EtherCAT slave station and slave station synchronous communication method, control system, equipment and storage medium

Abstract

The invention provides an EtherCAT slave station and slave station synchronous communication method, a control system, equipment and a storage medium. The method comprises the steps that a master station acquires a description file of a slave station, configures mapping addresses of an SM and an FMMU of the slave station according to the description file, and configures the mapping addresses of the FMMU of the slave station with data interaction in the same mapping interval; the master station sends an EtherCAT data frame in each synchronization period to perform data interaction with the slave station; wherein the EtherCAT data frame comprises a field corresponding to the mapping address of the FMMU of the slave station; and when the EtherCAT data frame passes through a slave station needing data interaction with other slave stations, the EtherCAT data frame triggers the slave station to write and / or read the process data into a field corresponding to the mapping address of the FMMU of the slave station in the EtherCAT data frame according to the mapping address of the SM and the mapping address of the FMMU. Data interaction can be achieved between the slave stations in one synchronization period.

Description

technical field [0001] Embodiments of the present invention relate to the field of Ethernet industrial control, and more specifically, relate to an EtherCAT slave station-to-slave synchronous communication method, a control system, equipment and a storage medium. Background technique [0002] EtherCAT (Ethernet Control Automation Technology) is an open fieldbus system based on Ethernet. It was first developed by Beckhoff Automation GmbH in Germany. EtherCAT uses a "processing on the fly" The technology realizes the high speed of the EtherCAT frame, and can exchange data with all nodes in the network through one frame. The EtherCAT system is also famous for its real-time performance of communication cycle jitter less than 1us with the distributed synchronous clock (DC). [0003] With the rapid development of industrial control, EtherCAT, as a high-speed field bus, is used in various complex control systems, especially in control systems with high real-time requirements and co...

AI Technical Summary

Problems solved by technology

[0006] Embodiments of the present invention provide an EtherCAT slave-to-slave synchronous communication method, control system, equipment, and storage medium. The technical problem aimed at solving is: how to overcome the existing EtherCAT slave-to-slave synchronous communication control system The communication between the slave station and the slave station cannot complete the data interaction in the same communication cycle, and there is no real-time problem

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