257 results about "EtherCAT" patented technology

The invention discloses a linux-based Ethercat maser / slave station control system and method. The system comprises an Ethercat maser station system and an Ethercat slave station system, the Ethercat maser station system finishes computing tasks such as task control and motion control and builds an abstract logic circuit by the aid of a hardware abstract layer, the hardware abstract layer is connected with an Ethercat maser station module, data are encoded into an Ethercat message by the Ethercat master station module according to an Ethercat communication protocol, and the Ethercat message is transmitted to the slave station system by an Ethernet port. A position / speed instruction value is transmitted to a digital interface / analog interface by the aid of real-time high-speed communication between the Ethercat maser / slave stations, the digital interface / analog interface receives a pulse instruction value fed back, the pulse instruction value is transmitted to the master station by the Ethercat slave station system, and the Ethercat master station module obtains the feedback position / speed instruction value and feeds back the position / speed instruction value to a motion controller, so that full-closed loop / semi-closed loop control is finished. The system has the advantage that a motion control system is flexible in networking and wiring, high in communication speed and reliability and low in cost.

The invention relates to an EtherCAT fieldbus system, a master and a slave for the system and a method. The slave is configured to be coupled to the EtherCAT fieldbus. A first configurable memory of the slave stores a first activation list indicating for consecutive bytes of data of an EtherCAT datagram a corresponding fieldbus memory management information or synchronization management information.

Vision system and method. The system includes a vision system, including: a camera, a processor and memory, coupled to the camera, and an EtherCAT interface, coupled to the processor and memory, possibly contained in a chassis, and operable to couple to an EtherCAT network that provides for deterministic low-latency communication between the vision system and devices coupled to the EtherCAT network. The vision system may be configurable to operate as any of: an EtherCAT master device, an EtherCAT slave device, or a TCP / IP Ethernet device. One or more additional vision systems may couple to the EtherCAT network. The vision systems may be synchronized using an EtherCAT distributed clock technique, time-based triggered, and / or event triggered, via the EtherCAT network, e.g., in a multi-view vision, collaborative processing, control, I / O, or video servoing application, e.g., using an EtherCAT deterministic low latency closed loop feedback system, including processing, control, or I / O devices.

The invention discloses a system and a method for automatically testing main control hardware of a fan on the basis of a PLC (Programmable Logic Controller). The testing system comprises a PLC main controller, an extendable data interaction module and a graphical debugging terminal; the data interaction module and a data interaction module of equipment to be tested are subjected to one-to-one interaction by a cable; and the PLC main controller of the testing system is used for rapidly acquiring information of the data interaction module of the testing system in an EtherCAT manner, respectively communicating with a main controller of the equipment to be tested and the graphical debugging terminal on the basis of an ADS (Automation Device Specification) protocol and implementing automatic testing on a loop of the main control system hardware of the fan. The system and the method have the advantages of good extendibility, strong applicability, high repeated utilization rate, reduction on debugging time, improvement on working safety and quality of a main control system of the fan and the like.

The invention relates to a monitoring system for a servo driving system, which comprises a servo driving system, a service computer and a monitoring operation system, wherein the servo driving system supports an EtherCAT bus; the service computer is connected with an EtherCAT interface of the servo driving system and is provided with a supporting real-time network card; the monitoring operation system is arranged in the service computer; and a network card driving module, an EtherCAT driving module, a process data mapping extensible markup language (XML) analysis module, an application communication protocol module and an application module comprising various using functional modules are arranged in the monitoring operation system. The monitoring system can monitor and debug single or a plurality of servo driving systems locally, also can monitor and debug a plurality of servo driving systems remotely. The monitoring system for the servo driving system has the advantages of real-time property, rapidness, accuracy and convenience, and fills a gap of bringing convenience and practicality to monitoring and debugging of the servo driving system on the basis of the real-time Ethernet EtherCAT.

The embodiment of the invention provides an Ethercat master-slave synchronization method and device and a master-slave station system. The method comprises the steps that synchronization configuration stages between Ethercat slave stations are configured in an Ethercat master station, and a fixed configuration period serves as the configuration period of the configuration stages; synchronization configuration stages of the Ethercat master station and the Ethercat slave stations are configured in the Ethercat master station, and synchronization of the Ethercat master station configuration period and the Ethercat slave station synchronization signal period is dynamically determined in the configuration stages. The effect of the configured Ethercat master station is better.

