开源IgH EtherCAT主站在LinuxCNC开放式数控系统中的应用研究

Application research on the open source IgH EtherCAT master in open numerical control system LinuxCNC

为了实现成本低廉,设计便捷、灵活、易扩展的数控系统,搭建基于EtherCAT通信总线与PC机的纯软件数控系统,并对该系统的实时性能进行了试验测试。以低成本工控机作为上位机,并集成好开源数控系统LinuxCNC软件的Linux RTAI(Real-Time Application Interface)实时操作系统,下载搭建EtherCAT主从站通讯框架,实现了PC上位机即EtherCAT主站与伺服驱动器即EtherCAT从站之间的通信,完成多轴数控系统测试平台的搭建。运用WireShark软件进行数控系统的实时性测试。实验结果表明,该数控系统的平均传输时间为47.7μs,最大值为779μs,最小值为0.2μs。很好地满足了数控系统要求响应时间在1 ms及以下的实时性要求,因此该方案集成EtherCAT的LinuxCNC可以用于工业机器人与通用数控机床等自动运动控制系统。

In order to design CNC system with low-cost,flexibility and scalability,the paper presents a new approach for the integration of real-time EtherCAT into LinuxCNC based on PC and tests performance of system. The host computer is low-cost industrial computer and integrates Linux RTAI（ Real-Time Application Interface） real-time operating system and downloads communication framework for building EtherCAT master and slave to realize communication between PC host computer（ EtherCAT master） and servo drive（EtherCAT slave） and the construction of multi-axis CNC system is completed. Use WireShark software for real-time CNC system testing. The experimental results show that the average transmission time of the numerical control system is 47. 7 μs,the maximum value is 779 μs and the minimum value is 0. 2 μs. The data satisfies requirements of CNC system that response time is 1 ms and smaller. So,LinuxCNC with integrated EtherCAT can be used for automatic motion control systems such as industrial robots and universal CNC machines.