CN-121979000-A - EtherCAT bus-based integrated motion control system and method

CN121979000ACN 121979000 ACN121979000 ACN 121979000ACN-121979000-A

Abstract

The application relates to the technical field of industrial automation control, and discloses an EtherCAT bus-based integrated motion control system and method, wherein the system comprises an upper computer, an integrated motion controller and a plurality of execution units; the integrated motion controller is connected with a plurality of execution units in a daisy chain mode through an EtherCAT bus and used for analyzing the control instruction of the upper computer, distributing motion control data and I/O control data to the execution units through the EtherCAT bus, collecting feedback data of the execution units, integrating and uploading the feedback data to the upper computer, wherein the execution units comprise at least one motion axis controller and at least one I/O module and are used for executing corresponding motion control or I/O operation according to the received motion control data and I/O control data. The application can simplify the system communication architecture, reduce the hardware cost and improve the communication response efficiency of the upper computer and the execution unit.

Inventors

HUANG KEJIE
YI WENTAO

Assignees

深圳洪镭光学科技有限公司

Dates

Publication Date: 20260505
Application Date: 20251222

Claims (10)

1. An integrated motion control system based on an EtherCAT bus is characterized by comprising an upper computer, an integrated motion controller and a plurality of execution units; the upper computer is in communication connection with the integrated motion controller and is used for issuing control instructions and receiving state data; The integrated motion controller is connected with the execution units in a daisy chain mode through an EtherCAT bus and is used for analyzing control instructions of the upper computer, distributing motion control data and I/O control data to the execution units through the EtherCAT bus, collecting feedback data of the execution units, integrating the feedback data and uploading the feedback data to the upper computer; The plurality of execution units include at least one motion axis controller and at least one I/O module for executing corresponding motion control or I/O operations based on the received motion control data and the I/O control data.
2. The EtherCAT bus-based integrated motion control system of claim 1, wherein the integrated motion controller comprises a master control module and an EtherCAT master station module; the main control module is in communication connection with the upper computer and is used for processing the control instruction and the state data; The EtherCAT master station module is connected with the master control module and is used as a master station of the EtherCAT bus and used for generating and transmitting EtherCAT data frames and analyzing the EtherCAT data frames in real time.
3. The integrated motion control system based on the EtherCAT bus according to claim 1, wherein the upper computer and the integrated motion controller communicate with each other through a standard Ethernet protocol, and the motion axis controller is a servo driver or a step driver.
4. An EtherCAT bus based integrated motion control system according to any one of claims 1-3, wherein the EtherCAT bus synchronizes the plurality of execution units using a distributed clocking mechanism.
5. An EtherCAT bus-based integrated motion control method, which is applied to the EtherCAT bus-based integrated motion control system according to any one of claims 1 to 4, and comprises the following steps: Issuing a comprehensive control instruction for a plurality of execution units to the integrated motion controller through the upper computer; Receiving and analyzing the comprehensive control instruction through the integrated motion controller to generate control data respectively corresponding to the execution units; Packaging the control data into the same EtherCAT data frame through the integrated motion controller, and sequentially sending the control data to the execution units connected in a daisy chain mode through an EtherCAT bus; Extracting respective corresponding control data from the EtherCAT data frame through the plurality of execution units and executing corresponding operation, and simultaneously inserting respective feedback data into reserved positions of the EtherCAT data frame; And receiving and analyzing the EtherCAT data frame carrying the feedback data through the integrated motion controller, and uploading the integrated state data to the upper computer.
6. The EtherCAT bus-based integrated motion control method according to claim 5, wherein the issuing, by the host computer, the integrated control instruction for the plurality of execution units to the integrated motion controller includes: the upper computer generates the comprehensive control instruction comprising motion trail planning parameters and I/O operation instructions; and the upper computer sends the comprehensive control instruction to the integrated motion controller through a standard Ethernet protocol.
7. The EtherCAT bus-based integrated motion control method according to claim 5, wherein the encapsulating the control data into the same EtherCAT data frame by the integrated motion controller and sequentially transmitting the control data to the plurality of execution units connected in a daisy chain form by the EtherCAT bus includes: The integrated motion controller arranges motion control data and I/O control data corresponding to different execution units according to a predetermined data distribution diagram; Encapsulating the arranged data into a payload area of an EtherCAT data frame; and starting transmission of the EtherCAT data frame in the daisy chain network.
8. The EtherCAT bus-based integrated motion control method according to claim 5, wherein the extracting, by the plurality of execution units, respective corresponding control data from the EtherCAT data frame and executing corresponding operations while inserting respective feedback data into reserved positions of the EtherCAT data frame includes: The head end execution unit reads control data corresponding to the self address from an EtherCAT data frame transmitted to the port of the head end execution unit and executes corresponding operation, and simultaneously writes self feedback data into a feedback area corresponding to the self address in the data frame; The current execution unit forwards the processed EtherCAT data frame to the next execution unit in the daisy chain; And the EtherCAT data frame sequentially passes through each execution unit in the daisy chain, and each execution unit executes the reading, executing, writing and forwarding operation until the EtherCAT data frame traverses all the execution units and then returns to the integrated motion controller.
9. The EtherCAT bus-based integrated motion control method according to claim 8, wherein the extracting, by the plurality of execution units, respective corresponding control data from the EtherCAT data frame and executing corresponding operations while inserting respective feedback data into reserved positions of the EtherCAT data frame, further comprises: And the execution units synchronously operate according to the distributed clock signals provided by the EtherCAT bus.
10. The EtherCAT bus-based integrated motion control method of claim 6, further comprising: And after the integrated motion controller analyzes the comprehensive control instruction, synchronous scheduling is carried out on the calculation period and the control period of the plurality of execution units based on the distributed clock mechanism.