The invention discloses a monitoring system based on an EtherCAT network. The monitoring system comprises the following components including a main station, a plurality of sub stations, a servo control module, a sensing signal module and an image collecting module, wherein the main station and the sub stations support EtherCAT protocols, the main station and the sub stations are connected in series for forming a network segment, the main station is positioned at one end of the network segment, the server control module supports the EtherCAT protocols, the sensing signal module supports the EtherCAT protocols, the image collecting module supports the EtherCAT protocols, each sub station is respectively connected with the corresponding servo control module, the sensing signal module and the image collecting module in series for forming a sub network segment. The monitoring system provided by the invention realizes the monitoring on the seen environment and the remote control operation on an execution mechanism under the long-distance condition, each module part forming the monitoring system respectively supports the EtherCAT protocols, and the monitoring system has the advantages that the network topology structure is flexible, the system configuration is simple, the communication speed is high, the real-time performance is good, the effective data rate is high, and the like.

The invention relates to a vehicle-mounted Ethernet system and a vehicle. The vehicle-mounted Ethernet system includes a vehicle controller equipped with an Ethernet communication module, a gateway, a diagnostic interface and a first vehicle-mounted device; the vehicle-mounted controller is connected with the gateway and the first vehicle-mounted device through the bus architecture of Ethernet control automation technology EtherCAT; the diagnostic interface is connected with the gateway through the bus architecture of the EtherCAT; and the vehicle controller regularly broadcasts clock messages to the gateway, the diagnostic interface and the first vehicle-mounted device. With the vehicle-mounted Ethernet system and the vehicle of the invention adopted, the problem of dynamic delay which is caused by a condition that a switch is used as a monitoring port in an existing vehicle-mounted Ethernet system, and a problem that a measuring tool cannot be applied to an existing vehicle bus system can be solved.

The invention discloses a gateway device between EtherCAT industrial Ethernet and wireless Zigbee and a protocol conversion method of a gateway device. The gateway device comprises a Zigbee wireless module, an EtherCAT module and a central processing module. The gateway device is characterized in that the Zigbee wireless module is in charge of receiving various sensing data and sending various automatic control commands to an instrument and a meter; the central processing module is in charge of EtherCAT drive, data and control interaction processing with the Zigbee wireless module and the EtherCAT module and the realization of an application program; and the EtherCAT module realizes a slave station function and realizes the interaction processing of main station data and control in a distributing type control unit. The invention can realize the combination of a real-time wired high-speed Ethernet EtherCAT and Zigbee wireless sensing technology, bring great convenience to the arrangement and planning of a transmission channel and reduce puzzle and cost brought by great cable construction.

The invention relates to a bus module, in particular to an EtherCAT-based intelligent industrial robot bus module and an operating method thereof. An EtherCAT bus is connected with an embedded microprocessor; two ends of the embedded microprocessor are connected with a DSP (Digital Signal Processor) operation part and a teaching box respectively; a robot movement module, an I / O (Input / Output) module, a force sense module, a visual sense module and the EtherCAT bus form a topological structure. The operating method comprises the steps of selection of software and hardware, regarding of the embedded microprocessor as an EtherCAT master station, control over an EtherCAT slave station through an ESC (Electrical Safety Circuit), control over the robot movement module, control over the I / O module, control over the visual sense module, control over the force sense module and addition of modules. According to the EtherCAT-based intelligent industrial robot bus module and the operating method thereof, an industrial robot is more intelligent.

The invention discloses an EtherCAT-based multi-axis synchronization control device, which comprises a mechanical body part, an AC servo driving part and a control part, wherein the mechanical body part comprises a support platform and a plurality of AC servo motors; the AC servo driving part comprises a plurality of AC servo driver slave stations in one-to-one corresponding connection with the AC servo motors; and the control part comprises a PC master station, which is in circuit connection with the AC servo driver slave stations by means of an EtherCAT network, and used for initializing the EtherCAT network, realizing master and slave clock synchronization of the PC master station and the AC servo driver slave stations as well as clock synchronization among the AC servo driver slave stations, and transmitting position signals to the AC servo driver slave stations. The invention further discloses an EtherCAT-based multi-axis synchronization control method. The EtherCAT-based multi-axis synchronization control device can realize the multi-axis synchronization control and signal acquisition based on an industrial Ethernet EtherCAT protocol.

The invention discloses an EtherCAT motor driver and master station clock synchronization method. An EtherCAT motor driver comprises a slave station controller and a master control MCU, the master control MCU comprises a parallel port module, a synchronization module and a PWM module, and a motor is connected with the EtherCAT motor driver. The synchronization method comprises the steps that S1, after the EtherCAT motor driver receives a request enabling instruction of a master station, a counter of the PWM module is reset during interrupt triggering of an SYNC synchronizing signal; S2, the motor is enabled; S3, the master station sends the clock of the slave station controller and the drift value of the reference clock of the master station to the slave station controller, and the slave station controller adjusts the period number of the PWM module according to the drift value. According to the synchronization method, the load of the master control MCU is greatly reduced, and the method can be suitable for low-performance master control MCUs.

