IGH EtherCAT主站分布式时钟机制的应用与研究  

Application and Research of IGH EtherCAT Master Distributed Clock Mechanism

作　　者：马平[1] 刘胜旺 苏攀杰 蒋峰 MA Ping;LIU Sheng-wang;SU Pan-jie;JIANG Feng(School of Electro-Mechanical Engineering,Guangdong University of Technology,Guangdong Guangzhou 510006,China)

机构地区：[1]广东工业大学机电工程学院,广东广州510006

出　　处：《机械设计与制造》2022年第1期262-265,270,共5页Machinery Design & Manufacture

基　　金：广东省重点领域研发计划项目(2019B090918002)。

摘　　要：针对实时以太网通信协议EtherCAT的分布式时钟机制,提出将其通信机制使用到工业机器人的伺服驱动器的解决方法,用来提高工业机器人的同步能力。论文最初重点研讨EtherCAT分布式时钟的系统时间和从站时钟的同步机制,并完成此过程的分布时钟同步的补偿算法。具体分析了DC机制的流程实现;论文末尾阐述开源IGH EtherCAT主站环境和分布时钟同步性能测试平台的搭建,且得出的测试结果表明系统的从时钟和参考时钟的同步均达到了纳秒级,满足了工业需求。Aiming at the distributed clock mechanism of the real-time Ethernet communication protocolEtherCAT,this paper proposes a solution to use its communication mechanism to the servo drive of industrial robots to improve the synchronization capability of industrial robots.The paper focuses on the synchronization of the system time and slave clock of EtherCAT distributed clock,and completes the compensation algorithm of distributed clock synchronization in this process.The flow of DC mechanism is analyzed.The open source IGH EtherCAT is explained at the end of the paper.The station environment and the distributed clock synchronization performance test platform are built,and the test results show that the synchronization of the slave clock and the reference clock of the system reaches nanosecond level,which satisfies the industrial demand.

关 键 词：ETHERCAT 分布时钟机制 工业机器人 

分 类 号：TH16[机械工程—机械制造及自动化]