23 results about "EtherCAT" patented technology

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 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.

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.

This invention discloses a fully automatic vertical fish-killing machine control system based on TwinCAT3, belonging to the field of automated control technology for aquatic product processing equipment. The system adopts an open architecture of "PC + TwinCAT3," with EtherCAT fieldbus as the communication core. The hardware consists of a host computer, Beckhoff embedded controller, servo drive unit, sensors, and actuators for transmission, positioning, descaling, cutting, and evisceration. The software is developed based on the TwinCAT3 platform, integrating modules for fish size detection, multi-axis synchronous motion, process timing control, status monitoring, and human-machine interaction. The system acquires fish size parameters through displacement and photoelectric sensors, and relies on servo control and timing logic to achieve coordinated actions of various mechanisms, completing the fully automated fish-killing process. This system has a simple structure, reliable control, and moderate development and debugging difficulty. It solves the problems of asynchronous actions, poor fish adaptability, and insufficient processing accuracy in traditional fish-killing machines, and can meet the automated processing needs of common fish species.

This invention relates to the field of machine vision control technology, and in particular provides a high-precision synchronous control system and method for multiple light sources based on EtherCAT distributed clock. The system includes a master control subsystem that generates nanosecond-level synchronous pulse width modulation waveforms and s-level pulse scheduling commands; a slave control subsystem that generates synchronization signals and outputs them to the master microcontroller unit; an auxiliary Ethernet communication subsystem that establishes a parameter update channel isolated from the EtherCAT real-time data stream; a power management subsystem that generates a primary power supply with high-frequency noise immunity; a multi-channel light source driving subsystem that generates the gate control voltage for MOSFET high-speed switching; and a current sampling and protection subsystem that provides fault isolation and synchronization stability protection. This invention achieves high-precision timing control, strong anti-interference capability, and high-reliability operation of multiple light sources in multi-channel collaborative working scenarios.

This invention relates to the field of communication technology, and particularly to an EtherCAT to Mechatrolink III bus protocol conversion apparatus and method. The apparatus includes: a first receiving unit for receiving a first data interrupt signal and a first synchronization interrupt signal from a first conversion object; a first reading unit for reading first data buffered by the first conversion object according to the first data interrupt signal; a correction unit for correcting the first synchronization interrupt signal to obtain a corresponding second synchronization interrupt signal; a conversion unit for converting the first data into second data; and a first sending unit for sending the second data and the second synchronization interrupt signal to a second conversion object. Through the aforementioned scheme, EtherCAT slave stations and Mechatrolink III master stations can perform protocol conversion while ensuring the synchronization of data transmission.

The application provides a CPU and FPGA-based EtherCAT master station control system, which comprises: a CPU terminal system for respectively communicating with an upper computer, an algorithm server and an FPGA terminal through a CPU terminal peripheral interface; and controlling the FPGA terminal to perform a control operation according to a business logic; an FPGA terminal system for performing analysis and processing on communication data from a slave station system after receiving the communication data from the CPU terminal and / or reading configuration parameters of the CPU terminal, and feeding back the analysis result to the slave station system; an upper computer for respectively configuring parameters of the CPU terminal and the slave station system, and monitoring the running state of the whole system; and an algorithm server for receiving communication data uploaded by the CPU terminal, and feeding back the communication data to the CPU terminal after control calculation is performed on the communication data. Thus, the embodiment adopts a heterogeneous dual-system scheme, and can be applied to a high-speed and high-precision EtherCAT scene.

This invention belongs to the field of industrial automation and discloses an acceleration smoothing multi-axis synchronous control method based on EtherCAT. It constructs acceleration curves for acceleration and deceleration segments using Bézier curves, derives acceleration curve equations, and determines the existence of uniform velocity segments. Based on the acceleration curve equations of the acceleration and deceleration segments, it determines the existence of uniform acceleration and uniform deceleration segments. Based on the determination results, a seven-segment or five-segment S-shaped trajectory structure is constructed. The discrete values ​​of the displacement curves of each segment in the S-shaped trajectory structure are sampled during interpolation cycles to obtain the interpolation length for each interpolation cycle. This length is then executed by the slave servo driver written to the periodic synchronous position control mode by the EtherCAT master station. After each interpolation cycle, the error between the desired displacement and the actual displacement is calculated, and the Bézier curve is fine-tuned. This invention effectively improves the smoothness and compliance of the motion trajectory and can effectively solve the problem of vibration caused by changes in angular velocity during high-speed machining or machining of curved segments with multiple consecutive corners.

