123 results about "EtherCAT" patented technology

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 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 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 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 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 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 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.

The utility model discloses a stainless steel wafer material punch forming automatic feeding device, a stainless steel wafer material punch forming automatic feeding mechanism and an EtherCAT bus server protection assembly, and is characterized in that the EtherCAT bus server protection assembly comprises a protection shell, two side ends of the protection shell are fixedly provided with fixing blocks, and the fixing blocks are fixedly connected with the stainless steel wafer material punch forming automatic feeding mechanism and the EtherCAT bus server protection assembly. The fixing block is connected and fixed to one end side of the stainless steel wafer material punch forming automatic feeding mechanism through a fixing bolt, a first cover plate and a second cover plate can be opened and closed, an EtherCAT bus server body is effectively protected, a sliding rod can slide in a sliding groove in a protective shell, and the sliding rod can slide in a sliding groove in the protective shell. According to the utility model, the movable plate is driven to move up and down, so that the EtherCAT bus server body is effectively protected and is prevented from being easily collided by an external object, an operator can conveniently carry out daily maintenance or emergency maintenance, the EtherCAT bus server body can be effectively protected from external impact or damage, and the service life of equipment is prolonged.

The invention provides a multi-channel parallel operation equipment synchronous control method based on an EtherCAT distributed clock, and the method is used for controlling a plurality of charging and discharging channels which are connected in parallel to synchronously execute the starting, switching or stopping operation of current, and the plurality of charging and discharging channels serve as EtherCAT slave stations to be connected to an EtherCAT master station. The method comprises the following steps: S1, configuring the EtherCAT master station and all the EtherCAT slave stations to be in a DC distributed clock synchronization mode, so that each EtherCAT slave station aligns a distributed clock with a reference clock to realize nanosecond-level time synchronization precision; wherein the distributed clock has a nanosecond level time resolution; and high-precision time alignment between the master station and each slave station can be realized by utilizing a DC distributed clock technology of EtherCAT. And at a set moment, all EtherCAT slave stations almost simultaneously trigger DC clock interruption, and switching operation of a current target value of a controller is executed in the high-priority interruption service function, so that synchronous control of current starting, switching and stopping among a plurality of channels is realized, and a synchronization error can reach a nanosecond level.

The application discloses a virtual servo full-closed loop control system and method based on EtherCAT, wherein an EtherCAT master module sends a control instruction to a virtual servo full-closed loop control module based on a standard EtherCAT protocol; a virtual servo driver can realize local execution of full-closed loop control, and a corresponding control process comprises the following steps: obtaining the control instruction and analyzing the instruction position; decoding an actual position from a motion signal transmitted by a displacement feedback device, obtaining a compensation control amount according to the actual position and the instruction position, obtaining a correction instruction according to the instruction position and the compensation control amount, and transmitting the correction instruction to a servo driver supporting only semi-closed loop control; and the servo driver supporting only semi-closed loop control completes full-closed loop motion control on a servo driving work module according to the correction instruction. The application fundamentally solves the problems of protocol fragmentation, incomplete functions, insufficient control performance and high upgrade cost in the prior art.

This invention relates to a method and apparatus for implementing an EtherCAT master system without an operating system. The method includes: adapting the SOEM protocol stack to the hardware abstraction layer of the EtherCAT master by using byte order processing based on bitmasks and a phased shift strategy, and EtherCAT frame transmission and reception control based on circular buffer index management; adapting the SOEM protocol stack to the operating system abstraction layer of the EtherCAT master by using non-real-time task priority scheduling based on hardware timers, a single-threaded event-driven main loop, and a blocking communication synchronization mechanism combined with timer timeout monitoring; and adapting the EtherCAT master application layer through network scanning and communication parameter configuration, a memory management mechanism based on CoE standard mapping, and the periodic position mode of slave stations. This invention achieves an operating system-free EtherCAT master system and microsecond-level communication jitter by optimizing and adapting the SOEM protocol stack.

The utility model provides an EtherCAT control system, and relates to the technical field of control. In the utility model, the EtherCAT control system comprises an EtherCAT master station device, an EtherCAT slave station device and a controlled device, the EtherCAT master station equipment is connected with the EtherCAT slave station equipment through a first transmission line; wherein the first transmission line is used for optical signal transmission between the EtherCAT master station equipment and the EtherCAT slave station equipment; the EtherCAT slave station equipment is connected with the controlled equipment through at least one second transmission line; wherein at least one second transmission line is used for digital signal transmission between the EtherCAT slave station equipment and the controlled equipment, and different second transmission lines correspond to different processing modules in the controlled equipment. By adopting the mode, through digital signal transmission, the stability of signal transmission is improved, and the complexity of line connection is reduced.

