sine line planning model is introduced, the motion trail of the scanning bed can be accurately planned according to different scanning modes, motion errors and jitter are reduced, and the CT scanning precision is improved.

The invention discloses an EtherCAT master station synchronous control method and system based on a microkernel operating system, and belongs to the technical field of industrial automation field bus control. According to the system, a microkernel architecture is adopted, an EtherCAT protocol stack and a universal network protocol stack are deployed as two independent user mode processes, and data interaction is carried out through an inter-process communication and shared memory mechanism provided by a microkernel. According to the method, through a bidirectional dynamic clock compensation mechanism, static compensation in an initialization stage and dynamic compensation in an operation stage of a system are combined; a dynamic task scheduling strategy based on load awareness is adopted, and the task execution sequence is dynamically adjusted according to the CPU utilization rate and the task priority monitored in real time; a hardware redundancy design of double clock sources and double communication links is introduced, and a progressive synchronous recovery strategy is adopted during switching. According to the invention, nanosecond-level synchronization precision and microsecond-level fault switching can be realized, and the method is suitable for industrial control scenes with extremely high requirements on real-time performance and reliability.

The invention provides a dynamic redundancy transmission method and system based on EtherCAT to Profinet, and a storage medium, and the method comprises the steps: analyzing a data frame through an EtherCAT protocol controller, and determining an operation priority according to an operation instruction; according to the operation priority, storing the operation instruction in a corresponding interrupt storage area or polling storage area; extracting a second instruction based on the priority according to a preset instruction extraction mechanism, and mapping and converting the second instruction into a corresponding Profinet protocol data frame; based on the link state of the feedback instruction of the Profinet protocol data frame, if it is judged that the link is abnormal, starting a redundant transmission port; according to the method, key instructions are processed preferentially through instruction double-area storage, and the instruction real-time requirement is met; and double bottlenecks of industrial network bandwidth and reliability are solved through a protocol mapping table.

The invention relates to the technical field of industrial internet, in particular to an SDN (Software Defined Network) multi-access interconnection architecture system for a complex industrial scene. Comprising a multi-access field layer module, a multi-access service flow control layer module, an SDN (Software Defined Network) exchange layer module and a unified management and control platform, an extensible protocol rule base is arranged in the multi-protocol analysis interconnection terminal, dynamic analysis and fusion of 10 + industrial protocols such as Modbus, Profinet and EtherCAT are supported, protocol islands are eliminated, hot plug updating of protocol description files is supported, and newly-added protocols do not need to be upgraded in a shutdown mode; the semantic mapping engine converts original data into standardized semantic information through a knowledge graph to realize cross-protocol data intercommunication; compared with a traditional gateway which needs to deploy independent equipment for each type of protocols, the method can process multiple protocols, the hardware cost is reduced by 60%, and the deployment efficiency is improved by three times.

The invention provides an EtherCAT protocol fault injection test system and method. Comprising a management control module used for generating a fault injection configuration and control instruction; the simulation slave station module is used for establishing a register and interface model of a slave station controller, generating a virtual slave station topology according to a network configuration file and communicating with the master station; the multi-level fault injection engine is used for implementing injection in a link layer and an application layer according to fault injection configuration; a trigger control unit for determining a trigger condition according to a communication state transition, an initialization command, a specific mailbox transaction, a frame count, or a time window; the injection execution unit is used for presetting hanging points of message generation and analysis, storage mapping and synchronous management processing and object dictionary access and file transmission processing; and the test arrangement and judgment module is used for judging the receipt record and the state of the master station according to a preset rule and outputting a judgment result. According to the invention, multi-level accurate fault injection, automatic replayable testing and unified observation determination can be realized.

The invention discloses a virtual servo full-closed-loop control system and method based on EtherCAT. An EtherCAT master station module sends a control instruction to a virtual servo full-closed-loop control module based on a standard EtherCAT protocol; the virtual servo driver can realize local execution of full-closed-loop control, and the corresponding control process comprises the following steps: obtaining a control instruction, and analyzing to obtain an instruction position; decoding is carried out according to the motion signal transmitted by the displacement feedback device to obtain an actual position, a compensation control quantity is obtained according to the actual position and the instruction position, a correction instruction is obtained according to the instruction position and the compensation control quantity, and the correction instruction is transmitted to the servo driver only supporting semi-closed-loop control; and the servo driver only supporting semi-closed-loop control completes full-closed-loop motion control on the servo driving working module according to the correction instruction. According to the invention, the problems of protocol fragmentation, incomplete functions, insufficient control performance and high upgrading cost in the prior art are fundamentally solved.