The invention discloses a slave station system and a control method based on EtherCAT. The system comprises a slave station data exchange module used for exchanging data with a slave station controller; the slave station controller used for analyzing and communicating data in a master station controller; an encoder data collection module used for converting multichannel encoder protocols; a switching value input and output module used for collecting a digital input signal and outputting a switching value level control signal; an analog quantity data input and output module used for performinglevel conversion and isolation on the input analog voltage signal, reading analog quantity data and outputting an analog quantity data control signal; and a bus protocol conversion module used for coupling different industrial bus protocols into the EtherCAT protocol. The slave station system solves the problem of the complexity of the control system and the large occupancy of the installation space, and improves the compatibility and universality of different communication protocols.

The invention provides a double-arm robot system in plug-in mounting production. The double-arm robot system comprises two industrial cameras, two laser ranging displacement sensors, two arms, binocular vision cameras and two LED plug-in mounting plates. A system control layer is composed of an industrial computer and a high-speed Ethercat bus. The invention further provides an intelligent control method of the double-arm robot system in plug-in mounting production. The method includes the steps of initiating the system and returning to zero, conducting rough positioning through the binocular vision cameras, sending data to a movement controller to be processed to obtain the laser sensor rotating angle and the laser ranging sensor distance so that precise positioning can be achieved, obtaining coordinates of a target workpiece under a laser ranging system through a positioning algorithm, moving a double-arm robot to the target position according to the coordinates, grapping the workpiece through claws at the tail ends, and placing the workpiece into the device to be assembled to be installed. The double-arm robot system is simple in structure, high in work efficiency and capable of being widely applied to plug-in mounting production of precise assembling of LED automobile lamps and automobile motor claw poles.

The invention relates to a VR system control-based industrial robot teaching system and a teaching method thereof. The system comprises a visual system, a VR system and a robot system. The visual system is used for acquiring, analyzing and processing the overall structure of an industrial robot, parameterizing the image information, and transmitting the information to the VR system through the Ethernet in the TCP / IP mode. The VR system is used for approximately constructing the structural model of an actual robot in a virtual scene according to the image information obtained by the visual system, realizing the simulation motion and transmitting the model in the form of data to the robot system through the EtherCAT, Modbus communication mode. The robot system is used for controlling the robot to generate motions according to the change position information transmitted by the VR system. According to the invention, firstly, the VR technology is combined with the industrial robot technology, and the robot is controlled to complete teaching tasks. Therefore, the teaching precision of the robot can be improved, and the labor intensity of an operator can be relieved. The working enthusiasm of the operator can be improved.

The invention relates to a flow scheduling method for an EtherCAT and a time sensitive network. The flow scheduling method belongs to the technical field of industrial networks, and comprises the steps of: analyzing periodicity and time delay of EtherCAT flow and non-EtherCAT flow in a network, and allocating priorities and TSN flow queues according to characteristics; then, allocating schedulingtime slots to the queues mapped by the EhterCAT flow, and generating a scheduling table; and finally, dividing the non-EtherCAT flow into SR flow, proposing an optimization model by taking the maximumreserved bandwidth in IEEE 802.1 Qat as a constraint condition, solving the optimization model to obtain an optimal idle slope, configuring a reserved bandwidth by utilizing the optimal idle slope, and shortening response time of CBS scheduling, so that reasonable allocation of network resources is realized. Meanwhile, various flow allocation and flow real-time scheduling in the EtherCAT / TSN network can be realized.

The invention discloses a control method of an Ethernet field-bus master station. The control method comprises an Ethernet field-bus master station structure and comprises the following detailed steps of: step a, carrying out initialization on the master station; step b, carrying out configuration on a slave station; step c, carrying out periodic data communication between the master station and the slave station; and step d, when aperiodic data needs to be processed, creating a protocol request and calling a reading or writing function of the protocol by the master station to acquire the aperiodic data. The invention has the beneficial effects that the real-time performance is obviously improved compared with that of the traditional EtherCAT soft and master station based on a Linux system; and by synchronization of the system time of the soft master station to the slave station, the clock synchronization between the master station and the slave station is improved, so that the real-time data interaction is better finished.

