基于EtherCAT的控制系统从站设计  

Design of Slave Station for Robot Arm Motor Integrated Control System Based on EtherCAT

作　　者：肖博翰 王洪武[1] 张东宁[1] XIAO Bo-han;WANG Hong-wu;ZHANG Dong-ning(No.21 Research Institute of CETC,Shanghai 200233,China)

机构地区：[1]中国电子科技集团公司第二十一研究所

出　　处：《微特电机》2020年第1期60-64,共5页Small & Special Electrical Machines

摘　　要：对于基于EtherCAT协议的机械臂电机一体化控制系统从站的设计,从工作原理、协议以及其优势三个方面对EtherCAT技术进行了简述,根据分层思想对EtherCAT从站硬件设计和从站软件设计进行了描述,测试平台的测试结果验证了控制系统从站的性能。For the design of robotic arm's motor integrated control system slave station base on EtherCAT protocol,working principle,protocol and advantages of EtherCAT were briefly introduced.The EtherCAT slave hardware and slave software design were described based on the layering idea.The performance of the control system slave station was verified by the test platform's results.

关 键 词：电机一体化控制系统 ETHERCAT EtherCAT从站控制器 微处理器μC 

分 类 号：TM351[电气工程—电机]