基于EtherCAT的多轴运动控制器  

EtherCAT-based Multi-axis Motion Controller

作　　者：蒋劲峰[1] 张力[1] 吕燕[1] 

机构地区：[1]上海电气集团股份有限公司中央研究院,上海200070

出　　处：《上海电气技术》2016年第3期44-47,共4页Journal of Shanghai Electric Technology

摘　　要：针对工业运动控制中的实时性、稳定性等问题,提出了基于EtherCAT总线的多轴运动控制器。介绍了EtherCAT的技术原理和通信协议,并对多轴运动控制器的硬件构成、软件架构进行了详细说明,最后对该控制器在多轴控制平台上进行了验证,对时间抖动误差进行了测试。测试结果表明,该控制器具有良好的实时性和稳定性。Aiming at the issues of real-time performance and stability in industrial motion control, the multi-axis motion controller based on EtherCAT bus was proposed. Presented an introduction on the technical principle and communication protocols of EtherCAT and a detailed description of the multi-axis motion controller including its hardware configuration and software architecture. Finally, the controller was validated on the multi-axis control platform while testing the time jitter error. The test results show that the controller has sound real time performance and stability.

关 键 词：多轴运动 运动控制 EtherCAT总线 性能 

分 类 号：TM921.02[电气工程—电力电子与电力传动]