Design Of Motion Control System Based On EtherCAT Master Stack

In order to remain competitive and thrive,many businesses are increasingly turning to advanced industrial automation to maximize productivity,economies of scale and quality.The emergence of real-time industrial Ethernet,which has large advantages in real-time,reliability and certainty,brought new impetus to promote the development of the automation industry.Motion control is one of the most important technology in the field of automation,and real-time industrial Ethernet technology can not only provide high-speed and real-time data communication for it,but also significantly reduce its production and operating costs.In this paper,EtherCAT and motion control technology are analyzed and studied in aspects of network protocol,servo machine state machine,motion control algorithm and software design:Firstly,the development status of motion control and industrial Ethernet technology is introduced,moreover,EtherCAT was chosen to be the communication protocol used in designing the motion control system by comprehensively comparing several popular industrial Ethernet networks.Secondly,the operation principle of EtherCAT is analyzed in terms of architecture,communication protocol and distributed clock etc.Then,the algorithm of interpolation and velocity planning in motion control technology is analyzed and studied.Finally,the design of the motion control software which uses the EtherCAT master protocol stack as the communication foundation is completed.Then,several system functions are tested.This software can run on the Linux platform for x86 and ARM and some other architectures.In addition,this software is not limited to a certain protocol stack because an information abstraction layer is designed between the motion control function and EtherCAT master protocol stack.Theoretically,any hardware that runs the Linux operating system and contains the standard Ethernet port could become the target platform of this software.The final experimental results show that,this software runs well in controlling the movement of servo motor.