The invention relates to the technical field of carrier synchronization, in particular to a carrier synchronization method and a synchronization control device based on an FPGA (Field Programmable Gate Array), and the method comprises the three stages of phase preprocessing, phase verification and dynamic synchronization regulation: the FPGA captures Sync0 signals generated by an EtherCAT distributed clock, the Sync0 triggering moment is calibrated to an effective regulation interval in the preprocessing stage, and the Sync0 signals are subjected to dynamic synchronization regulation in the dynamic synchronization regulation stage; phase stability is confirmed through continuous ten Sync0 trigger detection in the verification stage, and phase synchronization and frequency compensation are executed based on the Sync0 in the dynamic adjustment stage; the device comprises an MCU (Microprogrammed Control Unit) and an FPGA (Field Programmable Gate Array) which are integrated with the ESC and form a bidirectional link transmission signal through an IO (Input / Output According to the invention, the EtherCAT distributed clock compensation technology and the FPGA nanosecond time sequence control capability are combined, the Sync0 synchronization precision can reach up to 20ns, the synchronization stability and anti-interference performance are improved through a three-level adjustment mechanism, the dependence of a single host is eliminated, the multi-node cooperation is supported, the problems of low precision, poor stability and limited expandability of a traditional master-slave synchronization method are solved, and the synchronization precision of the Sync0 is improved. The method is suitable for scenes of multi-axis synchronous control, distributed parallel inversion and the like.

The invention discloses a master-slave architecture type multi-shaft printing machine, and relates to the technical field of industrial automation control. The printing machine comprises an upper computer, a scraper mechanism, a printing platform, a visual positioning system and a plurality of motor drivers. The upper computer is integrated with an EtherCAT master station, sequentially communicates with the driver through a bus and determines the logic position of the driver. The core is that an axial position configuration table is pre-stored in the upper computer, and whether the actual equipment identification information of the driver at each position is matched with the expectation or not can be automatically checked. And after the verification is passed, the system obtains a corresponding motion control parameter set from a parameter set template library based on a target process function associated with the axial configuration table, maps a standardized parameter key name to an object dictionary index of a specific driver through a special configuration file, and finally completes parameter one-key issuing by using an SDO service of EtherCAT. According to the invention, automatic and standardized configuration of multi-manufacturer driver parameters is realized, the efficiency and reliability are greatly improved, and the problems of tedious configuration and error proneness in a traditional mode are solved.

This invention relates to the field of laser processing technology, and discloses a laser processing head follow-up control device, system, and method. The follow-up control device includes an EtherCAT slave module for receiving instruction information from an external CNC device and outputting the instruction information to an FPGA master module; an FPGA master module for receiving the height signal input from the laser processing head, performing calculations based on the instruction information input from the EtherCAT slave module to obtain a control quantity, and outputting it to an EtherCAT master module; and an EtherCAT master module for receiving the control quantity output from the FPGA master module and outputting it to an external servo control module; the servo drive module adjusts the height of the laser processing head according to the control quantity. The follow-up control device of this invention can effectively obtain the control quantity of the laser processing head and ensure the accuracy and precision of the control quantity, enabling the system and method using the follow-up control device to achieve independent control of the laser processing head, ensuring system safety and effectiveness, and improving work efficiency and accuracy.

The application discloses a rail vehicle multi-arm type maintenance control system and method, and the system comprises a plurality of mechanical arms, a motion execution mechanism for moving the mechanical arms, an image acquisition mechanism mounted on the mechanical arms and used for acquiring maintenance images, a walking mechanism for moving the rail vehicle multi-arm type maintenance control system, and a controller; wherein a single-process multi-thread EtherCAT master station is arranged in the controller, and the controller is used for respectively performing data interaction with each of the mechanical arms, the walking mechanism, the motion execution mechanism and the image acquisition mechanism in different threads of the EtherCAT network with different cycle periods. The system performance can be maximally exerted while meeting the communication cycle requirements of different functions, and intelligent maintenance is realized.

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