技术领域Technical Field
本发明涉及数控自动化技术领域，尤其是开放式数控系统的工业以太网可编程IO接口装置。The invention relates to the technical field of numerical control automation, in particular to an industrial Ethernet programmable IO interface device of an open numerical control system.
背景技术Background technique
EtherCAT是由德国倍福（Beckhoff）公司研发以以太网为基础的开放架构的现场总线技术协议，该协议基于标准的以太网技术的全双工、帧交换式的实时工业以太网现场总线，其适用性广泛，同步性能好，刷新周期短，响应速度高，受到了很多企业的青睐。EtherCAT通过专有的网络控制芯片，能够适用于响应时间低于1ms的硬实时的应用场合，目前大部分的厂家生产的I/O、伺服等设备都开始支持EtherCAT协议并提供了EtherCAT接口，如赫优讯（Hilscher）、倍福、路斯特（Lust）、科比（KEB）等。此外，EtherCAT采用主从站方式进行数据传输，EtherCAT主站采用标准的以太网介质存取控制器（MAC），无需专用的硬件，也不需要添加专门的通讯处理器，其主站协议栈在组态软件中实现。因此，在开放式数控系统中搭建EtherCAT从站装置是EtherCAT通信的关键部分，实现开放式数控系统数据通信方式的可配置。EtherCAT is an Ethernet-based open architecture fieldbus technology protocol developed by Beckhoff, Germany. The protocol is based on the standard Ethernet technology full-duplex, frame-switched real-time industrial Ethernet fieldbus. It has wide applicability, good synchronization performance, short refresh cycle, and high response speed, and is favored by many companies. EtherCAT can be applied to hard real-time applications with a response time of less than 1ms through a proprietary network control chip. At present, most manufacturers' I/O, servo and other equipment have begun to support the EtherCAT protocol and provide EtherCAT interfaces, such as Hilscher, Beckhoff, Lust, KEB, etc. In addition, EtherCAT uses a master-slave station mode for data transmission. The EtherCAT master station uses a standard Ethernet media access controller (MAC), which does not require dedicated hardware or a dedicated communication processor. The master station protocol stack is implemented in the configuration software. Therefore, building an EtherCAT slave station device in an open CNC system is a key part of EtherCAT communication, realizing the configurability of the data communication mode of the open CNC system.
发明内容Summary of the invention
本发明提出开放式数控系统的工业以太网可编程IO接口装置，能够解析数控系统上层发送的EtherCAT数据，将其转换为可被数控系统应用的数据格式，并转发至数控系统下层进行处理。The present invention proposes an industrial Ethernet programmable IO interface device for an open CNC system, which can parse EtherCAT data sent by the upper layer of the CNC system, convert it into a data format that can be used by the CNC system, and forward it to the lower layer of the CNC system for processing.
本发明采用以下技术方案。The present invention adopts the following technical solutions.
开放式数控系统的工业以太网可编程IO接口装置，基于“PC+可编程I/O接口”开放式数控系统，用于工业以太网EtherCAT通信，所述接口装置包括可编程I/O接口模块和从站处的用于EtherCAT通信的从站通讯模块；所述从站通讯模块通过网线与数控系统PC机连接并进行数据传输；所述PC机搭建EtherCAT通讯链路主站；所述可编程I/O接口模块与从站通讯模块采用相匹配的物理设备接口SPI连接；所述可编程I/O接口装置通过I/O接口模块连接外围设备，对数控系统的外部执行机构进行控制；所述外部执行机构包括机床。The industrial Ethernet programmable IO interface device of an open numerical control system is based on the "PC+programmable I/O interface" open numerical control system and is used for industrial Ethernet EtherCAT communication. The interface device includes a programmable I/O interface module and a slave communication module for EtherCAT communication at a slave station; the slave communication module is connected to a PC of a numerical control system via a network cable and performs data transmission; the PC builds an EtherCAT communication link master station; the programmable I/O interface module and the slave communication module are connected using a matching physical device interface SPI; the programmable I/O interface device is connected to peripheral devices via the I/O interface module to control external actuators of the numerical control system; the external actuators include machine tools.
