CN102955460A - Control system of numerical control system master station over input/output (IO) terminal slave station - Google Patents
Control system of numerical control system master station over input/output (IO) terminal slave station Download PDFInfo
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- CN102955460A CN102955460A CN201110254242XA CN201110254242A CN102955460A CN 102955460 A CN102955460 A CN 102955460A CN 201110254242X A CN201110254242X A CN 201110254242XA CN 201110254242 A CN201110254242 A CN 201110254242A CN 102955460 A CN102955460 A CN 102955460A
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Abstract
The invention discloses a control system of a numerical control system master station over an input/output (IO) terminal slave station. The control system comprises the numerical control system master station and the IO terminal slave station, wherein the numerical control system master station comprises a hardware platform and a soft body part positioned on the hardware platform; and the soft body part comprises a numerical control software module arranged on a Linux operating system and an EtherCAT communication protocol stack module connected with the numerical control software module. A control instruction is transmitted to the IO terminal slave station in a network transmission manner according to an EtherCAT bus communication protocol through output/input pins on a soft circuit driving layer module and input/output pins on IO terminals of the IO terminal slave station, and the input/output pins are in one-one mapping connection, so that the IO terminal slave station can be controlled. The control system is high in instantaneity, high in communication speed, relatively high in synchronism, open in software structure and relatively high in network communication capacity and data processing capacity.
Description
Technical field
The present invention relates to a kind of control system, particularly relate to a kind of digital control system main website to the control system of IO terminal slave station.
Background technology
In the numerical control field of controlling with the IO terminal slave station of IO terminal, conventional on-site bus and PLC have obtained to use widely, but still exist some drawbacks.
(1) conventional on-site bus and drawback thereof:
Field bus system is the heterarchical architecture (usually being divided into which floor circulation) that is made of which floor subsystem, comprise: working control task computing circulation, fieldbus circulation, the local expansion bus of I/O system or only be local firmware program circulation in the peripherals.This circulating control structure is so that under normal circumstances, the whole system response time be the control cycle time 3-5 doubly.Long system response time makes the conventional on-site bus system increasingly become " bottleneck " of control system property development, and in the Industry Control occasion that needs the high-speed real-time transmission, the conventional on-site bussing technique can not satisfy people's requirement far away.
(2) conventional P LC and drawback thereof:
In the digital control system field of IO terminal slave station being controlled by the IO terminal, in the prior art, generally adopt independently PLC as system controller.This independently PLC is exactly in fact a special use control computing machine that consists of take microprocessor as core, himself exists following restraining factors:
A. poor compatibility: because PLC manufacturer is numerous, various types are incompatible, do not have unified standard, are difficult to construct unified hardware configuration;
B. high to user's requirement: the software systems sealing of different manufacturers PLC, the staff must could grasp through the professional training of long period the programmed method of particular vendors PLC product.
Summary of the invention
Purpose of the present invention on the one hand, to need long system response time for the conventional on-site bus when the transmission of data, it is the relatively poor problem of real-time, on the other hand, be the problem for conventional P LC poor compatibility, software relative closure, provide that a kind of to have real-time good, communication speed is faster, net synchronization capability is better, has again open network architecture, stronger network communication ability and the control system of data-handling capacity.
