| With the continuous improvement of the automation level,the requirements for the performance of the servo control system are getting higher and higher,and the demand for the industrial control network is increasing.In order to meet the performance requirements of servo control system for bandwidth,control accuracy and dynamic response,this paper mainly studies the EtherCAT communication method of servo motion control,and applies EtherCAT field bus technology to multi-axis control system to establish the main servo motion control.Slave development architecture and development methods.This article has mainly completed the following work:(1)Set up the EtherCAT communication system platform,design the implementation scheme of the master and slave stations,complete the interface selection and design implementation between the slave application layer main control chip TMS320F28379 and the slave control chip LAN9252.(2)The main communication function and state machine of EtherCAT protocol are described in detail.Based on CIA402 servo motion control profile,the csp,pp and hm modes of the application layer of the slave station are studied and designed,and the actual communication functions and performance are carried out test.(3)Configure and debug the servo motor parameters through the software of the TwinCAT master station of Beckhoff,configure the NC axis and write the PLC program according to the regulations to test the data communication system and realize the motion trajectory planning.The experimental object realizes three kinds of motion modes:single?axis motion,jog motion and multi-axis linkage.(4)Configure the development environnent on the PC platform,run the Linux operating system integrated with xenomai real-time patch,build the IgH EtherCAT Master for Linux open source framework,complete the application layer program design based on this open source framework,and realize the design of the master module.The experimental results show that the basic functions of the EtherCAT master and slave modules can be realized.The master module can establish effective service and process data communication with the slave module,ensuring the synchronization error in the nanosecond level and the communication jitter in the microsecond.Level to meet the real-time requirements of industrial control systems. |
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