所述从站通讯模块包括RJ45网络接口、隔离变压器件、物理层PHY芯片和从站协议控制芯片ESC；所述从站通讯模块以ESC芯片为核心来承载EtherCAT的数据链路层协议，负责处理EtherCAT数据帧，并为基于EtherCAT的可编程I/O接口模块提供数据接口；The slave communication module includes an RJ45 network interface, an isolation transformer, a physical layer PHY chip and a slave protocol control chip ESC; the slave communication module uses the ESC chip as the core to carry the EtherCAT data link layer protocol, is responsible for processing the EtherCAT data frame, and provides a data interface for the EtherCAT-based programmable I/O interface module;
所述ESC从站控制芯片的RAM设有用于开放式数控系统上下层数据收发的缓冲区，用于实现暂存数控系统上层发送的粗插补数据、I/O控制命令数据以及数控系统下层的位置反馈和状态信息。The RAM of the ESC slave control chip is provided with a buffer for receiving and sending data between the upper and lower layers of the open CNC system, and is used to temporarily store the coarse interpolation data, I/O control command data sent by the upper layer of the CNC system, and the position feedback and status information of the lower layer of the CNC system.
所述从站通讯模块的ESC芯片设有用于承载PC机和可编程I/O接口装置间双向数据传输的第一同步管理通道、第二同步管理通道、第三同步管理通道；The ESC chip of the slave communication module is provided with a first synchronization management channel, a second synchronization management channel, and a third synchronization management channel for carrying bidirectional data transmission between the PC and the programmable I/O interface device;
第一同步管理通道用于PC机向可编程I/O接口装置发送数控系统中I/O控制、辅助功能控制命令；The first synchronous management channel is used for the PC to send I/O control and auxiliary function control commands in the numerical control system to the programmable I/O interface device;
第二同步管理通道用于可编程I/O接口装置向PC机反馈数控系统中各控制轴的位置、运行故障等状态信息；The second synchronous management channel is used for the programmable I/O interface device to feed back the position, operation fault and other status information of each control axis in the numerical control system to the PC;
第三同步管理通道用于PC机向可编程I/O接口装置周期性发送粗插补数据信息，然后由可编程I/O模块完成精插补运算。The third synchronous management channel is used for the PC to periodically send coarse interpolation data information to the programmable I/O interface device, and then the programmable I/O module completes the fine interpolation operation.
所述可编程I/O接口模块以现场可编程逻辑门阵列FPGA为支撑硬件，设有与从站通讯模块的ESC芯片连接的数据传输接口模块，以及包括运动控制精插补模块和开关量控制模块在内的应用层逻辑处理模块；The programmable I/O interface module uses a field programmable gate array FPGA as supporting hardware, and is provided with a data transmission interface module connected to the ESC chip of the slave communication module, and an application layer logic processing module including a motion control fine interpolation module and a switch quantity control module;
数据传输接口模块将数控系统PC机发送的数据进行解析与封装，并发送给精插补模块进行精插补处理，以及将FPGA的辅助功能模块、负责外设状态信息的位置信息模块的状态信息发送至PC机；The data transmission interface module parses and encapsulates the data sent by the CNC system PC, and sends it to the fine interpolation module for fine interpolation processing, and sends the status information of the FPGA auxiliary function module and the position information module responsible for the peripheral status information to the PC;
所述运动控制精插补模块用于配合PC机中的粗插补模块，完成对外设机构部件运动的精确控制；The motion control fine interpolation module is used to cooperate with the coarse interpolation module in the PC to complete the precise control of the motion of the peripheral mechanism components;
所述开关量控制模块用于实现对外设机构通断开关信号的控制；The switch quantity control module is used to realize the control of the on-off switch signal of the peripheral mechanism;
所述数据传输接口模块由数据接收模块、数据发送模块、数据管理模块和中断管理模块组成。The data transmission interface module is composed of a data receiving module, a data sending module, a data management module and an interrupt management module.
