Servo driver synchronized method based on Ether CAT real-time Ethernet

Abstract

A servo driver synchronized method based on Ether CAT real-time Ethernet comprises the steps as follows: a slave station link layer control module requests a synchronous interruption to an application layer control module while a distribution clock is triggered; the application layer control module calculates interrupt response time delay delta t1 while entering into the synchronous interruption every time, calculates Tset = TOffset + (Tc-delta t1) while entering into the synchronous interruption for the first time, wherein Tset represents next time of initiating servo interruption after the application layer control module receives a synchronous interruption request for the first time, and TOffset represents time deviation between the next time of initiating servo interruption and time of receiving the synchronous interruption request after the application layer control module receives the synchronous interruption request, and the application layer control module adjusts timing cycle of a servo program which enters into the synchronous interruption for the first time and recovering the timing cycle of other servo programs to normal in a first communication period. The servo driver synchronized method of the invention avoids the conflicts between data updating and a servo application program, and synchronously updates and executes servo control data.

Description

technical field [0001] The invention relates to a servo drive synchronization method based on EtherCAT real-time Ethernet. Background technique [0002] The development level of the motion control system determines the level of a country's equipment manufacturing industry. With the development of field bus and network technology, distributed motion control system is an important development direction of CNC system. A high-level distributed motion control system needs to realize high-precision current, speed and position full-closed-loop control, and needs to realize efficient and high-speed information exchange. [0003] The traditional servo drive interface needs to be equipped with an additional motion control card, and the motion control card and the servo drive are connected with pulse commands and analog signals. This method has complex wiring, low communication rate, complex centralized control method, and poor scalability, which seriously restricts the development a...

AI Technical Summary

Problems solved by technology

When the distribution clock cycle is not equal to the communication cycle, the servo application variables on each slave station are not synchronized, and their update and execution may deviate by one cycle

And the synchronous interrupt has a higher priority, which can interrupt the PDI interrupt, resulting in an incomplete data update error;

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