CN109328449A - RTEX-EtherCAT protocol conversion apparatus and industrial control system - Google Patents
RTEX-EtherCAT protocol conversion apparatus and industrial control system Download PDFInfo
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Abstract
The invention discloses a kind of RTEX-EtherCAT protocol conversion apparatus and industrial control systems, the protocol conversion apparatus includes RTEX module, EtherCAT module and protocol conversion module, wherein: the RTEX module connects RTEX equipment, for transmitting the data for using RTEX agreement between the RTEX equipment and the RTEX module；The protocol conversion module is arranged between the RTEX module and the EtherCAT module, for will the first data conversion using RTEX agreement from the RTEX module at the second data using EtherCAT agreement, and the EtherCAT module will be sent to using second data of EtherCAT agreement；The EtherCAT module connects EtherCAT equipment, for transmitting the data for using EtherCAT agreement between the EtherCAT equipment and the EtherCAT module.By the above-mentioned means, the present invention can be realized the compatibling problem communicated between RTEX, EtherCAT agreement.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of communication, in particular to an RTEX-EtherCAT protocol conversion device and an industrial control system.
[ background of the invention ]
Rtex (real express) is a high-speed real-time network communication protocol that is the staple of panasonic corporation in japan. An RTEX network communication protocol based on 100Mbps adopts a ring topology structure, and each node including a main station is provided with a TX port and an RX port. Both the main station and the slave station of the RTEX industrial Ethernet adopt special Media Access Control (MAC) chips, the maximum support is 32 slave stations for connection, and the communication period supports 1ms, 0.5ms, 0.166ms and 0.083 ms.
Ethernet Control automation technology (ethercontrol automation technology, abbreviated EtherCAT) is an industrial ethernet protocol developed and fully disclosed by Beckhoff, germany. The system supports various topological structures of a bus, a tree or a star, the master station adopts a standard Intel network card chip, the slave stations adopt special MAC supporting an EtherCAT protocol, at most 65535 individual slave stations are supported, and the communication with 100 servo axes only needs 100 mu s.
At present, in the field of industrial control, various real-time industrial Ethernet networks are difficult to unify, and slave stations supporting different protocols are difficult to integrate in the same control system. In the existing industrial control system supporting the RTEX protocol, if a servo driver and IO equipment supporting an EtherCAT interface are used, the problem of communication incompatibility exists, and if the system is upgraded, the whole system needs to be upgraded.
[ summary of the invention ]
The invention mainly solves the technical problem of providing an RTEX-EtherCAT protocol conversion device and an industrial control system, which can be used as conversion modules of two Ethernet protocols of RTEX and EtherCAT, thereby realizing the compatibility of communication between RTEX and EtherCAT protocols.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a RTEX-EtherCAT protocol conversion device, protocol conversion device includes RTEX module, EtherCAT module and protocol conversion module, wherein: the RTEX module is connected with RTEX equipment and used for transmitting data adopting an RTEX protocol between the RTEX equipment and the RTEX module; the protocol conversion module is arranged between the RTEX module and the EtherCAT module and is used for converting first data which are from the RTEX module and adopt an RTEX protocol into second data which adopt an EtherCAT protocol and sending the second data which adopt the EtherCAT protocol to the EtherCAT module; the EtherCAT module is connected with EtherCAT equipment and used for transmitting data adopting an EtherCAT protocol between the EtherCAT equipment and the EtherCAT module.
Wherein, the protocol conversion module comprises: the protocol conversion processor is arranged between the RTEX module and the EtherCAT module and used for receiving the first data which are from the RTEX module and adopt RTEX protocol, converting the first data into the second data which adopt EtherCAT protocol and sending the second data to the EtherCAT module; the power supply unit is connected with the protocol conversion processor to receive the input of an external power supply and supply power to the protocol conversion processor, the RTEX module and the EtherCAT module; and the resetting unit is connected with the protocol conversion processor so as to monitor the protocol conversion processor and carry out resetting operation on the protocol conversion processor.
