Design Of EtherCAT Bus Multi-axis Motion Control System Based On ARM-FPGA

At present,a new round of technological revolution and industrial revolution is taking place,and the manufacturing industry is developing towards the development of intelligent manufacturing based on the interconnection of devices.As an important part of industrial automation equipment,multi-axis motion control system is widely applicated in various industries,EtherCAT bus has the advantages of good real-time performance,high speed,high synchronization,good openness,flexible topology,low cost,etc.,and is especially suitable for networked multi-axis motion control system,therefore,researching and developing EtherCAT bus multi-axis motion control technology to improve the performance of automation equipment,and even to improve the productivity level of manufacturing industry is of great significance.A EtherCAT bus multi-axis motion control system was designed in this paper,which was based on ARM-FPGA.Firstly,the scheme was designed,the system was mainly composed of EtherCAT master station and slave station movement control board,motion control board adopted ARM + FPGA architecture,it can control 6 motion axes,and has 32 digital inputs and 16 digital outputs,with an EtherCAT bus and RS485 bus interface.Secondly,ARM and FPGA chips were selected,Altium Designer was used to design the core circuit,power supply circuit and external interface circuit schematic diagram of ARM and FPGA,according to this,the PCB layout was designed,and the model of motion control board was made.Then,FSMC module of FPGA and ARM communication,I/O control module and axis control module were designed by using the Verilog hardware description language,in the design of the axis control module,the performance of the commonly used acceleration and deceleration algorithms and the feasibility of hardware implementation were analyzed,the linear and S-shaped acceleration and deceleration algorithms were implemented in FPGA,and the ModeSim simulation experiment was carried out.Finally,CoDeSys was chosen as the EtherCAT master station,and the motion control board EtherCAT slave description file was written;the touch screen was configured and developed,the touch screen interface was designed,the Modbus protocol channel was assigned;and the EtherCAT slave program and the Modbus communication program running on ARM of the motion control board were developed,and the system software design was completed.Based on the above hardware and software design and development,a set of EtherCAT bus motion control system was set up with the Raspberry master station equipped with CoDeSys runtime system,a set of RS485 bus motion control system was built by MCGS touch screen,and functional experiments were carried out respectively.The experimental results showed that the two sets of motion control system can realize basic control functions such as positioning and jogging.In addition,the system has been applied to test,the results showed that the control task can be completed.The motion control system designed in this paper had good openness,strong network expansion,superior performance and low cost,and it had wide application prospect in industrial automation equipment.