For reaching above-mentioned purpose, the technical solution used in the present invention is:
A kind of digital control system main website comprises digital control system main website and IO terminal slave station to the control system of IO terminal slave station;
Described digital control system main website comprises hardware platform and is positioned at software part on the hardware platform; Be equipped with network interface card on the described hardware platform, described soft body divides and comprises numerical control software module and the connected EtherCAT communication protocol stack module that is based upon on the (SuSE) Linux OS; Further, described numerical control software module comprises the graphical interfaces module, the mission planning device that is connected with the graphical interfaces module and code interpretative device module, motion-control module and soft PLC module with the mission planning device is connected with the code interpretative device module drive layer module with the flexible circuit of exporting input pin that comprises that motion-control module is connected with soft PLC module; Described EtherCAT communication protocol stack module comprises user's AIM, the support library module that is connected with user's AIM, with the master station module that the support library module is connected, the network interface card driver module that is connected with master station module, this network interface card driver module are used for activating the network interface card on the hardware platform;
Be equipped with the IO terminal that comprises input and output pin on the port of described IO terminal slave station, the flexible circuit in the input and output pin on this IO terminal and the above-mentioned digital control system main website in the numerical control software drives output input pin on the layer module and shines upon one by one and be connected;
The information that graphical interfaces input in the described digital control system main website software numerical control software partly shows is sent in mission planning device and the code interpretative device module, wherein the mission planning device switches numerical control system works pattern according to the mode of operation of selecting in the information, planning digital control system function, code interpretative device then makes an explanation to the job sequence G code, and send the stereotyped command that generates to motion-control module and soft PLC module, the signal of each shaft position in the motion-control module Information Monitoring, calculate the given position of movement locus and carry out interpolation, the interpolation result is exported to flexible circuit drive layer module; Soft PLC module receives stereotyped command and drives the input state that input pin the layer module detects IO terminal slave station from flexible circuit, carries out logical operation, afterwards the result of gained is flushed to flexible circuit and drives on the output pin in the layer module; Flexible circuit driving layer module called the user's AIM in the EtherCAT communication protocol stack, load to support library module by user's AIM and call again function in the master station module, and by the network interface card on the network interface card driver module activation hardware platform, mode with Internet Transmission, by the EtherCAT bus communication protocol, the input and output pin that is driven by flexible circuit on the IO terminal of the IO terminal slave station that the output input pin on the layer module is connected with mapping one by one is sent to IO terminal slave station with above-mentioned steering order, and realization is to the control of IO terminal slave station.
Control system of the present invention has significant progress.
The present invention's structure described above comprises EtherCAT communication protocol stack module because soft body of the present invention divides, and the digital control system main website is the mode with Internet Transmission, by the EtherCAT bus communication protocol, steering order is sent to IO terminal slave station.So the present invention replaces above-mentioned conventional on-site bus with EtherCAT real-time industrial ethernet fieldbus, integrated EtherCAT communication protocol stack in the software part of digital control system main website is that EtherCAT real-time industrial ethernet technology is applied to industrial automation.So the present invention can obtain the response time during less than 1ms strong.EtherCAT communication protocol stack among the present invention can be realized basic EtherCAT data communication, comprises the function of EtherCAT communication initialization, periodic data transmission and aperiodicity data transmission.In the message transmission process, slave station only need insert or extract message data, need not circulation, only has the time delay of several nanoseconds, and effective data rate can reach＞100Mb/s.Therefore, the present invention has that the real-time that EtherCAT real-time industrial ethernet field bus technique has is good, communication speed is faster, the better characteristics of net synchronization capability.
The present invention's structure described above, because comprise soft PLC module in the numerical control software module of the present invention, be to drive pin transmission on the IO terminal of the IO terminal slave station that the pin on the layer module is connected with its mapping by flexible circuit for the steering order of IO terminal slave station.So the present invention need not the purpose that traditional specific PLC hardware control can realize controlling IO terminal slave station.Soft PLC is different from conventional P LC, and it does not have oneself independently hardware configuration (such as PLC application specific processor, storer etc.), so the present invention has the open characteristics of software configuration.
The present invention's structure described above is because included numerical control software module and the connected EtherCAT communication protocol stack module of the present invention is based upon on the (SuSE) Linux OS.Namely on the (SuSE) Linux OS platform, integrated with the soft PLC of sequential control and numerical control software and the EtherCAT communication protocol stack of motion control function.So the present invention not only has open network architecture, and, be to have stronger network communication ability and the control system of data-handling capacity.
Description of drawings
Fig. 1 is the structural representation of control system one embodiment of the present invention;
Fig. 2 be among Fig. 1 in the numerical control software flexible circuit drive the synoptic diagram that pin on the IO terminal of pin and IO terminal slave station on the layer module shines upon an embodiment who is connected;
Fig. 3 is the process flow diagram of control system of the present invention.