The invention discloses a cooperative control system for flexible clamping seedling feeding and multi-station parallel grafting of seedlings, and belongs to the technical field of agricultural machinery. The system comprises a core scheduling layer and a function execution layer, the core scheduling layer comprises a distributed multi-station cooperative control system, is composed of a main controller, a station slave controller, an execution unit and a TSN + EtherCAT hybrid communication network, and realizes global decision and data transmission support; the function execution layer is integrated with a bionic self-adaptive flexible clamping seedling feeding module, a multi-station parallel grafting execution module and a visual guidance and intelligent detection module, a scheduling instruction is issued through a main controller, and the modules feed back a collaborative mechanism of sensing / visual data, so that the whole process of automatic grafting is completed. The seedling body clamping flexibility and the multi-station cooperation efficiency are improved, the grafting precision is guaranteed, the modular design is suitable for multiple seedling bodies, and the device can be widely applied to facility agriculture grafting operation.

The application discloses a kind of virtual slave station and incremental monitoring method and system of EtherCAT bus protocol based on FPGA, it is related to industrial control technical field, the prestorage mechanism of FPGA hardware level parallel processing and shadow configuration register group, the communication continuity and system robustness of EtherCAT bus under the scene of slave station abnormal offline are significantly improved, offline detection and virtual replacement response delay can be compressed to microsecond level, WKC deviation accumulation and main station alarm shutdown caused by link interruption in traditional scheme are completely avoided;At the same time, based on the real-time comparison and deviation number statistics of WKC incremental expected value, communication abnormal node can be accurately positioned and fault early warning is realized, and artificial diagnosis and maintenance cost are greatly reduced.

The embodiment of the application provides a kind of energy storage system and energy storage equipment, belong to energy storage technical field, comprising: master control module, master control module is configured to send instruction signal;Power conversion module;Battery management module;Extension module;Wherein, power conversion module, battery management module and extension module are all connected with master control module by EtherCAT bus, to constitute EtherCAT network, power conversion module, battery management module and extension module are all used to obtain instruction signal by EtherCAT network.The energy storage system provided in the application, power conversion module, battery management module and extension module are connected into EtherCAT network with master control module by EtherCAT bus.After master control module issues instruction signal, since each module is in the same level, therefore, the time interval of each module receiving instruction signal is short, and the data synchronization between modules is high.

This invention discloses a dual-processor EtherCAT motion control integrated machine and control method, belonging to the field of industrial automation control. The integrated machine includes a first processor and a second processor interconnected via a high-speed serial interface. The first processor executes user logic and interpolation algorithms, and manages local I / O and pulse output. The second processor is dedicated to running the EtherCAT master protocol and managing bus slaves. The first processor issues commands to the second processor regarding EtherCAT axes and extended I / O via the high-speed interface and receives status feedback, achieving unified control of pulse axes, EtherCAT axes, and local and remote I / O. The method includes steps such as initialization, command parsing, dual-core collaborative processing, and status synchronization. This invention solves the problems of functional dispersion, insufficient real-time performance, and poor compatibility through heterogeneous division of labor and high-speed interconnection, achieving highly integrated, real-time-efficient, and flexibly expandable motion control.

The utility model provides a low cost, save node, easy wiring module group based on etherCAT agreement, including slave station coupler and at least one group digital quantity IO module group, slave station coupler includes protocol chip, first MCU, power module, first DCDC voltage reducing module and a plurality of first RS485 transceivers, protocol chip and a plurality of first RS485 transceivers all electric connection in first MCU, power module passes through first DCDC voltage reducing module electric connection in protocol chip, first MCU and first RS485 transceiver, wherein a first RS485 transceiver electric connection in a group digital quantity IO module group, the rest every first RS485 transceiver electric connection in up to a group digital quantity IO module group, and digital quantity IO module group includes at least one digital quantity IO module, when digital quantity IO module group in digital quantity IO module is at least two, at least two digital quantity IO module chain connection, solved the prior art in the technical problem of high hardware cost, node occupies many, wiring complex, construction maintenance difficult of etherCAT distributed IO module group.