所述数据接收模块和数据发送模块通过SPI数据接口与ESC芯片连接，其中数据接收模块将接收的数控系统PC机暂存在ESC芯片RAM空间的用户行规数据，存入数据接收缓冲区FIFO中由数据管理模块进行处理，同时数据发送模块将数据管理模块封装的状态数据转发至ESC芯片RAM空间中，并由PC机读取与处理。The data receiving module and the data sending module are connected to the ESC chip via an SPI data interface, wherein the data receiving module stores the user line specification data temporarily stored in the RAM space of the ESC chip by the numerical control system PC into the data receiving buffer FIFO for processing by the data management module, and at the same time, the data sending module forwards the status data encapsulated by the data management module to the RAM space of the ESC chip, which is read and processed by the PC.
所述数据管理模块将数据接收缓冲FIFO中的用户行规数据，根据对应的命令参数值存入不同的寄存器中，最后传入数控系统的用户层进行处理，以及将用户层的状态数据进行封装后，发送给数据发送模块。The data management module stores the user line specification data in the data receiving buffer FIFO into different registers according to the corresponding command parameter values, and finally transmits it to the user layer of the numerical control system for processing, and encapsulates the status data of the user layer and sends it to the data sending module.
所述中断管理模块在数控系统的中断触发后，FPGA应用层中的中断状态控制寄存器的对应位置位，并通过数据管理模块和数据发送模块将中断状态控制寄存器值传入数控系统上层PC机处理。After the interrupt of the numerical control system is triggered, the interrupt management module sets the corresponding bit of the interrupt status control register in the FPGA application layer, and transmits the interrupt status control register value to the upper PC of the numerical control system for processing through the data management module and the data sending module.
所述EtherCAT通讯链路主站在对可编程I/O接口装置完成扫描并配置从站的运行模式后，其PC机即可通过数控系统内核层的数据通信模块，使上层粗插补的用户层数据能按照EtherCAT通信协议经过从站控制器ESC，最后由可编程I/O接口模块对数据进行处理。After the EtherCAT communication link master completes scanning the programmable I/O interface device and configures the operation mode of the slave station, its PC can use the data communication module of the kernel layer of the numerical control system to enable the user layer data of the upper layer coarse interpolation to pass through the slave station controller ESC according to the EtherCAT communication protocol, and finally the programmable I/O interface module processes the data.
在数控系统启动后，数控系统上层的数控内核层对EtherCAT通讯链路的主站、从站进行识别与配置，并在成功配置后进入周期任务阶段；After the CNC system is started, the CNC kernel layer on the upper layer of the CNC system identifies and configures the master and slave stations of the EtherCAT communication link, and enters the periodic task phase after successful configuration;
在配置阶段，数控内核层依次进行请求主站、创建主站过程域、配置从站及从站PDO、注册PDO并获取PDO地址和激活主站；In the configuration phase, the CNC kernel layer sequentially requests the master station, creates the master station process domain, configures the slave station and the slave station PDO, registers the PDO and obtains the PDO address and activates the master station;
在周期任务阶段，依次循环执行接收EtherCAT帧、检查主从站状态、将数据放入数据域、发送EtherCAT帧四个过程。In the periodic task stage, the four processes of receiving EtherCAT frames, checking the status of master and slave stations, putting data into the data field, and sending EtherCAT frames are executed in sequence.
所述开放式数控系统基于linux系统，所述可编程IO接口装置用于承载数控系统上、下层的EtherCAT数据通信，以使数控系统可用于数据传输距离长的分布式工业环境。The open CNC system is based on the Linux system, and the programmable IO interface device is used to carry the EtherCAT data communication of the upper and lower layers of the CNC system, so that the CNC system can be used in a distributed industrial environment with a long data transmission distance.
