摘要
EtherCAT是目前最高速的实时工业以太网技术,逐渐应用于工业控制领域.为满足复杂运动控制系统高集成度需求,文章采用高集成度的EtherCAT从站芯片LAN9252设计了一种新的从站方案,同时面向多关节机械臂运动控制,设计了一个从站控制两个轴的控制方案.针对一个从站控制两个轴时引起的数据传输量加大的问题,在应用层对运动控制协议CiA402进行了裁剪、移植,节省了成本并能达到很快的数据刷新周期.该文分析了软硬件设计流程,通过实验对该从站进行一系列测试,实验结果证明该从站I/O通信正常,同步性能良好,一个从站在控制两个轴的情况下能正常稳定工作.
EtherCAT is the most high-speed real-time industrial Ethernet technology,and is gradually used in industrial control field.In order to meet the high integration requirements for complex motion control systems,1)a new slave scheme is designed for using a highly integrated EtherCAT slave chip LAN9252,2)For the multi-joint manipulator motion control,a control scheme of two-axis controlled by slave station is designed.In order to solve the problem of the increasing transmission data caused by the control of two-axis,the motion control protocol CiA402 is cut and transplanted at application layer,saves the cost and achieves a fast data refresh cycle.The design process of hardware and software are analyzed.A series of tests are carried out on the slave station through experiments.The experimental results show that the I/O communication of the slave station is normal and the synchronization performance is good.A slave station can operate normally and stably under the control of two-axis.
作者
党选举
谢桧宝
姜辉
伍锡如
DANG Xuan-ju;XIE Hui-bao;JIANG Hui;WU Xi-ru(School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin 541004, China)
出处
《微电子学与计算机》
CSCD
北大核心
2018年第6期97-100,105,共5页
Microelectronics & Computer
基金
国家自然科学基金(61263013
61603107)
广西信息科学试验中心项目(20130110)
广西自然科学基金(2016GXNSFDA380001
2015GXNSFAA139297)