Title:
METHOD FOR ENABLING SERVO INTERNAL CONTROL CYCLE TO DYNAMICALLY FOLLOW ETHERCAT BUS SYNCHRONIZATION CYCLE
Document Type and Number:
WIPO Patent Application WO/2020/206808
Kind Code:
A1
Abstract:
A method for enabling a servo internal control cycle to dynamically follow an EtherCat bus synchronization cycle. Servo internal control cycle time is recorded as T, and EtherCat bus synchronization cycle time is recorded as Tesync. If n×T is greater than an EtherCat bus cycle, a servo internal control cycle signal is forcibly generated in advance to maintain synchronization with a bus synchronization cycle signal; otherwise, if n×T is less than the EtherCat bus synchronization cycle, a servo internal control cycle signal is not generated even though the time for generating a servo internal control cycle signal is reached, it being necessary to wait for the arrival of the bus synchronization cycle signal; once the bus synchronization cycle signal arrives, the last servo internal control cycle signal is generated immediately to maintain synchronization with the bus synchronization cycle signal. Afterwards, each EtherCat bus synchronization cycle is similarly processed according to the described principle. Dynamic errors are eliminated by dynamically adjusting the servo internal control cycle signal and the bus synchronization cycle signal so that errors between synchronization signals caused by the inherent deviation between non-homologous clocks are eliminated, and the final synchronization of slave stations of all stages is maintained.
Inventors:
YANG LU (CN)
XU XIAOJUN (CN)
QIAN WEI (CN)
XU XIAOJUN (CN)
QIAN WEI (CN)
Application Number:
PCT/CN2019/087247
Publication Date:
October 15, 2020
Filing Date:
May 16, 2019
Export Citation:
Assignee:
NANJING ESTUN AUTOMATION CO LTD (CN)
International Classes:
G05B19/042; H04J3/06
Foreign References:
| CN107465474A | 2017-12-12 | |||
| CN105024777A | 2015-11-04 | |||
| CN109554851A | 2019-04-02 | |||
| CN104301188A | 2015-01-21 | |||
| JP2005275575A | 2005-10-06 |
Attorney, Agent or Firm:
NANJING RUIZHIBO INTELLECTUAL PROPERTY AGENCY CO., LTD. (CN)
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