基于EC-01M的嵌入式EtherCAT主站设计  

Embedded EtherCAT Master Design Based on EC-01M

作　　者：杨亮亮 陶之源 彭自良 张箭英 YANG Liangliang;TAO Zhiyuan;PENG Ziliang;ZHANG Jianying(Faculty of Mechanical and Automatic Control,Zhejiang SciTech University,Hangzhou 310018,China;Zhejiang Xinde Bao Machinery Co.,Ltd.,Wenzhou 325000,China)

机构地区：[1]浙江理工大学机械与自动控制学院,浙江杭州310018 [2]浙江新德宝机械有限公司,浙江温州325000

出　　处：《机械与电子》2022年第1期8-13,共6页Machinery & Electronics

基　　金：浙江省自然科学基金(LY18E050016);温州市重大科技创新攻关项目(ZG2020029)。

摘　　要：针对目前采用以脉冲模拟量方式设计的多轴运动控制卡中存在的响应速度慢、灵活性差和同步性差等问题,以及目前EtherCAT主站实现方案中存在的成本高、操作复杂和开发周期长等问题,提出了一种使用主站芯片实现EtherCAT通信的多轴运动控制卡方案。通过STM32H743IIT6搭载EC-01M主站芯片实现EtherCAT通信,搭建了基于EtherCAT通信的多轴运动控制实验平台,进行了实验测试与性能分析并对EC-01M同步性问题进行了研究优化。实验结果表明,该控制系统操作简单,学习容易,同步控制性能良好,可移植性强,为嵌入式系统实现EtherCAT通信提供了一种新的方案,具有一定的参考意义。In view of the problems of response speed,flexibility and synchronization in the current multiaxis motion control cards designed with pulse analog,and the problems of high cost,complicated operation and long development period in the current EtherCAT master solution,a multiaxis motion control card solution using a master chip to implement EtherCAT communication is proposed.The Experimental platform of multiaxis motion control based on EtherCAT communication is built by using STM32H743IIT6 with EC-01M master chip to implement EtherCAT communication,and the experimental test and performance analysis are carried out and the synchronization problem of EC-01M is optimized.The experimental results show that the control system is simple to operate,easy to learn,with good synchronization control performance and high portability,which provides a new solution for the implementation of EtherCAT communication in embedded systems and has certain reference significance.

关 键 词：嵌入式 ETHERCAT 实时以太网 多轴运动控制卡 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]