Design Of The Multi-axis Control System Based On EtherCAT Fieldbus

Multi-joint robots have been widely used in today's industry,and will be used in a growing number of other areas.Multi-axis control system as the core of multi-joint robot,the development is also very rapid.The traditional multi-axis controller is bulky,and the scalability is not good.In the era of industrial 4.0,multi-axis control system is also increasingly intelligent,while the volume is gradually reduced,and can be networked.EtherCAT field bus is a new industrial real-time Ethernet bus,after years of technological development,communication speed,topology and other fields already have had a very unique advantage.The work of this paper is to use EtherCAT field bus in multi-axis controller system,which can improve the scalability,real-time,and flexibility of multi-axis controller.This paper firstly analyzed the present situation and development trend of multi-axis control system,introduced the EtherCAT fieldbus technology,and on that basis,established the development framework and development method of multi-axis control system.And then,the communication board based on ET1100 was designed.Using STM32 microcontroller as the application layer control chip of EtherCAT,the hardware and software of digital input and output part and analog input and output part were designed.At the same time,in order to meet the requirements of industrial field,the design focused on the ease of installation,hot-swappable functions and anti-jamming.We used engraving machine as the control object and the PC as the EtherCAT master.We implemented the forward and inverse kinematics algorithm and human-machine interface based on TwinCAT.At the same time,the paper used the ADS communication interface to communicate with the C#high-level language,and realizes the data interaction.In order to facilitate the realization of human-computer interaction,the man-machine interface was also designed based on.NET architecture.So this facilitated direct or remote control of the multi-axis system by the Windows platform.Finally,the multi-axis control system was debugged on the engraving machine platform.Simultaneously,the synchronization performance between the multi-axes was tested.The uniaxial motion,jog movement,multi-axis linkage and teaching of the engraving machine were completed.And the time delay between multiple axes was in microseconds.