Wherein the RTEX module includes: a MAC chip supporting RTEX protocol, connected with the protocol conversion processor to transfer the first data to the protocol conversion processor for processing; the PHY chip is connected with the MAC chip supporting the RTEX protocol; an input/output interface connected to the PHY chip through a network transformer; wherein the RTEX module is connected to the RTEX device through the input-output interface to transfer data employing an RTEX protocol between the RTEX device and the RTEX module.
Wherein the input and output interfaces comprise independent input interfaces and independent output interfaces.
Wherein the EtherCAT module comprises: the MAC chip supports an EtherCAT protocol and is connected with the protocol conversion processor to receive the second data transmitted by the protocol conversion processor; the PHY chip is connected with the MAC chip supporting the EtherCAT protocol; an external connection interface connected with the PHY chip through a network transformer; wherein the EtherCAT module is connected to the EtherCAT device through the external connection interface to transfer data using an EtherCAT protocol between the EtherCAT device and the EtherCAT module.
Wherein, the external connection interface is an RJ45 network interface.
The MAC chip supporting the EtherCAT protocol is a universal network chip.
Wherein the protocol conversion processor is further configured to: receiving feedback data which is from the EtherCAT module and adopts an EtherCAT protocol; converting the feedback data adopting the EtherCAT protocol into feedback data adopting an RTEX protocol; and sending the feedback data adopting the RTEX protocol to the RTEX module so as to feed the feedback data adopting the RTEX protocol back to the RTEX equipment through the RTEX module.
Wherein the protocol conversion processor further comprises: the main module is used for receiving the first data which adopts an RTEX protocol from the RTEX module, converting the first data into the second data which adopts an EtherCAT protocol, and sending the second data to the EtherCAT module; receiving feedback data which adopts an EtherCAT protocol from the EtherCAT module, converting the feedback data which adopts the EtherCAT protocol into feedback data which adopts an RTEX protocol, and sending the feedback data which adopts the RTEX protocol to the RTEX module; and the state machine and the interrupt control module are used for switching the state of the main module so as to realize data interaction between the RTEX module and the EtherCAT module.
The state machine and the interrupt control module switch the state of the main module through a timer interrupt mode or a buffer cache mode so as to realize data interaction between the RTEX module and the EtherCAT module.
In order to solve the technical problem, the invention adopts another technical scheme that: providing an industrial control system, the system comprising: the RTEX equipment, RTEX-EtherCAT protocol conversion device and EtherCAT equipment, RTEX-EtherCAT protocol conversion device set up between RTEX equipment and the EtherCAT equipment to connect RTEX equipment and the EtherCAT equipment respectively, wherein, RTEX-EtherCAT protocol conversion device is as above any one protocol conversion device.
The invention has the beneficial effects that: the protocol conversion device comprises an RTEX module, an EtherCAT module and a protocol conversion module, wherein the RTEX module is connected with RTEX equipment and is used for transmitting data adopting an RTEX protocol between the RTEX equipment and the RTEX module; the protocol conversion module is arranged between the RTEX module and the EtherCAT module and is used for converting first data which are from the RTEX module and adopt an RTEX protocol into second data which adopt an EtherCAT protocol and sending the second data which adopt the EtherCAT protocol to the EtherCAT module; the EtherCAT module is connected with EtherCAT equipment and used for transmitting data adopting an EtherCAT protocol between the EtherCAT equipment and the EtherCAT module. In this way, the compatibility problem of communication between RTEX and EtherCAT protocols can be realized.
[ description of the drawings ]
Fig. 1 is a schematic structural diagram of an embodiment of an RTEX-EtherCAT protocol conversion apparatus according to the present invention;
fig. 2 is a schematic structural diagram of another embodiment of the RTEX-EtherCAT protocol conversion apparatus according to the present invention;
fig. 3 is a schematic structural diagram of another embodiment of the RTEX-EtherCAT protocol conversion apparatus according to the present invention;
fig. 4 is a schematic structural diagram of another embodiment of the RTEX-EtherCAT protocol conversion apparatus according to the present invention;
fig. 5 is a schematic structural diagram of another embodiment of the RTEX-EtherCAT protocol conversion apparatus according to the present invention;
FIG. 6 is a schematic diagram of an embodiment of an industrial control system according to the present invention.