相较于现有技术，本发明具有以下有益效果：本可编程I/O接口装置与现有主流的从站设备相比，该装置采用的是在原有的开放式数控系统的可编程I/O模块上，增加EtherCAT从站控制器，构成以ESC+FPGA为核心的数控系统下层硬件平台，相对于主流的ESC+微处理器的从站设备，具有可以更好地实现如精插补等高实时性数控任务的优势，可以在原有的基于Linux的开放式数控系统上，实现数控系统上、下层的EtherCAT数据通信，使得数控系统满足数据传输距离长的分布式工业环境中。Compared with the prior art, the present invention has the following beneficial effects: compared with the existing mainstream slave devices, the programmable I/O interface device adds an EtherCAT slave controller to the programmable I/O module of the original open CNC system to form a lower-level hardware platform of the CNC system with ESC+FPGA as the core. Compared with the mainstream ESC+microprocessor slave devices, it has the advantage of being able to better realize high-real-time CNC tasks such as fine interpolation, and can realize EtherCAT data communication between the upper and lower layers of the CNC system on the original Linux-based open CNC system, so that the CNC system can meet the needs of distributed industrial environments with long data transmission distances.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
下面结合附图和具体实施方式对本发明进一步详细的说明：The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments:
附图1是本发明的可编程I/O接口装置框架示意图；Figure 1 is a schematic diagram of the framework of a programmable I/O interface device of the present invention;
附图2是本发明的EtherCAT从站通讯模块硬件连接示意图；Figure 2 is a schematic diagram of the hardware connection of the EtherCAT slave communication module of the present invention;
附图3是本发明的可编程I/O接口模块的数据传输接口模块构成示意图；3 is a schematic diagram of the data transmission interface module of the programmable I/O interface module of the present invention;
附图4是本发明的可编程I/O接口装置实物示意图；FIG4 is a schematic diagram of a programmable I/O interface device of the present invention;
附图5是本发明的应用层对EtherCAT主从站的配置流程示意图。FIG5 is a schematic diagram of the configuration flow of the application layer of the present invention for the EtherCAT master and slave stations.
具体实施方式Detailed ways
如图所示，开放式数控系统的工业以太网可编程IO接口装置，基于“PC+可编程I/O接口”开放式数控系统，用于工业以太网EtherCAT通信，所述接口装置包括可编程I/O接口模块和从站处的用于EtherCAT通信的从站通讯模块；所述从站通讯模块通过网线与数控系统PC机连接并进行数据传输；所述PC机搭建EtherCAT通讯链路主站；所述可编程I/O接口模块与从站通讯模块采用相匹配的物理设备接口SPI连接；所述可编程I/O接口装置通过I/O接口模块连接外围设备，对数控系统的外部执行机构进行控制；所述外部执行机构包括机床。As shown in the figure, the industrial Ethernet programmable IO interface device of the open CNC system is based on the "PC+programmable I/O interface" open CNC system and is used for industrial Ethernet EtherCAT communication. The interface device includes a programmable I/O interface module and a slave communication module for EtherCAT communication at the slave station; the slave communication module is connected to the CNC system PC through a network cable and transmits data; the PC builds an EtherCAT communication link master station; the programmable I/O interface module and the slave communication module are connected using a matching physical device interface SPI; the programmable I/O interface device is connected to peripheral devices through the I/O interface module to control the external actuator of the CNC system; the external actuator includes a machine tool.
所述从站通讯模块包括RJ45网络接口、隔离变压器件、物理层PHY芯片和从站协议控制芯片ESC；所述从站通讯模块以ESC芯片为核心来承载EtherCAT的数据链路层协议，负责处理EtherCAT数据帧，并为基于EtherCAT的可编程I/O接口模块提供数据接口；The slave communication module includes an RJ45 network interface, an isolation transformer, a physical layer PHY chip and a slave protocol control chip ESC; the slave communication module uses the ESC chip as the core to carry the EtherCAT data link layer protocol, is responsible for processing the EtherCAT data frame, and provides a data interface for the EtherCAT-based programmable I/O interface module;
所述ESC从站控制芯片的RAM设有用于开放式数控系统上下层数据收发的缓冲区，用于实现暂存数控系统上层发送的粗插补数据、I/O控制命令数据以及数控系统下层的位置反馈和状态信息。The RAM of the ESC slave control chip is provided with a buffer for receiving and sending data between the upper and lower layers of the open CNC system, and is used to temporarily store the coarse interpolation data, I/O control command data sent by the upper layer of the CNC system, and the position feedback and status information of the lower layer of the CNC system.