Embodiment
Further specify the architectural feature of control system of the present invention below in conjunction with accompanying drawing.
As shown in Figure 1, control system of the present invention comprises digital control system main website 1 and IO terminal slave station 2.
Described digital control system main website 1 comprises hardware platform 11 and is positioned at software part 12 on the hardware platform 11.Be equipped with network interface card on the described hardware platform 11; Described software part 12 comprises numerical control software module 121 and the connected EtherCAT communication protocol stack module 122 that is based upon on the (SuSE) Linux OS.In the present embodiment, digital control system main website 1 is built-in Linux digital control system main website.Hardware platform 11 is x86 hardware platforms.The IO terminal product that IO terminal slave station adopts German BECKHOFF company to produce, main website and slave station between the two with the commodity ethernet network interface card as the EtherCAT communication facilities, realize communicating by letter by the EtherCAT bus communication protocol.
As shown in Figure 1, comprise the graphical interfaces module in the described numerical control software module 121, the mission planning device that is connected with the graphical interfaces module and code interpretative device module, motion-control module and soft PLC module with the mission planning device is connected with the code interpretative device module drive layer module with the flexible circuit of exporting input pin that comprises that motion-control module is connected with soft PLC module.
Described graphical interfaces module be in the numerical control software 121 with the important module of user interactions, by its input and demonstration information, can realize control and supervision to digital control system here;
Mission planning device in described mission planning device and the code interpretative device module is responsible for realizing the numerical control functional planning, and such as the switching of processing the numerical control mode of operation etc., code interpretative device is responsible for the explanation of G code and M program in machine code, generates stereotyped command;
Described motion-control module be responsible for each shaft position signal sampling, calculate the given position of movement locus and carry out interpolation, the interpolation result is exported to flexible circuit drives a layer module;
Described soft PLC module adopts the C language compilation, realizes the functions such as calculating, control store and PLC programming that conventional P LC need to realize with hardware by software approach.Dynamic duty process and the conventional P LC of soft PLC are similar, at first come development of user PLC program with soft PLC development system, then input sample---user program execution---output according to conventional P LC refreshes three phases scan round operation in soft PLC operational system, in the program execute phase, by first left and then right, first up and then down order is carried out logical operation to the operation circuit that is made of the contact, refresh corresponding I/O state according to logic operation result, state and all output latch circuits of Refresh Data according to corresponding in the I/O image area drive corresponding peripheral hardware through output circuit again.The state of each I/O can be by the graphical interfaces module monitors.
It is the bottom software framework of direct and hardware context that described flexible circuit drives layer module (or claiming hardware abstraction layer), and design concept is identical with the design hardware circuit, has used the concept of pin, and each pin has data type and the transmission direction of transmission.Each flexible circuit drives layer module and has defined pin, parameter and function.Only need to drive layer configuration file and need to select the module that loads and the connected mode between the determination module by writing flexible circuit, need not to know how inside modules works.
As shown in Figure 1, described EtherCAT communication protocol stack module 122 comprises user's AIM, the support library module that is connected with user's AIM, the master station module that is connected with the support library module, the network interface card driver module that is connected with master station module, this network interface card driver module are used for activating the network interface card on the hardware platform.
Described user's AIM is called the function of master station module by load supporting library module, thereby carries out the periodical exchange of process data with IO terminal slave station, only needs the calling interface function, need not to understand the specific implementation of EtherCAT protocol stack inside.
Described support library module provides EtherCAT built-in function commonly used to call for user's AIM.
Described master station module realizes protocol analysis, the task scheduling function of EtherCAT, and provides interface function for the network equipment and user's AIM.
Described network interface card driver module is made amendment to the general network device drives, makes its compatible EtherCAT communication protocol, and then drives the hardware network card equipment.
