党选举, 谢桧宝, 姜辉, 伍锡如. 高集成度EtherCAT从站设计与多轴控制的研究[J]. 微电子学与计算机, 2018, 35(6): 97-100, 105.
引用本文: 党选举, 谢桧宝, 姜辉, 伍锡如. 高集成度EtherCAT从站设计与多轴控制的研究[J]. 微电子学与计算机, 2018, 35(6): 97-100, 105.
DANG Xuan-ju, XIE Hui-bao, JIANG Hui, WU Xi-ru. Design of Highly Integrated EtherCAT Slave and Research on Multi-axis Control[J]. Microelectronics & Computer, 2018, 35(6): 97-100, 105.
Citation: DANG Xuan-ju, XIE Hui-bao, JIANG Hui, WU Xi-ru. Design of Highly Integrated EtherCAT Slave and Research on Multi-axis Control[J]. Microelectronics & Computer, 2018, 35(6): 97-100, 105.

高集成度EtherCAT从站设计与多轴控制的研究

Design of Highly Integrated EtherCAT Slave and Research on Multi-axis Control

  • 摘要: EtherCAT是目前最高速的实时工业以太网技术, 逐渐应用于工业控制领域.为满足复杂运动控制系统高集成度需求, 文章采用高集成度的EtherCAT从站芯片LAN9252设计了一种新的从站方案, 同时面向多关节机械臂运动控制, 设计了一个从站控制两个轴的控制方案.针对一个从站控制两个轴时引起的数据传输量加大的问题, 在应用层对运动控制协议CiA402进行了裁剪、移植, 节省了成本并能达到很快的数据刷新周期.该文分析了软硬件设计流程, 通过实验对该从站进行一系列测试, 实验结果证明该从站I/O通信正常, 同步性能良好, 一个从站在控制两个轴的情况下能正常稳定工作.

     

    Abstract: EtherCAT is the most high-speed real-time industrial Ethernet technology, and is gradually used in industrial control field. In order to meet the high integration requirements for complex motion control systems, 1) a new slave scheme is designed for using a highly integrated EtherCAT slave chip LAN9252, 2) For the multi-joint manipulator motion control, a control scheme of two-axis controlled by slave station is designed. In order to solve the problem of the increasing transmission data caused by the control of two-axis, the motion control protocol CiA402 is cut and transplanted at application layer, saves the cost and achieves a fast data refresh cycle. The design process of hardware and software are analyzed. A series of tests are carried out on the slave station through experiments. The experimental results show that the I/O communication of the slave station is normal and the synchronization performance is good. A slave station can operate normally and stably under the control of two-axis.

     

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