[ detailed description ] embodiments
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of an RTEX-EtherCAT protocol conversion device of the present invention, where the protocol conversion device 30 is a transfer protocol device between an RTEX device 10 and an EtherCAT device 20, and is compatible with an RTEX protocol and an EtherCAT protocol, so as to facilitate communication between the RTEX device 10 and the EtherCAT device 20 and achieve integration and unification of an industrial control system.
Specifically, the protocol conversion apparatus 30 includes an RTEX module 1, an EtherCAT module 2, and a protocol conversion module 3, where:
the RTEX module 1 is connected to the RTEX device 10, and is configured to transfer data using an RTEX protocol between the RTEX device 10 and the RTEX module.
The RTEX module 1 communicates with the RTEX device 10 according to a normal RTEX protocol, and transfers data using the RTEX protocol, and thus, the specific structure of the RTEX module 1 may be various specific structures that are currently used for communicating according to the RTEX protocol.
The EtherCAT module 2 is connected to the EtherCAT device 20, and is configured to transfer data using the EtherCAT protocol between the EtherCAT device 20 and the EtherCAT module 2.
The EtherCAT module 2 communicates with the EtherCAT device 20 according to the normal EtherCAT protocol, and transfers data using the EtherCAT protocol, so that the specific structure of the EtherCAT module 2 may be various specific structures existing in the prior art and communicating according to the EtherCAT protocol.
The protocol conversion module 3 is arranged between the RTEX module 1 and the EtherCAT module 2, and is used for converting first data which are from the RTEX module 1 and adopt an RTEX protocol into second data which adopt an EtherCAT protocol, and sending the second data which adopt the EtherCAT protocol to the EtherCAT module 2;
the RTEX protocol and the EtherCAT protocol are two different protocols, and devices or modules which respectively communicate according to the RTEX protocol and the EtherCAT protocol only identify data adopting respective protocols, so that an intermediate bridge is required for realizing communication between two different data of the RTEX protocol and the EtherCAT protocol, that is, first data of the RTEX protocol can be converted into second data of the EtherCAT protocol. The protocol conversion module 3 is such an intermediate bridge. It converts the first data in the RTEX protocol from the RTEX module 1 into the second data in the EtherCAT protocol and sends the second data in the EtherCAT protocol to the EtherCAT module 2.
The protocol conversion device comprises an RTEX module, an EtherCAT module and a protocol conversion module, wherein the RTEX module is connected with RTEX equipment and used for transmitting data adopting an RTEX protocol between the RTEX equipment and the RTEX module; the protocol conversion module is arranged between the RTEX module and the EtherCAT module and is used for converting first data which are from the RTEX module and adopt an RTEX protocol into second data which adopt an EtherCAT protocol and sending the second data which adopt the EtherCAT protocol to the EtherCAT module; the EtherCAT module is connected with EtherCAT equipment and used for transmitting data adopting an EtherCAT protocol between the EtherCAT equipment and the EtherCAT module. In this way, the compatibility problem of communication between RTEX and EtherCAT protocols can be realized.
Referring to fig. 2, the protocol conversion module 3 includes: a protocol conversion processor 31, a power supply unit 32, and a reset unit 33.
The protocol conversion processor 31 is arranged between the RTEX module 1 and the EtherCAT module 2, and is configured to receive first data using an RTEX protocol from the RTEX module 1, convert the first data into second data using an EtherCAT protocol, and send the second data to the EtherCAT module 2;
the protocol conversion processor 31 is responsible for receiving the first data of the RTEX module 1 adopting the RTEX protocol, analyzing the first data adopting the RTEX protocol, completing data analysis and verification, converting the first data into the second data adopting the EtherCAT protocol, and sending the second data to the EtherCAT module 2.