The invention provides an EtherCAT message processing method and device, equipment, a medium and a product. Relates to the industrial communication field. The method comprises the following steps: receiving an Ethernet control automation technology EtherCAT message sent by master station equipment, wherein the EtherCAT message comprises at least one destination address; determining a target virtual slave station corresponding to at least one destination address in the plurality of virtual slave stations; and processing the EtherCAT message through the target virtual slave station. According to the method provided by the invention, a process of processing the data by the virtual slave station based on the EtherCAT protocol is provided, a unified message data processing framework is used, redundant development of the virtual slave station on the data processing process is reduced, and the maintainability and expansibility of the system are improved.

The invention relates to the technical field of communication, discloses an EtherCAT communication system and method based on a dual-kernel architecture and a robot control system, and aims to solve the problems of dispersed task scheduling and poor real-time performance of an existing scheme, and the scheme mainly comprises an NRT-APP, an RT-APP, a Linux kernel, a Xenomai kernel, an EtherCAT-APP-Manage module, an EtherCAT-Master module and an EtherCAT network card driving module. The NRT-APP runs in a Linux kernel and is used for receiving a non-real-time task, and the RT-APP runs in a Xenomai kernel and is used for receiving a real-time task; the EtherCAT-APP-Manage module runs in a Xenomai kernel and is used for receiving a non-real-time task and a real-time task through an NRT interface and an RT interface respectively, managing and configuring slave station equipment according to the non-real-time task, creating an RT-Task thread with the highest priority according to the real-time task and performing data interaction of the real-time task with the slave station equipment; the EtherCAT-Master module runs in a Xenomai kernel, the EtherCAT network card driving module runs in the Xenomai kernel and is isolated from a Linux kernel, and the EtherCAT-Master module is used for calling the EtherCAT network card driving module according to an RT-Task thread and carrying out real-time task data interaction with slave station equipment.

The invention relates to the technical field of data communication, in particular to a gateway configuration method and system of a wind power programmable controller. The method comprises the steps that a PLC configuration tool judges whether a current to-be-configured EtherCAT slave station is a gateway slave station or not according to a gateway configuration file; if the slave station is not the gateway slave station, gateway configuration is not carried out; if the slave station is a gateway slave station, an ES node of the slave station is created, an EAG child node is created under the node, the communication protocol type of a downstream protocol is determined through the EAG child node, and node information of the ES node and the communication protocol type are stored. And performing engineering compiling on the node information of the ES node and the configuration information of the downstream protocol to generate a binary engineering file, and downloading the binary engineering file to the PLC. And the PLC analyzes the file, obtains the configuration information of the EtherCAT bus equipment, starts the EtherCAT master station according to the information, reads the state machine transfer state when the master station is started, and finally completes the gateway configuration of the EtherCAT slave station.

The charging system comprises a charging terminal and a charging host. The charging terminal comprises a charging circuit which is used for charging the electric vehicle; the IO module is connected with a sensor, and the sensor is used for collecting monitoring information of the charging terminal where the sensor is located. The charging host comprises a programmable logic controller (PLC) control module, and the PLC control module is used for obtaining the monitoring information of the charging terminal and adjusting the output current or power of the charging terminal according to the monitoring information. The charging terminal and the charging host are in communication connection through an industrial Ethernet EtherCAT. According to the charging system provided by the embodiment of the invention, the integration level and the control efficiency can be improved, the maintenance and upgrading operation is simplified, and the overall performance and adaptability are improved.

The application provides a numerical control EtherCAT master station bandwidth adaptive scheduling and link fault bypass control system and method, belongs to the numerical control system industrial Ethernet bus control technical field, and the system comprises a heterogeneous multi-core processor, a field programmable gate array, a local bus, a gigabit Ethernet physical layer unit and a storage unit; the heterogeneous multi-core processor contains a high-performance computing core and a low-power control core, is interconnected with the field programmable gate array through the local bus, and executes physically isolated task scheduling; the field programmable gate array solidifies message preprocessing filtering, message hardware shunting, bandwidth clipping and a multi-channel hardware bypass switch array module, each module is cascaded in cooperation according to a data flow direction, message hardware unloading, bandwidth dynamic adjustment and fault bypass topology reconstruction are realized. The application reduces bus cycle jitter, improves bandwidth utilization efficiency and link fault tolerance capability, and is suitable for high-end numerical control machine tool multi-axis linkage control scenes.

