基于模拟伺服的多轴EtherCAT协议设计

Design of Multi-axis EtherCAT Protocol Based on Analog Servo

针对传统模拟伺服系统存在的通信实时性差、难以实现多轴同步控制等问题,提出一种将EtherCAT协议应用于传统模拟伺服系统的设计方案。以STM32和AX58100为核心,采用SPI从机扩展方法,结合DAC芯片等器件,设计了系统整体框架;根据分布时钟同步模式和CiA402行规实现了多轴从站;采用TwinCAT3构建主站功能,在搭建的四轴伺服控制平台上进行了实验。在四轴EtherCAT通信分布时钟周期500μs时,报文刷新时间小于10μs,实现了四轴S型曲线同步控制,该方案对于实现传统模拟伺服系统的网络化,具有一定的参考价值。

For the problems of poor real-time communication and difficulty in realizing multi-axis synchronous control in traditional analog servo systems,a design scheme that applies EtherCAT protocol to traditional analog servo systems was proposed.Taking STM32 and AX58100 as the core,using the SPI slave extension method,combined with DAC chips and other devices,the overall system framework was designed.According to the distributed clock synchronization mode and CiA402 profile,the multi-axis slave station was realized.TwinCAT3 was used to build the master station function.The experiment was carried out on the four-axis servo control platform.When the distributed clock period of the four-axis EtherCAT communication is 500μs,the refresh time of message is less than 10μs,and the four-axis S-curve synchronous control is realized.This solution has a certain reference value for realizing the network of traditional analog servo systems.