所述从站通讯模块的ESC芯片设有用于承载PC机和可编程I/O接口装置间双向数据传输的第一同步管理通道、第二同步管理通道、第三同步管理通道；The ESC chip of the slave communication module is provided with a first synchronization management channel, a second synchronization management channel, and a third synchronization management channel for carrying bidirectional data transmission between the PC and the programmable I/O interface device;
第一同步管理通道用于PC机向可编程I/O接口装置发送数控系统中I/O控制、辅助功能控制命令；The first synchronous management channel is used for the PC to send I/O control and auxiliary function control commands in the numerical control system to the programmable I/O interface device;
第二同步管理通道用于可编程I/O接口装置向PC机反馈数控系统中各控制轴的位置、运行故障等状态信息；The second synchronous management channel is used for the programmable I/O interface device to feed back the position, operation fault and other status information of each control axis in the numerical control system to the PC;
第三同步管理通道用于PC机向可编程I/O接口装置周期性发送粗插补数据信息，然后由可编程I/O模块完成精插补运算。The third synchronous management channel is used for the PC to periodically send coarse interpolation data information to the programmable I/O interface device, and then the programmable I/O module completes the fine interpolation operation.
所述可编程I/O接口模块以现场可编程逻辑门阵列FPGA为支撑硬件，设有与从站通讯模块的ESC芯片连接的数据传输接口模块，以及包括运动控制精插补模块和开关量控制模块在内的应用层逻辑处理模块；The programmable I/O interface module uses a field programmable gate array FPGA as supporting hardware, and is provided with a data transmission interface module connected to the ESC chip of the slave communication module, and an application layer logic processing module including a motion control fine interpolation module and a switch quantity control module;
数据传输接口模块将数控系统PC机发送的数据进行解析与封装，并发送给精插补模块进行精插补处理，以及将FPGA的辅助功能模块、负责外设状态信息的位置信息模块的状态信息发送至PC机；The data transmission interface module parses and encapsulates the data sent by the CNC system PC, and sends it to the fine interpolation module for fine interpolation processing, and sends the status information of the FPGA auxiliary function module and the position information module responsible for the peripheral status information to the PC;
所述运动控制精插补模块用于配合PC机中的粗插补模块，完成对外设机构部件运动的精确控制；The motion control fine interpolation module is used to cooperate with the coarse interpolation module in the PC to complete the precise control of the motion of the peripheral mechanism components;
所述开关量控制模块用于实现对外设机构通断开关信号的控制；The switch quantity control module is used to realize the control of the on-off switch signal of the peripheral mechanism;
所述数据传输接口模块由数据接收模块、数据发送模块、数据管理模块和中断管理模块组成。The data transmission interface module is composed of a data receiving module, a data sending module, a data management module and an interrupt management module.
所述数据接收模块和数据发送模块通过SPI数据接口与ESC芯片连接，其中数据接收模块将接收的数控系统PC机暂存在ESC芯片RAM空间的用户行规数据，存入数据接收缓冲区FIFO中由数据管理模块进行处理，同时数据发送模块将数据管理模块封装的状态数据转发至ESC芯片RAM空间中，并由PC机读取与处理。The data receiving module and the data sending module are connected to the ESC chip via an SPI data interface, wherein the data receiving module stores the user line specification data temporarily stored in the RAM space of the ESC chip by the numerical control system PC into the data receiving buffer FIFO for processing by the data management module, and at the same time, the data sending module forwards the status data encapsulated by the data management module to the RAM space of the ESC chip, which is read and processed by the PC.
所述数据管理模块将数据接收缓冲FIFO中的用户行规数据，根据对应的命令参数值存入不同的寄存器中，最后传入数控系统的用户层进行处理，以及将用户层的状态数据进行封装后，发送给数据发送模块。The data management module stores the user line specification data in the data receiving buffer FIFO into different registers according to the corresponding command parameter values, and finally transmits it to the user layer of the numerical control system for processing, and encapsulates the status data of the user layer and sends it to the data sending module.
所述中断管理模块在数控系统的中断触发后，FPGA应用层中的中断状态控制寄存器的对应位置位，并通过数据管理模块和数据发送模块将中断状态控制寄存器值传入数控系统上层PC机处理。After the interrupt of the numerical control system is triggered, the interrupt management module sets the corresponding bit of the interrupt status control register in the FPGA application layer, and transmits the interrupt status control register value to the upper PC of the numerical control system for processing through the data management module and the data sending module.
