Research And Development Of Multi-axis Motion Control System Based On EtherCAT Bus

The motion control system is the key equipment for the precision machining of CNC equipment.With the continuous development of industrial automation technology,the motion control system which is network,intelligent and flexible become the future development trend.The traditional motion control system based on fieldbus technology has not satisfied the demand.Industrial Ethernet is widely used in motion control system because of its real-time performance,large communication capacity,good openness and other advantages.EtherCAT Industrial Ethernet is popular because of its fast communication,high reliability and good synchronization.In this paper,the EtherCAT real-time industrial Ethernet technology is introduced into the multi-axis motion control system.Based on the study of multi-axis motion control technology and EtherCAT network technology,the hardware and software of the slave motion controller are developed and the EtherCAT master CNC software.The motion control system is successfully applied to the CNC turret punch press after a series of tests.The main contents and achievements are as follows:1.This paper studies the development status of the motion control system both at home and abroad,compares the mainstream real-time industrial Ethernet,and uses EtherCAT Ethernet to realize the communication inside the control system.The EtherCAT protocol is studied deeply,and the design scheme of the motion control system is put forward,and the hardware and software scheme of the control system are designed respectively.2.Select the fanless industrial PC as the control of the main station,then design EtherCAT communication circuit of the slave controller,ARM control cir cuit,servo interface circuit and power supply circuit in detail,and the layout and routing of the PCB board are successfully developed after the completion of the PCB board layout and routing.3.In the PC software portion of the main station,transforma te the real-time of the linux,installed EtherCAT master station and Linux CNC,prepared a numerical control interface.Part of slave motion controller software,complete the ARM main control program,ET1200 communication program,FSMC bus driver and accele ration and deceleration control algorithm.To achieve from the G code file input to the control axis of the precise positioning of the entire software.4.After the design of the control system hardware and software is completed,the experimental platform is set up,then conducted the communication test between the master and slave stations,the basic function test of the control system,the G code interpretation function test,the circular interpolation function test and the multi-axis synchronous function test,After a series of experimental tests,conducted the high-speed jogging experiments on the LX230 B CNC punch press to achieve the desired effect of motion control.The overall test results of the motion control system meet the design requirements and provide a good foundation for further research.