This invention discloses an EtherCAT wired-to-wireless robotic arm control system, comprising a management center PLC, a robotic arm wireless communication management center, multiple robotic arm wireless communication terminals, and multiple communication terminal lower-level PLCs. The management center PLC is connected to the robotic arm wireless communication management center via an EtherCAT bus. The robotic arm wireless communication management center is connected to the multiple robotic arm wireless communication terminals via frequency hopping wireless communication technology (FHSS). Data transmission between the robotic arm wireless communication terminals and the robotic arm wireless communication management center is performed using an encryption algorithm. Each of the multiple robotic arm wireless communication terminals is connected to one of the multiple communication terminal lower-level PLCs via an EtherCAT bus. This invention employs FHSS frequency hopping technology, effectively avoiding the influence of operating conditions and electromagnetic interference signals, thus effectively ensuring work efficiency.

The application relates to a firmware updating method and system of an EtherCAT slave station network, and the system comprises an EtherCAT master station and a network composed of multiple EtherCAT slave stations of the same type in cascade, the EtherCAT master station obtains the erasing loss of an external Flash chip of each EtherCAT slave station, determines one EtherCAT slave station as a relay slave station and other EtherCAT slave stations as edge slave stations; the FoE protocol is used to transmit firmware data to be updated to the relay slave station; a reset instruction is sent to the edge slave stations and the relay slave station, the relay slave station starts a TFTP service, and the updating is completed based on the received firmware data to be updated; and the edge slave stations acquire the firmware data to be updated from the relay slave station through a TFTP protocol and complete the updating. Compared with the prior art, the application adopts a two-stage updating mechanism, saves firmware updating time, balances the Flash wear through cyclic allocation of storage areas, significantly shortens the updating time and improves the system reliability.

This invention belongs to the technical field of program control systems, specifically relating to an EtherCAT master station system based on Qt and a multi-task scheduling method. The system includes a human-computer interaction module, a task scheduling management module, an EtherCAT master station protocol stack function module, an XML slave configuration file parsing module, a network communication module, and a serial communication module. The human-computer interaction module includes real-time business display and control, online debugging of EtherCAT communication data, basic business configuration and modular debugging, and system authentication. The task scheduling management module includes system working status management, complex business data processing, and task scheduling. The EtherCAT master station protocol stack function module includes real-time data processing of the controlled object, business control logic management of the controlled slave station, EtherCAT master station initialization process, and interface implementation of the controlled object's business processing process. This invention significantly improves the development efficiency and system performance of the EtherCAT master station system, meeting the requirements of modern industrial control systems for real-time performance, stability, and user experience.

The invention relates to the technical field of industrial communication and FPGA virtualization, in particular to an FPGA-based virtual Ethercat slave station function implementation method, which comprises the following steps of: pre-storing a plurality of sets of independent virtual slave station parameter configuration tables in a BRAM (Border Random Access Memory) of an FPGA, switching responses according to time slices in a sequence of the configuration tables during topology scanning of a master station, and simultaneously injecting programmable transmission delay to simulate physical link difference; in the operation stage, a data frame logic address is extracted through a hardware analysis engine, multi-slave-station data field modification is completed in a single cycle through a multi-channel parallel processing unit, protocol compatibility is guaranteed through a mailbox command agent, and finally a CRC check code is updated and a response is returned according to a virtual topological sequence. According to the method, a single FPGA supports multiple virtual slave stations, the deployment cost of the multiple slave stations is remarkably reduced, the hard real-time performance and the protocol compatibility are guaranteed, the resource utilization rate is improved, the slave stations can be dynamically added and deleted by updating the configuration table, and the core problems that an existing scheme is high in cost, poor in real-time performance and weak in expansibility are effectively solved.

This invention relates to the field of EtherCAT bus control, and more particularly to a multi-axis compliant interpolation synchronization method based on EtherCAT. This invention calculates the maximum distribution quantity d. max The maximum distribution L during the increasing phase of the distribution is below. ac The maximum distribution L during the decreasing phase of the distribution de According to L ac +L de With l rem The invention determines the starting segment number N0, ending segment number N1, ending segment number N2, and total interpolation segment number N3 based on the magnitude of the distribution increase. It then calculates the required main axis distribution for the first N interpolation cycles and uses this calculated main axis distribution to calculate the slave axis distribution. This invention improves the speed smoothness of the cutting machine, reduces interpolation cycles while maintaining cutting accuracy, increases operating speed during intermediate interpolation cycles, and does not affect the vibration caused by corner speed changes at the transition points.

According to the high-power-density three-in-one EtherCAT driver and the circuit thereof, a main control circuit board and a power supply circuit board are integrated in the same shell, and a power line wiring end, a power line wiring end, a communication line wiring end and an encoder are all installed in a centralized mode and electrically connected with the main control circuit board, so that three-in-one functions of driving, power supply and communication are achieved; the system integration degree is greatly improved, traditional scattered configuration of multiple single-shaft drivers is replaced, the overall size of equipment is remarkably reduced, and the installation space is saved; by adopting a centralized wiring design and cooperating with an EtherCAT communication technology, the number of redundant cables in a traditional scheme can be greatly reduced, for example, the number of wire duct cables of 50 motor devices is reduced from 151 to 2, the wire duct load rate is effectively reduced, and the wiring and maintenance process is simplified; meanwhile, line length is shortened, signal transmission nodes are reduced, signal interference is effectively reduced, and control precision and system stability are improved.