所述EtherCAT通讯链路主站在对可编程I/O接口装置完成扫描并配置从站的运行模式后，其PC机即可通过数控系统内核层的数据通信模块，使上层粗插补的用户层数据能按照EtherCAT通信协议经过从站控制器ESC，最后由可编程I/O接口模块对数据进行处理。After the EtherCAT communication link master completes scanning the programmable I/O interface device and configures the operation mode of the slave station, its PC can use the data communication module of the kernel layer of the numerical control system to enable the user layer data of the upper layer coarse interpolation to pass through the slave station controller ESC according to the EtherCAT communication protocol, and finally the programmable I/O interface module processes the data.
在数控系统启动后，数控系统上层的数控内核层对EtherCAT通讯链路的主站、从站进行识别与配置，并在成功配置后进入周期任务阶段；After the CNC system is started, the CNC kernel layer on the upper layer of the CNC system identifies and configures the master and slave stations of the EtherCAT communication link, and enters the periodic task phase after successful configuration;
在配置阶段，数控内核层依次进行请求主站、创建主站过程域、配置从站及从站PDO、注册PDO并获取PDO地址和激活主站；In the configuration phase, the CNC kernel layer sequentially requests the master station, creates the master station process domain, configures the slave station and the slave station PDO, registers the PDO and obtains the PDO address and activates the master station;
在周期任务阶段，依次循环执行接收EtherCAT帧、检查主从站状态、将数据放入数据域、发送EtherCAT帧四个过程。In the periodic task stage, the four processes of receiving EtherCAT frames, checking the status of master and slave stations, putting data into the data field, and sending EtherCAT frames are executed in sequence.
所述开放式数控系统基于linux系统，所述可编程IO接口装置用于承载数控系统上、下层的EtherCAT数据通信，以使数控系统可用于数据传输距离长的分布式工业环境。The open CNC system is based on the Linux system, and the programmable IO interface device is used to carry the EtherCAT data communication of the upper and lower layers of the CNC system, so that the CNC system can be used in a distributed industrial environment with a long data transmission distance.
本例中，所述接口装置用于实现基于EtherCAT的开放式数控系统PC机与机械设备自动控制的数据传输方式；In this example, the interface device is used to realize the data transmission mode between the open CNC system PC and the automatic control of the mechanical equipment based on EtherCAT;
本装置由EtherCAT从站通讯模块和可编程I/O接口模块组成，从站通讯模块通过网口、PHY器件和ESC等芯片将PC机发送的命令数据等暂存。The device consists of an EtherCAT slave communication module and a programmable I/O interface module. The slave communication module temporarily stores the command data sent by the PC through the network port, PHY device, ESC and other chips.
可编程I/O接口模块以现场可编程逻辑门阵列FPGA为支撑硬件，设有数据传输接口模块，以及精插补模块和开关量控制模块等应用模块。The programmable I/O interface module uses field programmable gate array FPGA as supporting hardware, and is equipped with data transmission interface module, as well as application modules such as fine interpolation module and switch quantity control module.
数据传输接口模块与从站通讯模块的ESC芯片连接，实现用户数据的收发，该模块包括数据接收模块、数据发送模块、数据管理模块和中断管理模块。The data transmission interface module is connected to the ESC chip of the slave communication module to realize the sending and receiving of user data. The module includes a data receiving module, a data sending module, a data management module and an interrupt management module.
精插补模块和开关量控制模块等用于配合PC机实现对外围设备的高速实时运动和逻辑控制以及状态监控，例如通过PC机向可编程I/O接口装置周期性发送粗插补数据信息来控制机床的粗插补作业，通过由可编程I/O模块完成的精插补运算来控制机床的精插补作业。Fine interpolation modules and switch control modules are used to cooperate with PCs to realize high-speed real-time motion and logic control and status monitoring of peripheral equipment. For example, the rough interpolation operation of the machine tool is controlled by periodically sending rough interpolation data information to the programmable I/O interface device through the PC, and the fine interpolation operation of the machine tool is controlled by the fine interpolation operation completed by the programmable I/O module.