In the present embodiment, described flexible circuit drives source file and the configuration file that comprises editor in the layer module.Drive in the layer module (hardware abstraction layer) at flexible circuit, it at first is the source file that flexible circuit that the IO terminal pins of the IO terminal slave station that connects according to reality is write IO terminal slave station hardware driving drives layer module, define therein IO pin and renewal function, then source file is compiled and generate the IO terminal drives corresponding pin the layer module from standing in flexible circuit mapping relations, and its flexible circuit that is loaded in the numerical control software of digital control system main website (built-in Linux digital control system main website) is driven a layer module.Write afterwards the configuration file that flexible circuit drives layer, defined thread and thread working time in the configuration file.The thread of the IO terminal of IO terminal slave station in the flexible circuit driving layer module in the numerical control software is loaded in 1ms is scheduled operation thread once, and during each thread operation, the function that is loaded into the flexible circuit driving layer inside modules of this thread also can be performed.Drive at flexible circuit and must determine in the layer configuration file that flexible circuit drives the mapping relations that are connected between the IO terminal pins of layer module pin and IO terminal slave station, then edit soft PLC program, realize the sequential control of IO, move at last this program, realize that the digital control system main website drives layer module to the control of IO terminal slave station through soft PLC and flexible circuit.
Fig. 2 is that flexible circuit drives the synoptic diagram that pin on the IO terminal of pin and IO terminal slave station on the layer module shines upon an embodiment who is connected.As shown in Figure 2, the driving of numerical control software and IO terminal slave station all has been packaged into flexible circuit and has driven layer module, and externally connects with the form of pin.So the connection that flexible circuit drives layer module and the IO terminal slave station hardware namely pin between the IO terminal of corresponding flexible circuit driving layer module and IO terminal slave station is connected.As shown in Figure 1, in the present embodiment, have 1 load module 21 and 1 output module 22 in the IO terminal of IO terminal slave station, contain 8 terminals in each module, so always have 8 input points and 8 output points.
As shown in Figure 2, be arranged on the IO terminal of flexible circuit driving layer for IO terminal slave station and defined altogether 8 input pins (the I-0 pin is to the I-7 pin) and 8 output pins (the O-0 pin is to the O-7 pin), be used for to drive IO input and output point corresponding to IO terminal slave station, the flexible circuit that is arranged in numerical control software drive floor module then correspondence defined 8 output pins (No. 00 output pin out00 to 07 output pin out07) and 8 input pins (No. 00 input pin in00 to 07 input pin in7); The respective pins mapping couples together on pin in the flexible circuit driving layer module and the IO terminal of IO terminal slave station.Drive No. 00 output pin out00 of floor module and the O-0 output pin mapping of IO terminal etc. such as flexible circuit.By this connection just can real-time sampling IO terminal slave station each input point state and update to each output point of IO terminal slave station during with the fructufy of internal PLC computing.
Drive the configuration file of layer about flexible circuit, No. 00 output pin out00 that drives floor module with flexible circuit is connected to the write method that example explanation flexible circuit drives floor configuration file with the mapping of No. 0 output pin O-0 of IO terminal: only need write in the configuration file of flexible circuit driving floor network linking net statement: net out00O-0, can realize that just a flexible circuit driving layer pin is connected with the pin of IO terminal.
Fig. 3 is the process flow diagram of control system of the present invention.As shown in Figure 3, the idiographic flow of control system of the present invention is:
A is connected to the network interface card of digital control system main website with IO terminal slave station by netting twine, and the digital control system main website loads network interface card and drives, and activates network interface card, starts the EtherCAT communication protocol stack;
Can b digital control system main website detects scan IO terminal slave station, if scanning does not conform to the actual conditions less than IO terminal slave station or the IO terminal slave station information that scans, then return a, check whether netting twine connects correct or whether the digital control system main website has correctly loaded the network interface card driving, whether activated network interface card, until can correctly detect IO terminal slave station;
C writes the source file of IO terminal from the flexible circuit driving layer that stands in digital control system main website numerical control software; Concrete source file is write and is comprised:
The pinout part: 8 digital quantities inputs needs being carried out 8 digital outputs of process data EL2008 of periodical exchange and EL1008 are defined as the IO terminal pins of IO terminal slave station, and the pin type is bit (position).
Function definition part: every 1ms the input and output of IO terminal slave station are upgraded, adopted the function in the EtherCAT communication protocol stack to realize.
