Research And Design Of Gateway Based On EtherCAT Network And GSK-Link Network

This paper designs a gateway device based on R-IN32M3 and ET9300 EtherCAT interface(hereinafter referred to as GWE).GWE is an EtherCAT slave node,which undertakes protocol conversion between EtherCAT network and GSK-Link network.It practices the EtherCAT bus,one of the mainstream industrial bus technologies.It uses the mature open source protocol stack resources provided by Bechkoff.The processor adopts the new MPU chip of Reissa Company,which supports multiple buses.At the same time,GWE joins the mature internal field bus standard GSK-Link.From the technical point of view,GWE includes the verification and response of new technologies and new chips.From the commercial point of view,GWE will be limited to the product nodes of the company's autonomous network technology and successfully access the international standard network,opening up a greater market possibility for the company.In this paper,the standard Ethernet Hardware layer of EtherCAT network and GSK-Link network is realized by using R-IN32M3 as the main CPU chip and XLINX as the auxiliary hardware architecture of FPGA chip.The overall hardware framework is summarized,the chip selection parameters and standards are introduced in detail,and the circuit schematic design of typical functional modules is explained one by one.The software design of this project is based on the open source protocol stack ET9300 of Beckhoff Company,Germany.The MDP protocol(modular device profile)of ETG(EtherCAT technical organization)is selected as the application protocol.This topic introduces the general design of the software,including the overall architecture,functional module division,application protocol design,dictionary design,synchronization design,etc.Then it describes in detail how to use ET9300 to generate the software framework,and modify the source code according to the application requirements of the subject.In the last chapter,a complete experimental environment is built,and GWE is tested and checked.Based on the key parameters and evaluation criteria of EtherCAT technology,standard evaluation of GWE at office level is carried out with ET9400(Compatibility Testing Tool).Multi-channel oscilloscope is used to evaluate important parameters such as synchronous compensation accuracy and forwarding delay of GWE.The experimental results show that GWE has the characteristics of reliability,real-time and synchronization in practical application.GWE meets the application research and development goals of this project.