The application discloses an EtherCAT master station synchronization control method and system based on a microkernel operating system, and belongs to the technical field of industrial automation fieldbus control. The system adopts a microkernel architecture, deploys an EtherCAT protocol stack and a general network protocol stack as two independent user state processes, and carries out data interaction through an inter-process communication and shared memory mechanism provided by the microkernel. The method combines static compensation in the system initialization stage and dynamic compensation in the running stage through a bidirectional dynamic clock compensation mechanism, adopts a dynamic task scheduling strategy based on load sensing, dynamically adjusts the task execution order according to the real-time monitored CPU usage and task priority, introduces a hardware redundancy design of double clock sources and double communication links, and adopts a gradual synchronization recovery strategy during switching. The application can realize nanosecond-level synchronization accuracy and microsecond-level fault switching, and is suitable for industrial control scenes with extremely high real-time and reliability requirements.

The present invention discloses an automatic precise positioning hot stamping process, a hot stamping control system and a device. The hot stamping control system includes a hot stamping head module, a hot stamping box body module, a visual recognition and processing module, a tension control module, a sensor detection module, a temperature control module, a film winding servo control module, an alarm display module, a touch screen monitoring module and a PLC control module; the sensor detection module, the visual recognition and processing module and the touch screen monitoring module transmit data to the PLC control module through EtherNet / IP, and the PLC control module transmits data to the hot stamping head module, the hot stamping box body module, the film winding servo control module and the tension control module through EtherCAT; the hot stamping device includes a frame, a bottom plate is fixed on the frame, a film feeding mechanism, a film winding mechanism, a box body placing mechanism, a hot stamping mechanism and a visual mechanism are arranged on the bottom plate, the box body placing mechanism is located between the film feeding mechanism and the film winding mechanism, and the visual mechanism moves forward and backward and left and right following the hot stamping mechanism.

The invention provides a protocol conversion method from multiple Modbus master stations to EtherCAT slave stations, and relates to the technical field, and the method comprises the steps: collecting the data of multiple Modbus slave station devices in parallel through at least two paths of independent Modbus master station communication interfaces, or issuing an instruction to the Modbus slave station devices; the method comprises the following steps of: analyzing acquired Modbus protocol data by running a core control module of a real-time operating system, and packaging the analyzed effective data into an EtherCAT slave station protocol data packet; or, analyzing the received EtherCAT protocol data packet, and converting the EtherCAT protocol data packet into a Modbus protocol instruction; and through the EtherCAT slave station module, sending the packaged EtherCAT slave station protocol data packet to an EtherCAT master station, or receiving an instruction data packet from the EtherCAT master station and transmitting the instruction data packet to the core control module.

The present invention belongs to the field of vacuum measurement technology, and in particular relates to a slave capacitance thin film vacuum gauge readout device based on an EtherCAT bus. The device comprises a slave capacitance thin film vacuum gauge readout device based on an EtherCAT bus, comprising: an excitation signal generating module, a sensor interface module, a current-voltage conversion module, a bandpass filtering module, a precision rectification and filtering module, an analog output interface module, an analog-to-digital conversion module, a control circuit module, an EtherCAT bus module, and a power supply module. The slave capacitance thin film vacuum gauge based on the EtherCAT bus can be easily connected to the EtherCAT industrial Ethernet bus and has the characteristics of accurate data collection, high transmission efficiency, and simple wiring.

The application relates to a robot friction-induced vibration suppression method and an industrial robot, and belongs to the technical field of industrial robots. The robot friction-induced vibration suppression method comprises the following steps: S1. designing a high-frequency sinusoidal speed signal, generating a high-frequency sinusoidal speed signal with a variable constant a in amplitude and a variable constant b in frequency; S2. combining the high-frequency sinusoidal speed signal obtained in step S1 with a desired speed of a robot joint to obtain a corrected speed instruction; and S3. issuing and executing the speed instruction: the corrected speed instruction synthesized in step S2 is issued to a servo driver of the robot through an EtherCAT bus at a preset period through an upper computer, the speed instruction is executed by an internal speed loop of the servo driver, and the robot joint is driven to move. The application offsets friction disturbance through an adjustable high-frequency signal, guarantees the real-time performance of the instruction through EtherCAT, dynamically starts and stops to adapt to working conditions, and improves the operation stability of the robot, and has the advantages of simple debugging, low cost and strong robustness.