The power supply unit 32 is connected with the protocol conversion processor 31 to receive the input of an external power supply and supply power to the protocol conversion processor 31, the RTEX module 1 and the EtherCAT module 2;
the reset unit 33 is connected to the protocol conversion processor 31 to monitor the protocol conversion processor 31 and perform a reset operation on the protocol conversion processor 31. The reset operation is an operation for returning the protocol conversion processor 31 to the initial state, and the protocol conversion processor 31 can be returned to the original state by the reset operation, receive the first data again, convert the first data into the second data, and transmit the second data, as in the case of the reset button of the calculator.
Further, referring to fig. 3, in an embodiment, a specific structure of the RTEX module 1 includes: the device comprises a MAC chip 11 supporting an RTEX protocol, a PHY chip 12 and an input/output interface 13.
The MAC chip 11 supporting the RTEX protocol is connected with the protocol conversion processor 31 to transfer the first data to the protocol conversion processor 31 for processing;
the PHY chip 12 is connected with an MAC chip 11 supporting an RTEX protocol;
the input/output interface 13 is connected to the PHY chip 12 through a network transformer 14;
wherein, the RTEX module 1 is connected to the RTEX device 10 through the input output interface 13 to transfer data adopting the RTEX protocol between the RTEX device 10 and the RTEX module 1.
For example, in one implementation, the RTEX module 1 may be used to implement a RTEX slave station, which is responsible for interfacing with a RTEX master station. The RTEX module 1 receives data frames from the RTEX master station and stores them in an RX buffer (RX-buffer). The RTEX module 1 mainly includes a MAC chip supporting the RTEX protocol, a PHY chip of ethernet, a network transformer, and two external connectors. The MAC chip of the RTEX protocol is connected with a protocol conversion processor 31 (CPU) through an address line and a data line and is used for data communication; the interrupt pin and the clock signal pin are connected to the IO of the CPU and used for synchronizing and triggering a data processing function; the MAC chip is connected to the PHY chip through an MII interface, then is connected to an input/output port through a network transformer, and is connected to an RTEX main station through a TX/RX port.
The input/output interface 13 includes an independent input interface and an independent output interface. The synchronous input and output can be realized, and the transmission efficiency is improved.
Referring to fig. 4, in an embodiment, a specific structure of the EtherCAT module 2 includes: MAC chip 21, PHY chip 22, external connection interface 23 of supporting EtherCAT agreement.
The MAC chip 21 supporting the EtherCAT protocol is connected to the protocol conversion processor 31 to receive the second data transmitted from the protocol conversion processor 31;
the PHY chip 22 is connected with the MAC chip 21 supporting the EtherCAT protocol;
the external connection interface 23 is connected to the PHY chip through a network transformer 24;
wherein the EtherCAT module 2 is connected to the EtherCAT device 20 through the external connection interface 23 to transfer data using the EtherCAT protocol between the EtherCAT device 20 and the EtherCAT module 2.
For example, in an actual application, the EtherCAT module 2 implements an EtherCAT master station, and is responsible for connecting with an EtherCAT slave station, and the EtherCAT module 2 mainly includes an MAC chip (for example, a general intel network chip) supporting an EtherCAT protocol, a PHY chip, a network transformer, and an external connection interface.
Specifically, the external connection interface 23 is an RJ45 network interface.
Specifically, the MAC chip 21 supporting the EtherCAT protocol is a general network chip.
Wherein the protocol conversion processor 31 is further configured to:
receiving feedback data which is from an EtherCAT module 2 and adopts an EtherCAT protocol;
converting the feedback data adopting the EtherCAT protocol into the feedback data adopting the RTEX protocol;
the feedback data adopting the RTEX protocol is sent to the RTEX module 1 to feed back the feedback data adopting the RTEX protocol to the RTEX device 10 through the RTEX module 1.