实施例：Example:
图1为本发明的可编程I/O接口装置框架图。可编程I/O装置位于数控系统下层，由EtherCAT从站通讯模块、可编程I/O接口模块组成，其中所示从站通讯模块通过网线与搭建EtherCAT主站的PC机连接并进行数据传输；所示可编程I/O接口模块与从站通讯模块采用相应物理设备接口连接；所述可编程I/O接口模块通过I/O接口连接外围设备控制机床等执行机构。Figure 1 is a framework diagram of the programmable I/O interface device of the present invention. The programmable I/O device is located at the lower layer of the numerical control system and is composed of an EtherCAT slave communication module and a programmable I/O interface module, wherein the slave communication module is connected to a PC that builds an EtherCAT master station through a network cable and performs data transmission; the programmable I/O interface module is connected to the slave communication module using a corresponding physical device interface; the programmable I/O interface module is connected to peripheral devices through an I/O interface to control actuators such as machine tools.
图2、图3是本发明的EtherCAT从站通讯模块示意图及可编程I/O接口模块数据传输接口模块构成示意图。数据接收模块通过SPI数据接口与ESC芯片连接，接收数控系统上层暂存在ESC芯片RAM空间的用户行规数据，并存入数据接收缓冲FIFO中，由数据管理模块进行处理；数据发送模块通过SPI数据接口与ESC芯片连接，将数据管理模块封装的状态数据转发至ESC芯片RAM空间中，并由数控系统上层读取与处理；数控管理模块将数据接收缓冲FIFO中的用户行规数据，根据对应的命令参数值存入不同的寄存器中，最后传入用户层进行处理，以及将用户层的状态数据进行封装后，发送给数据发送模块；中断管理模块在中断触发后，FPGA中的中断状态控制寄存器的对应位置位，并通过数据管理模块和数据发送模块将中断状态控制寄存器值传入数控系统上层处理。最后、可编程I/O接口装置的实物图如图4。Figures 2 and 3 are schematic diagrams of the EtherCAT slave communication module of the present invention and a schematic diagram of the data transmission interface module of the programmable I/O interface module. The data receiving module is connected to the ESC chip through the SPI data interface, receives the user line regulation data temporarily stored in the RAM space of the ESC chip by the upper layer of the numerical control system, and stores it in the data receiving buffer FIFO, which is processed by the data management module; the data sending module is connected to the ESC chip through the SPI data interface, forwards the status data encapsulated by the data management module to the RAM space of the ESC chip, and is read and processed by the upper layer of the numerical control system; the numerical control management module stores the user line regulation data in the data receiving buffer FIFO into different registers according to the corresponding command parameter values, and finally transmits it to the user layer for processing, and encapsulates the status data of the user layer and sends it to the data sending module; after the interrupt is triggered, the interrupt management module sets the corresponding position of the interrupt status control register in the FPGA, and transmits the interrupt status control register value to the upper layer of the numerical control system for processing through the data management module and the data sending module. Finally, the physical picture of the programmable I/O interface device is shown in Figure 4.
图5是本发明的应用层对EtherCAT主从站的配置流程图。在数控系统启动后，数控系统上层的数控内核层对主从站进行识别与配置，并在成功配置后进入周期任务阶段。在配置阶段，数控内核层依次进行请求主站、创建主站过程域、配置从站及从站PDO、注册PDO并获取PDO地址和激活主站。在周期任务阶段，依次循环接收EtherCAT帧、检查主从站状态、将数据放入数据域、发送EtherCAT帧四个过程。Fig. 5 is a flow chart of the configuration of the EtherCAT master-slave station by the application layer of the present invention. After the numerical control system is started, the numerical control kernel layer of the upper layer of the numerical control system identifies and configures the master-slave station, and enters the periodic task stage after successful configuration. In the configuration stage, the numerical control kernel layer sequentially requests the master station, creates the master station process domain, configures the slave station and the slave station PDO, registers the PDO and obtains the PDO address and activates the master station. In the periodic task stage, four processes are sequentially cycled to receive EtherCAT frames, check the status of the master and slave stations, put data into the data domain, and send EtherCAT frames.
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| CN202210417979.7ACN114740804B (en) | 2022-04-21 | 2022-04-21 | Industrial Ethernet programmable IO interface device of open type numerical control system |
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| CN202210417979.7ACN114740804B (en) | 2022-04-21 | 2022-04-21 | Industrial Ethernet programmable IO interface device of open type numerical control system |
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