The Design Of Servo Driver Industrial Ethernet Interface

With the development of the Industrial Automation, the control network had to be charged for more communication tasks. The scale and complexity of the information needed to be transported in the network had been grown hugely, which asked for higher requirements of the control system. As a control network which had special requirement in control precision and dynamic response, servo driver system also had to face the same challenge.This thesis researched on the methods of applying Industrial Ethernet technology in Servo System. Through combining the EtherCAT Industrial Ethernet Protocol with the CANopen Profiles and using TMS320F2812 serial DSP as the hardware platform, Industrial Ethernet communication interface for the servo driver was designed and implemented and finally a networked motion control system was set up.Based on deep analysis of the EtherCAT and CANopen protocol, the key points of forming the CANopen over EtherCAT structure was elaborated and several motion control modes designs were illustrated, especially on the methods and cruces of the software implementation.According to the layer and module of the entire software, this thesis gave the design procedure of the communication interface. It was divided into three main modules: EtherCAT and CoE Communication module and the motion control module.Subsequently, it divided each module into sub-modules according to their function. The EtherCAT communication module included mailbox, process data and communication state machine services. The CoE profile module comprised of the Service Data Object, Process Data Object, Object Dictionary services. The motion control module was formed by the device state machine and kinds of motion control modes. The design and implementation of each module was given in detail.The results of the Cyclic Synchronous Position and Velocity mode and Profile Position and Velocity mode were given in this thesis showed that this system could satisfy the high speed, high precision, high reliability and synchronous unisonous control requirements. Finally, conclusions and exceptions were given.