The d compiling generates the IO terminal and drives the layer module from the flexible circuit that stands in numerical control software, and it is loaded in (SuSE) Linux OS, has so far successfully realized the driving work to IO terminal slave station in the flexible circuit driving layer of numerical control software;
E opens the numerical control software of digital control system main website;
F writes the configuration file that the numerical control software flexible circuit drives layer, can realize that the pin of flexible circuit driving layer module is connected in the mapping that flexible circuit drives on the layer with the IO terminal pins of IO terminal slave station;
G edits soft PLC program and preservation in the soft PLC editing interface of numerical control software;
H operation digital control system main website;
I digital control system main website is converted to the request of operable state to IO terminal slave station transmission state after receiving operating instruction;
If j IO terminal slave station not yet is ready to enter operable state, then produce alerting signal by the digital control system main website, and provide type of error, jump to end; If IO terminal slave station has been ready to enter operable state, then the soft PLC of digital control system main website numerical control software begins IO terminal slave station is carried out the periodicity input sample, carries out soft PLC program, exports and refresh a series of activities by a flexible circuit driving layer module;
K observes the virtual condition of each contact in the graphical interfaces module of digital control system main website numerical control software;
1 finish after end.
Claims (3)
1. a digital control system main website comprises digital control system main website and IO terminal slave station to the control system of IO terminal slave station, it is characterized in that:
Described digital control system main website comprises hardware platform and is positioned at software part on the hardware platform; Be equipped with network interface card on the described hardware platform, described soft body divides and comprises numerical control software module and the connected EtherCAT communication protocol stack module that is based upon on the (SuSE) Linux OS; Further, described numerical control software module comprises the graphical interfaces module, the mission planning device that is connected with the graphical interfaces module and code interpretative device module, motion-control module and soft PLC module with the mission planning device is connected with the code interpretative device module drive layer module with the flexible circuit of exporting input pin that comprises that motion-control module is connected with soft PLC module; Described EtherCAT communication protocol stack module comprises user's AIM, the support library module that is connected with user's AIM, with the master station module that the support library module is connected, the network interface card driver module that is connected with master station module, this network interface card driver module are used for activating the network interface card on the hardware platform;
Be equipped with the IO terminal that comprises input and output pin on the port of described IO terminal slave station, the flexible circuit in the input and output pin on this IO terminal and the above-mentioned digital control system main website in the numerical control software drives output input pin on the layer module and shines upon one by one and be connected;
The information that graphical interfaces input in the described digital control system main website software numerical control software partly shows is sent in mission planning device and the code interpretative device module, wherein the mission planning device switches numerical control system works pattern according to the mode of operation of selecting in the information, planning digital control system function, code interpretative device then makes an explanation to the job sequence G code, and send the stereotyped command that generates to motion-control module and soft PLC module, the signal of each shaft position in the motion-control module Information Monitoring, calculate the given position of movement locus and carry out interpolation, the interpolation result is exported to flexible circuit drive layer module; Soft PLC module receives stereotyped command and drives the input state that input pin the layer module detects IO terminal slave station from flexible circuit, carries out logical operation, afterwards the result of gained is flushed to flexible circuit and drives on the output pin in the layer module; Flexible circuit driving layer module called the user's AIM in the EtherCAT communication protocol stack, load to support library module by user's AIM and call again function in the master station module, and by the network interface card on the network interface card driver module activation hardware platform, mode with Internet Transmission, by the EtherCAT bus communication protocol, the input and output pin that is driven by flexible circuit on the IO terminal of the IO terminal slave station that the output input pin on the layer module is connected with mapping one by one is sent to IO terminal slave station with above-mentioned steering order, and realization is to the control of IO terminal slave station.
2. digital control system according to claim 1 main website is characterized in that the control system of IO terminal slave station, and described digital control system main website is built-in Linux digital control system main website.
3. digital control system according to claim 1 main website is characterized in that the control system of IO terminal slave station, and described flexible circuit drives source file and the configuration file that comprises editor in the layer module.
