基于ZYNQ平台的EtherCAT主站设计及实现  

Design and Implementation of EtherCAT Master Based on ZYNQ Platform

作　　者：熊伟 丁跃浇[1] 陈曦[1] XIONG Wei;DING Yuejiao;CHEN Xi(School of Mechanical Engineering,Hunan Institute of Science and Technology,Yueyang 414006,China)

机构地区：[1]湖南理工学院机械工程学院,湖南岳阳414006

出　　处：《湖南理工学院学报（自然科学版）》2022年第3期35-39,共5页Journal of Hunan Institute of Science and Technology(Natural Sciences)

摘　　要：EtherCAT主站具有高实时性和同步性的优势,在高端工业数控系统中应用广泛.传统的EtherCAT主站采用基于PC实现的方式,存在功耗高、体积大、不开源的缺点,使用成本高昂.针对这些问题,提出一种基于ZYNQ-7000平台的嵌入式主站方案,首先用Vivado搭建ZYNQ平台的硬件架构,其次用实时补丁Xenomai构建Linux实时系统,并移植Ig H EtherCATMaster开源协议栈到Xenomai/Linux系统中,将移植后的Linux系统嵌入到ZYNQ平台的CPU0中,从而建立EtherCAT主站.实验结果表明,该主站能稳定执行周期任务,且通信抖动控制在±10μs以内,相对传统PC主站具有实时性好、功耗低、稳定性强的优点,且采用开源架构,成本更低.EtherCAT master station is widely used in high-end industrial CNC system because of its advantages of high real-time and synchronization.The traditional EtherCAT master station is implemented based on PC,which has the disadvantages of high power consumption,large volume and non open source,resulting in high use cost.To solve the above problems,an embedded master station scheme was proposed based on ZYNQ platform.In this scheme,firstly,Vivado was used to build the hardware architecture of ZYNQ-7000 platform.Secondly,Xenomai was used to build Linux real-time system,IgH EtherCAT Master open source protocol stack was transplanted to Xenomai/Linux system,and the transplanted Linux system was embedded into CPU0 of ZYNQ platform,so as to establish Ether CAT master station.The experimental results show that the master station can stably perform periodic tasks,and the communication jitter is controlled within ±10 μs.Compared with the traditional PC master station,it has the advantages of good real-time performance,low power consumption and strong stability,and adopts open source architecture with lower cost.

关 键 词：ZYNQ ETHERCAT LINUX 主站 

分 类 号：TH16[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]