基于LAN9252的EtherCAT伺服从站设计  

Design of EtherCAT Servo Slave Based on LAN9252

作　　者：刘凯[1] 陈奇 蔡宝玉 刘豪志 王欢 LIU Kai;CHEN Qi;CAI Baoyu;LIU Haozhi;WANG Huang(College of Mechanical and Electronic Engineering, Nanjing University of Aeronautics and Astronautics,Nanjing 210016, China;Jiangsu Taiyuan CNC Machine Tool Co., Ltd.,Taizhou 225400, China)

机构地区：[1]南京航空航天大学机电学院,江苏南京210016 [2]江苏泰源数控机床有限公司,江苏泰州225400

出　　处：《机械与电子》2020年第10期48-51,56,共5页Machinery & Electronics

基　　金：国家自然科学基金(51405229);江苏省自然科学基金项目(BK20151470,BK20171416)。

摘　　要：针对多轴同步控制中存在实时性和同步性较差的状况,设计一种基于EtherCAT协议的伺服驱动从站。该方案以STM32作为处理器,使用LAN9252专用芯片实现EtherCAT协议的数据解析和打包等工作,完成与伺服驱动的通信与数据交换,硬件上实现了伺服驱动电路设计以及实物制作,软件上完成了数据通信、从站驱动以及从站的运动控制模式。最后搭建了试验测试平台,试验结果表明,两从站接收同步信号平均误差为15 ns,具有优越的同步性能。Aiming at the problem of poor realtime and synchronization in multiaxis synchronous control,a servo drive slave station based on EtherCAT protocol is designed.This solution uses STM32 as the processor,uses LAN9252 special chip to realize the data analysis and packaging of EtherCAT protocol,completes the communication and data exchange with the servo drive,realizes the servo drive circuit design and physical production on the hardware,and completes the data on the software Communication,slave drive and slave motion control modes.Finally,a test and test platform is built.The test results show that the average error of the synchronization signals received by the two slave stations is 15 ns,which has excellent synchronization performance.

关 键 词：EtherCAT从站 多轴同步 从站控制器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]