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| CN103425106A (en) * | 2013-08-08 | 2013-12-04 | 华南理工大学 | Linux-based Ethercat maser/slave station control system and method |
| CN103577355A (en) * | 2013-08-06 | 2014-02-12 | 中国广核集团有限公司 | Processing method and system for backup panel interface of DCS (Distributed Control System) analogue machine |
| CN103823435A (en) * | 2014-02-08 | 2014-05-28 | 滁州市西控电子有限公司 | Soft PLC-based superview system |
| CN104539412A (en) * | 2014-12-30 | 2015-04-22 | 深圳市英威腾电气股份有限公司 | Ethercat master-slave synchronization method and device and master-slave station system |
| CN105824275A (en) * | 2016-05-17 | 2016-08-03 | 深圳市雷赛智能控制股份有限公司 | Method of controlling slave station servo driver synchronization master station |
| CN109634203A (en) * | 2018-12-19 | 2019-04-16 | 上海维宏电子科技股份有限公司 | The control system and corresponding method that the end IO is controlled based on CNC controller |
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| CN110825031A (en) * | 2019-12-04 | 2020-02-21 | 上海维宏电子科技股份有限公司 | System and method for realizing real-time custom control of numerical control system |
| CN110968044A (en) * | 2019-12-17 | 2020-04-07 | 上海维宏电子科技股份有限公司 | System and method for realizing high-precision PLC control in numerical control system |
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| CN103577355A (en) * | 2013-08-06 | 2014-02-12 | 中国广核集团有限公司 | Processing method and system for backup panel interface of DCS (Distributed Control System) analogue machine |
| CN103425106B (en) * | 2013-08-08 | 2015-12-23 | 华南理工大学 | The master/slave station control system of a kind of EtherCAT based on Linux and method |
| CN103425106A (en) * | 2013-08-08 | 2013-12-04 | 华南理工大学 | Linux-based Ethercat maser/slave station control system and method |
| CN103823435A (en) * | 2014-02-08 | 2014-05-28 | 滁州市西控电子有限公司 | Soft PLC-based superview system |
| CN104539412B (en) * | 2014-12-30 | 2019-05-07 | 深圳市英威腾电气股份有限公司 | Ethercat master-slave synchronisation method and device and master-salve station system |
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| CN105824275A (en) * | 2016-05-17 | 2016-08-03 | 深圳市雷赛智能控制股份有限公司 | Method of controlling slave station servo driver synchronization master station |
| CN105824275B (en) * | 2016-05-17 | 2018-07-10 | 深圳市雷赛智能控制股份有限公司 | A kind of method that slave station servo-driver is controlled to synchronize main website |
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| CN110968044A (en) * | 2019-12-17 | 2020-04-07 | 上海维宏电子科技股份有限公司 | System and method for realizing high-precision PLC control in numerical control system |
| CN111813041A (en) * | 2020-06-06 | 2020-10-23 | 杭州智尔科技有限公司 | Programmable logic controller based on computer programming language and implementation method |
| CN113219896A (en) * | 2020-06-06 | 2021-08-06 | 杭州智尔科技有限公司 | Programmable logic controller based on computer programming language and implementation method |
| CN114740796A (en) * | 2022-04-26 | 2022-07-12 | 傲拓科技股份有限公司 | Large PLC system with distributed processors |
| CN114740796B (en) * | 2022-04-26 | 2023-09-12 | 傲拓科技股份有限公司 | Large-scale PLC system with distributed processor |
| CN114785635A (en) * | 2022-06-21 | 2022-07-22 | 深圳研控自动化科技股份有限公司 | Programmable logic controller connecting method and device, terminal equipment and storage medium |
| CN116909201A (en) * | 2023-09-13 | 2023-10-20 | 南京德克威尔自动化有限公司 | Bus type IO acquisition and control expansion method, system and computer storage medium |
| CN116909201B (en) * | 2023-09-13 | 2023-11-24 | 南京德克威尔自动化有限公司 | Bus type IO acquisition and control expansion method, system and computer storage medium |
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