Description

EtherCAT bus-based integrated motion control system and method Technical Field The application relates to the technical field of industrial automation control, in particular to an EtherCAT bus-based integrated motion control system and method. Background In industrial automation scenes such as robots, numerical control machine tools, semiconductor devices and the like, a motion control system is required to realize the cooperative operation of multiple motion axes and I/O devices, basic requirements are provided for communication instantaneity and system practicability, and the EtherCAT protocol has become a mainstream real-time Ethernet communication scheme in the field by virtue of the characteristics of high speed and high precision. In the existing motion control system, the upper computer is often required to be respectively connected with various execution units such as a motion axis controller, an I/O module and the like through a plurality of independent control modules or a plurality of communication links. The distributed connection mode not only causes the complexity of a system communication network and increases the hardware configuration cost, but also influences the communication response efficiency between the upper computer and the execution unit due to the superposition delay of the multi-link data transmission. Therefore, the existing motion control system has the problems of redundancy of a communication network, higher hardware cost and insufficient communication response efficiency, and cannot meet the actual requirements of integrated motion control. The foregoing description is provided for general background information and does not necessarily constitute prior art. Disclosure of Invention The embodiment of the application provides an EtherCAT bus-based integrated motion control system and an EtherCAT bus-based integrated motion control method, which can simplify a system communication architecture, reduce hardware cost and improve communication response efficiency of an upper computer and an execution unit. In a first aspect, an embodiment of the present application provides an EtherCAT bus-based integrated motion control system, including an upper computer, an integrated motion controller, and a plurality of execution units; the upper computer is in communication connection with the integrated motion controller and is used for issuing control instructions and receiving state data; The integrated motion controller is connected with the execution units in a daisy chain mode through an EtherCAT bus and is used for analyzing control instructions of the upper computer, distributing motion control data and I/O control data to the execution units through the EtherCAT bus, collecting feedback data of the execution units, integrating the feedback data and uploading the feedback data to the upper computer; The plurality of execution units include at least one motion axis controller and at least one I/O module for executing corresponding motion control or I/O operations based on the received motion control data and the I/O control data. Further, in some embodiments of the present application, the integrated motion controller includes a master control module and an EtherCAT master station module; the main control module is in communication connection with the upper computer and is used for processing the control instruction and the state data; The EtherCAT master station module is connected with the master control module and is used as a master station of the EtherCAT bus and used for generating and transmitting EtherCAT data frames and analyzing the EtherCAT data frames in real time. Further, in some embodiments of the present application, the host computer and the integrated motion controller communicate via a standard ethernet protocol, and the motion axis controller is a servo driver or a step driver. Further, in some embodiments of the present application, the EtherCAT bus synchronizes the plurality of execution units using a distributed clocking mechanism. In a second aspect, an embodiment of the present application provides an EtherCAT bus-based integrated motion control method, which is applied to the EtherCAT bus-based integrated motion control system according to the first aspect, and the method includes: Issuing a comprehensive control instruction for a plurality of execution units to the integrated motion controller through the upper computer; Receiving and analyzing the comprehensive control instruction through the integrated motion controller to generate control data respectively corresponding to the execution units; Packaging the control data into the same EtherCAT data frame through the integrated motion controller, and sequentially sending the control data to the execution units connected in a daisy chain mode through an EtherCAT bus; Extracting respective corresponding control data from the EtherCAT data frame through the plurality of execution units and executing correspond