The application provides an FPGA-based EtherCAT master station topology dynamic control system, comprising: an EtherCAT master station integrated with an FPGA chip, the EtherCAT master station being configured with a main network port and a redundant network port; a plurality of EtherCAT slave stations connected in sequence, the main network port of the EtherCAT master station being connected to a first end slave station of the plurality of EtherCAT slave stations; the FPGA chip being used to confirm that a network topology formed by the EtherCAT master station and the EtherCAT slave stations is in a linear mode or a ring mode according to a connection state of the redundant network port; wherein in the linear mode, the redundant network port is in a disabled state, and in the ring mode, the redundant network port is connected to a last end slave station of the plurality of EtherCAT slave stations; and the FPGA chip is further used to control the connection state of the redundant network port to switch the network topology between the linear mode and the ring mode.

The utility model relates to communication technical field and provide an industrial communication gateway of EtherCAT real -time data conversion MQTT agreement, including processor module, with the memory module of processor module connection, EtherCAT interface module for connecting EtherCAT industrial network, ethernet interface module for connecting MQTT server, data buffer area module includes input buffer area and output buffer area for the conversion data of temporary storage between EtherCAT and MQTT agreement, agreement conversion module for realizing the bidirectional data conversion between EtherCAT agreement and MQTT agreement, the application effectively solves the protocol compatibility problem between industrial control network and cloud platform, significantly reduces the system complexity and implementation cost, provides the key support for the remote monitoring, intelligent analysis and digital transformation of industrial equipment data.

This invention relates to the technical field of automated grinding and polishing with industrial robots, and discloses a collaborative control system and method for belt sanders used in grinding and polishing robots. The collaborative control method is applied to communication and collaborative equipment and specifically includes the following steps: S11: Establishing a real-time communication network based on EtherCAT and Modbus, connecting the robot, belt sander, PLC controller, multi-dimensional force sensor, and 3D vision module to achieve data synchronization and command alignment, generating a unified underlying data platform; S12: Based on the real-time communication network of the underlying data platform, identifying workpiece surface features through the 3D vision module and calling the process database. This invention achieves adaptive matching of belt sander speed and robot trajectory to the workpiece surface through a force-position coupling dynamic collaborative mechanism, overcoming the problems of over-grinding, under-grinding, and uneven surface quality caused by pressure and speed mismatch in grinding complex curved surfaces.

The application discloses a wireless transmission processing system and method, relates to the technical field of wireless transmission, and ensures that the time difference of each data from the mii interface of a sending end to the mii interface of a receiving end is a fixed time difference through full-duplex communication, so as to ensure the real-time performance and stability of the system, and the fixed time difference is greater than the maximum value of the time from the rising edge of the valid signal of the received data of the mii interface of the sending end to the rising edge of the transmission enable signal of the gmii interface of the sending end, so that the time synchronization requirement of EtherCAT is met. Moreover, the ST60 wireless chip is arranged in the first wireless module and the second wireless module, the ST60 wireless chip has the low-delay characteristic of nanosecond level, the distributed clock synchronization jitter of EtherCAT is less than or equal to 1us, that is, the nanosecond-level synchronization requirement of EtherCAT is met, so that the communication synchronization efficiency is improved.

This invention discloses a communication modification method between a robot controller and a multi-functional servo driver, comprising the following steps: S1: Modifying the network card driver of the controller for communication; S2: Configuring the control chip of the multi-functional servo driver so that it can directly control the network card for communication through the network card driver; S3: Setting the communication data composition and communication interaction mode between the controller and the multi-functional servo driver; S4: Formulating the communication protocol rules between the controller and the multi-functional servo driver, and the controller and the multi-functional servo driver send and receive data according to the communication protocol rules and the set communication data composition and communication interaction mode. This invention adapts to the flexible control requirements of multi-power segment drivers, improves communication real-time performance, and enables the controller to adapt to servo units with different configurations without changing the core logic of the controller or using a dedicated EtherCAT slave ESC chip.