摘要
随着机械制造自动化对同步要求不断提高,EtherCAT的应用越来越广泛。在重点研究EtherCAT分布时钟机制的基础上,提出了基于实时嵌入式系统μC/OS-III完成主站的方案。主站对从站的传输延时、初始偏移进行测量,多次读写从站寄存器,待从站同步误差满足阀值后发送同步激活信号,最终实现主站的同步控制技术。最后搭建一个测试系统,读取从站设备时钟漂移寄存器和同步信号SYNC0启动时间寄存器的值并进行分析,结果表明了EtherCAT嵌入式主站精度高、稳定性强的同步控制性能。
With the synchronization requirements in machinery manufacturing automation increasing, EtherCAT is more and more widely applied.On the basis of research that mainly focused on EtherCAT distributed clock mechanism,a scheme which implement the master station based on a real-time embedded system μC/OS-III is proposed.The master station measures the transmission delay and the initial offset of the slave station, repeatedly reads and writes the slave station registers ,after the synchronization error from the slave station reaches the threshold,then sends the Synchronous activation signal, and finally the master station synchronization control technology is realized.At last,a test system is build, the values of clock shift register and the start time register of signal synchronization SYNCO in slave station are read and analyzed, and the results shows that the EtherCAT embedded master station have a high performance of precision and stability in synchronous control.
作者
曹辉
罗亮
刘知贵
CAO Hui LUO Liang LIU Zhi-gui(School of Information Engineering, Southwest University of Science and Technology, Siehuan Mianyang 621010, China)
出处
《机械设计与制造》
北大核心
2017年第7期164-166,170,共4页
Machinery Design & Manufacture
基金
四川省教育厅科技项目(16ZB0145)
四川省研究生教育改革创新项目(14JGCX01)
