EtherCAT冗余技术在多轴网络运动控制系统中的应用研究

摘要

EtherCAT是一种新型实时工业以太网总线.研究了EtherCAT工作原理、通信协议、性能和冗余技术.设计了基于EtherCAT冗余技术的多轴网络运动控制系统,采用TwinCAT作为主站,利用ET1100和TMS320F28335开发了EtherCAT从站设备,构建了一主多从的EtherCAT网络结构,并给出了系统硬件和软件的设计方案,以实现伺服控制和实时数据传输.%EtherCAT is a new real-time industrial Ethernet Fieldbus. The EtherCAT's architecture, the working principle, communication specification, performance and redundancy are studied. Multi-axis network motion control system are designed base on EtherCAT redundancy, together with a slave device by ET1100 and TMS320F28335, and a master by TwinCAT, which can construction a EtherCAT network structure with one-master and more-slaves. The hardware and software design of the servo system is given, which realizes the real-time data transmission and servo control.