Further, referring to fig. 5, in an embodiment, the protocol conversion processor 31 further includes: a main module 311, a state machine and an interrupt control module 312.
The main module 311 is configured to receive first data using an RTEX protocol from the RTEX module 1, convert the first data into second data using an EtherCAT protocol, and send the second data to the EtherCAT module 2; receiving feedback data which adopts an EtherCAT protocol from the EtherCAT module 2, converting the feedback data which adopts the EtherCAT protocol into feedback data which adopts an RTEX protocol, and sending the feedback data which adopts the RTEX protocol to the RTEX module 1;
the state machine and interrupt control module 312 is used to switch the state of the main module 311 to realize data interaction between the RTEX module 1 and EtherCAT module 2.
The state machine and the interrupt control module 312 switch the state of the main module in a timer interrupt manner or a buffer cache manner, so as to implement data interaction between the RTEX module 1 and the EtherCAT module 2.
Timer interrupt mode: and performing data interaction through timer interruption, and requiring the first data adopting an RTEX protocol and the feedback data adopting an EtherCAT protocol to realize synchronous reading and writing. And when the first data adopting the RTEX protocol is received and analyzed, triggering data exchange interruption, and exchanging the first data adopting the RTEX protocol with the feedback data adopting the EtherCAT protocol.
The buffer cache mode is as follows: the main module 311 has a buffer for storing the first data in the RTEX protocol sent by the RTEX module 1 and the feedback data in the EtherCAT protocol from the EtherCAT module 2. In an interpolation period, when the RTEX module 1 sends first data, writing the first data from the RTEX module 1 in the buffer, triggering buffer switching after writing, and reading the written data in the buffer; and then writing feedback data of the EtherCAT protocol from the EtherCAT module, triggering buffer switching after writing, and reading the written data in the buffer.
Through the mode, the data interaction diversity can be realized, the configuration is carried out according to the specific requirements, and the data interaction method is used in various application occasions.
Referring to fig. 6, fig. 6 is a schematic structural diagram of an embodiment of an industrial control system according to the present invention, the system including: the RTEX device 100, the RTEX-EtherCAT protocol conversion device 200, and the EtherCAT device 300, the RTEX-EtherCAT protocol conversion device 200 is disposed between the RTEX device 100 and the EtherCAT device 300 to connect the RTEX device 100 and the EtherCAT device 300, respectively, wherein the RTEX-EtherCAT protocol conversion device 200 is the protocol conversion device described in any one of the above, and the detailed description of the related contents refers to the RTEX-EtherCAT protocol conversion device described above, which is not described herein again in detail.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (11)
- An RTEX-EtherCAT protocol conversion device, characterized in that, the protocol conversion device includes RTEX module, EtherCAT module and protocol conversion module, wherein:the RTEX module is connected with RTEX equipment and used for transmitting data adopting an RTEX protocol between the RTEX equipment and the RTEX module;the protocol conversion module is arranged between the RTEX module and the EtherCAT module and is used for converting first data which are from the RTEX module and adopt an RTEX protocol into second data which adopt an EtherCAT protocol and sending the second data which adopt the EtherCAT protocol to the EtherCAT module;the EtherCAT module is connected with EtherCAT equipment and used for transmitting data adopting an EtherCAT protocol between the EtherCAT equipment and the EtherCAT module.
- The protocol conversion apparatus according to claim 1, wherein the protocol conversion module comprises:the protocol conversion processor is arranged between the RTEX module and the EtherCAT module and used for receiving the first data which are from the RTEX module and adopt RTEX protocol, converting the first data into the second data which adopt EtherCAT protocol and sending the second data to the EtherCAT module;the power supply unit is connected with the protocol conversion processor to receive the input of an external power supply and supply power to the protocol conversion processor, the RTEX module and the EtherCAT module;and the resetting unit is connected with the protocol conversion processor so as to monitor the protocol conversion processor and carry out resetting operation on the protocol conversion processor.
