Implementing for Networked Motion Control System with Large-Capacity Data Acquisition

摘要

As one of the most popular real-time Industry Ethernet protocols, EherCAT has become widely used in distributed networked motion control systems. By the help of the unique features, the EtherCAT protocol is adopted to construct a networked servo motion control system with low delivery delay and high accurate clock synchronization in the paper. This system can achieve not only high-speed synchronous transmission of motion control commands and feedback information but also high-efficiency large-capacity data acquisition with low delay and jitter. A set of experiments, which evaluate the crucial performance for the implemented networked motion control system including messages access delay and jitter, are performed. Through analyzing the experimental results, the system performance is verified.