Driver Design Of Industrial Ethernet EtherCAT Slave Based On DSP

Real-time Ethernet EtherCAT Technology, a new kind of network control technology, is rising in recent years. It has so many advantages such as high-speed, high effective data utilization, in full compliance with the Ethernet standard, short refresh cycle, good synchronization performance and so on, that it is so widely used in the field of industrial communication.Combined with the new CNC (computer numerical control) system R&D (research and development) project from Beijing BBF Servo Technology Co., Ltd, one of graduate joint training bases in my university, the research is carried out on realizing real-time and fast transmission of information using the EtherCAT as the communication network among CNC system, servo system and the I/O modules.A master-slave structure platform of the EtherCAT communication system is built up in the thesis based on real-time EtherCAT technology, Master’s functions are realized with a PC using Windows XP system together with TwinCAT special software. Slave Station is built up by two Evaluation Boards. One is about frame processing chip ET1100from TI company, and the other is about TMS320F28335chip form WenTing company. ET1100chip is used to realize the data link layer medium access control function, TMS320F28335chip is used to realize application layer ECAT communication on servo control. The main work of this thesis is described as follows:(1) With a in-depth study of real-time EtherCAT Technology, the thesis detailed EtherCAT’s working principle, master-slave system, communication protocols, data frame structure, packet addressing, modes of communication, distributed clock, EtherCAT interface initializations and application layer protocols as well.(2) Design the implementation of the Master and Slave in the EtherCAT network platform and finish the selection of interface type and its design and platform to build the main process of development of the EtherCAT implementation between chip ET1100and chip TMS320F28335.(3) Research and design software implementation of slave drive based on the slave application layer chip TMS320F28335. The primary communications functions provisioned in the agreement such as:the cyclical process of data communication and periodic process data communication, and the state machine are described in detail. (4) Test the communication functionality and performance of slave drive. Results show that the research in this thesis could achieve the required functionality of EtherCAT protocol standard.