The invention relates to a modular joint driver using the EtherCAT bus communication technology. The modular robot driver comprises a core controller, a motor driving unit, a HALL encoder circuit, an NRZ code disc circuit, a band-type brake circuit, a torque sensor bridge circuit, an RS232 communication circuit, an EtherCAT communication circuit, a power source, a state display circuit, an STO and I / O circuit and an application layer program. A control method includes the steps that the core controller executes the program, operates an algorithm and drives a motor to finish three closed loops and realize communication with a mainframe; an ESC control chip and a PHY chip are used for realizing communication of a data link layer and a physical layer of an EtherCAT protocol; the program is written on the core controller to realize the functions of an application layer. The modular robot joint driving control method and device using an EtherCAT bus are high in practicability, reliability, communication speed and integration degree, low in cost and small in size.

This invention enables an abnormality analysis to be easily and reliably performed in the FA system of the EtherCAT (registered trademark). A controller has a protocol monitor function of operating in a monitor system program, and constantly monitors data communicated with a remote device. The controller has an abnormality diagnosis function of detecting abnormality, and thus holds the data monitored immediately before when abnormality is detected. As the protocol monitor function is incorporated, a protocol monitor does not need to be newly plugged into the network as an external device after the occurrence of abnormality, and the data that becomes the cause can be held from the abnormality that occurred first by monitoring from the beginning of the operation of the system and can be used for analysis.

Vision system and method. The system includes a vision system, including: a camera, a processor and memory, coupled to the camera, and an EtherCAT interface, coupled to the processor and memory, possibly contained in a chassis, and operable to couple to an EtherCAT network that provides for deterministic low-latency communication between the vision system and devices coupled to the EtherCAT network. The vision system may be configurable to operate as any of: an EtherCAT master device, an EtherCAT slave device, or a TCP / IP Ethernet device. One or more additional vision systems may couple to the EtherCAT network. The vision systems may be synchronized using an EtherCAT distributed clock technique, time-based triggered, and / or event triggered, via the EtherCAT network, e.g., in a multi-view vision, collaborative processing, control, I / O, or video servoing application, e.g., using an EtherCAT deterministic low latency closed loop feedback system, including processing, control, or I / O devices.

The invention discloses an Ethercat master station controller and a communication method and system thereof. The master station Ethercat controller comprises a network adapter and a master control chip, wherein the network adapter is connected with the master control chip, the network adapter is used for receiving an Ethercat message returned from an Ethercat slave station device and sending the Ethercat message to the master control chip, or receiving a source TCP / IP message sent by a remote server, and sending the source TCP / IP message to the master control chip, and the master control chipis used for converting the Ethercat message into a target TCP / IP message and sending the target TCP / IP message to the remote server when determining that slave station data in the Ethercat message needs to be uploaded to the remote server, or converting a corresponding instruction into a target Ethercat message and sending the target Ethercat message to the Ethercat slave station device when the source TCP / IP message comprises an instruction controlling the Ethercat slave station device.

The invention discloses a gateway for realizing Internet communication between an EtherCAT (Ethernet for Control Automation Technology) industrial Ethernet and a WorldFIP (Factory Instrumentation Protocol) field bus and a realization method thereof. The gateway comprises an EtherCAT bus protocol controller, an EtherCAT bus transceiver, a main control unit, a WorldFIP bus protocol controller and a WorldFIP bus transceiver, wherein the main control unit is connected with the EtherCAT bus protocol controller and the WorldFIP bus protocol controller respectively; the EtherCAT bus protocol controller is connected with the EtherCAT bus transceiver; and data exchange between the EtherCAT bus protocol controller and the WorldFIP bus protocol controller is realized by using the main control unit. According to the invention, the Internet communication between the EtherCAT industrial Ethernet and the WorldFIP field bus is realized, and the EtherCAT industrial Ethernet and the WorldFIP field bus can be used together in the same industrial control system.

The invention discloses an EtherCAT Ethernet gateway and a working method thereof. The gateway comprises an EtherCAT bus protocol controller, an EtherCAT bus transceiver, a Nios II central controller, a Powerlink bus protocol controller, and a Powerlink bus transceiver, wherein the Nios II central controller is respectively connected to the EtherCAT bus protocol controller and the Powerlink bus protocol controller in two directions, and the Powerlink bus protocol controller is connected to the Powerlink bus transceiver in two directions. Through the Nios II central controller, the invention realizes the data exchange between the EtherCAT bus protocol controller and the Powerlink bus protocol controller, which solves the communication problem between the EtherCAT and Powerlink in a train communication network.

The invention relates to a DELTA2 robot control system based on a soft PLC and an EtherCAT bus. A distributed clock technology is employed by a communication bus, a standard Ethernet protocol is usedwith no need of special network adapters, and multi-axis precise synchronous control can be achieved, and the DELTA2 robot control system is suitable for high-precision servo control of a high-speed robot. The DELTA2 robot control system is good in openness, simple in hardware structure and high in transportability, and the research and development period of an industrial robot is greatly shortened.

