伺服驱动器EtherCAT接口设计

摘要

To apply the industrial ethernet technology in motion control filed, the EtherCAT protocol was generally introduced,mainly described the design procedures of realizing the EtherCAT communication interface on servo driver. It emphasized on the methods of combining the CANopen protocol with EtherCAT protocol and the design of application layer software of servo motion control, the basic frame,flow and points were given to build the software. Finally,practical operation results of this network-based servo drive system were given to verify the validity. The results show that EtherCAT can satisfy the strict requirements of motion control.%为将工业以太网技术应用于运动控制领域,简单介绍了EtherCAT协议,描述了实现伺服驱动器EtherCAT协议通讯接口的设计过程.重点分析了将CANopen相关行规映射到EtherCAT协议的基本方法和针对伺服运动控制的应用层软件设计,给出了软件实现的基本框架、流程和要点.最后给出了网络化伺服驱动系统的实际控制结果,运行结果表明EtherCAT能够很好地满足运动控制领域的高要求.