高集成度EtherCAT从站设计与多轴控制的研究

Design of Highly Integrated EtherCAT Slave and Research on Multi-axis Control

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.