The invention relates to an embedded real-time EtherCAT master station construction method based on an ARM. The embedded real-time EtherCAT master station construction method realizes data communication between a CPU and the ARM through sharing a DPRAM of an FPGA by the CPU and the ARM. The embedded real-time EtherCAT master station construction method comprises the steps that: a master station is initialized; and the CPU sends a control instruction to the DPRAM of the FPGA, and the ARM obtains the control instruction from the FPGA and conducts periodic communication or non-periodic communication with a slave station. The embedded real-time EtherCAT master station construction method based on the ARM saves cost. The embedded real-time EtherCAT master station construction method adopts an LPC4330 high-performance embedded processor, can be changed on the basis of an original PCI bus, and has better cost advantage when compared with the traditional method of implementing an EtherCAT master station based on an industrial PC. The embedded real-time EtherCAT master station construction method implemented by the invention can be directly integrated in an embedded system for use, does not need to modify the original numerical control system software, reduces computation tasks of the host, reduces the usage rate of the CPU, and accelerates the operation speed. The embedded EtherCAT master station implemented by adopting the embedded real-time EtherCAT master station construction method can share program tasks generated by distributed clocks, state machines, frame operations and the like by adopting the protocol.

The invention discloses a hydraulic support remote control system based on EtherCAT. The hydraulic support remote control system based on EtherCAT comprises a physical layer, a dielectric layer and a system control layer. The physical layer comprises a coal cutter, hydraulic supports and a scraper conveyer, wherein the coal cutter, the hydraulic supports and the scraper conveyer are arranged on a working fully mechanized face. The hydraulic supports are provided with a plurality of hydraulic cylinders and sensors. The dielectric layer comprises a plurality of solenoid valve sets, data collectors and operating panels. Each solenoid valve set, each data collector and each operating panel correspond to one hydraulic support in the physical layer. The system control layer comprises two master controllers, a plurality of I / O controllers and an EtherCAT bus used for transmitting very long instruction control words of the hydraulic supports, and the two master controllers and the I / O controllers are connected through the EtherCAT bus. The hydraulic support remote control system based on EtherCAT ensures real-time performance of remote control, provides big data transmission, and is low in development difficulty and high in reliability.

The invention discloses a time synchronization system and method of a numerical control system bus device. The time synchronization system comprises an EtherCAT master station, a first EtherCAT salve station and a master station of a first bus; the EtherCAT master station sends a current time and a bus communication period to the first salve station during the initialization; the first salve station generates a synchronizing signal according to a reference clock during the communication within the bus communication period and sends the synchronizing signal to the master station of the first bus; the master station of the first bus sends a data frame to the salve station of the first bus and sends synchronizing information to the EtherCAT master station after receiving the synchronizing signal; and the EtherCAT master station allocates time information to the rest EtherCAT salve station after receiving the synchronizing information. By adoption of the time synchronization system and method, the defects that when the EtherCAT bus and other buses are mixed for use, the time on the bus cannot be synchronized in the prior art is compensated, the time jitter is completely eliminated, and time synchronization is realized.

The application discloses a converter parallel operation control method and a converter parallel operation control system. The system comprises an EtherCAT master station and the EtherCAT slave stations which are in one-to-one correspondence arrangement with the converters, each EtherCAT master station comprises a slave station controller and a microprocessor, and the EtherCAT master station and the EtherCAT slave stations are connected into a bus-type network topology structure. The EtherCAT slave station controllers are used to generate the synchronizing signals to send to the correspondingmicroprocessors, and the microprocessors load the values of the time reference phase registers as the counting initial values that the time reference counters count to generate the triangular carrierswhen the rising edges or the falling edges of the synchronizing signals occur, wherein the values of the time reference phase registers and the values of the periodic quantities of the time referencecounters satisfy the situation that the loading moments always occur when or before the nadir points of the triangular carriers arrive. According to the application, the synchronism of the carriers at the converter parallel operation is improved.

The invention relates to a force sensor data collection system and method based on EtherCAT. For the problems of existing methods that: an RS485 has no uniform standard and communication protocol, and the communication mode has certain defects; and a CAN bus also has certain limitation as a communication network facing industrial bottom control, fails to be connected with an Internet and is not liable to be directly connected with an upper controller, and most existing CAN interface cards are more expensive compared with Ethernet network card, the invention provides the force sensor data collection system and method based on EtherCAT. The system comprises a PC master station and a plurality of slave stations which support an EtherCAT protocol. The force sensor data collection system and method are applied to the field of data collection.