- The protocol conversion apparatus according to claim 2, wherein the RTEX module comprises:a MAC chip supporting RTEX protocol, connected with the protocol conversion processor to transfer the first data to the protocol conversion processor for processing;the PHY chip is connected with the MAC chip supporting the RTEX protocol;an input/output interface connected to the PHY chip through a network transformer;wherein the RTEX module is connected to the RTEX device through the input-output interface to transfer data employing an RTEX protocol between the RTEX device and the RTEX module.
- The protocol conversion apparatus of claim 3, wherein the input/output interface comprises a separate input interface and a separate output interface.
- The protocol conversion apparatus of claim 2, wherein the EtherCAT module comprises:the MAC chip supports an EtherCAT protocol and is connected with the protocol conversion processor to receive the second data transmitted by the protocol conversion processor;the PHY chip is connected with the MAC chip supporting the EtherCAT protocol;an external connection interface connected with the PHY chip through a network transformer;wherein the EtherCAT module is connected to the EtherCAT device through the external connection interface to transfer data using an EtherCAT protocol between the EtherCAT device and the EtherCAT module.
- The protocol conversion device of claim 5 wherein the external connection interface is an RJ45 network interface.
- The protocol conversion device of claim 5, wherein the MAC chip supporting the EtherCAT protocol is a general-purpose network chip.
- The protocol conversion device of claim 2, wherein the protocol conversion processor is further configured to:receiving feedback data which is from the EtherCAT module and adopts an EtherCAT protocol;converting the feedback data adopting the EtherCAT protocol into feedback data adopting an RTEX protocol;and sending the feedback data adopting the RTEX protocol to the RTEX module so as to feed the feedback data adopting the RTEX protocol back to the RTEX equipment through the RTEX module.
- The protocol conversion apparatus according to claim 8, wherein the protocol conversion processor further comprises:the main module is used for receiving the first data which adopts an RTEX protocol from the RTEX module, converting the first data into the second data which adopts an EtherCAT protocol, and sending the second data to the EtherCAT module; receiving feedback data which adopts an EtherCAT protocol from the EtherCAT module, converting the feedback data which adopts the EtherCAT protocol into feedback data which adopts an RTEX protocol, and sending the feedback data which adopts the RTEX protocol to the RTEX module;and the state machine and the interrupt control module are used for switching the state of the main module so as to realize data interaction between the RTEX module and the EtherCAT module.
- The protocol conversion device according to claim 9, wherein the state machine and the interrupt control module switch the state of the main module through a timer interrupt manner or a buffer cache manner, so as to implement data interaction between the RTEX module and the EtherCAT module.
- An industrial control system, characterized in that the system comprises: the RTEX equipment, RTEX-EtherCAT protocol conversion device and EtherCAT equipment, RTEX-EtherCAT protocol conversion device set up between RTEX equipment and the EtherCAT equipment, in order to connect the RTEX equipment and the EtherCAT equipment respectively, wherein, the RTEX-EtherCAT protocol conversion device is according to any one of claims 1-10 protocol conversion device.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/077629 WO2018170774A1 (en) | 2017-03-22 | 2017-03-22 | Rtex-ethercat protocol conversion apparatus and industrial control system |
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| CN113589763A (en) * | 2020-08-04 | 2021-11-02 | 上海海得控制系统股份有限公司 | Communication control device and motion control system based on multiple Ethernet |
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| CN205829667U (en) * | 2016-08-02 | 2016-12-21 | 哈尔滨博强机器人技术有限公司 | A kind of communication gate of RTEX Yu DeviceNET |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110545270A (en) * | 2019-08-21 | 2019-12-06 | 北京配天技术有限公司 | protocol conversion device, protocol conversion apparatus and method |
| CN113589763A (en) * | 2020-08-04 | 2021-11-02 | 上海海得控制系统股份有限公司 | Communication control device and motion control system based on multiple Ethernet |
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|---|---|
| WO2018170774A1 (en) | 2018-09-27 |
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