The Study On EtherCAT Network And Servo Motion Control System

As the development of micro-electronics and power electronics technology,servo motion control system had developed from analog control to digital control,which performance is improving continuously,is used widely in different field,such as industry robot,NC and so on.Servo motion control system based on fieldbus technology is becoming the development trend because of its reliability,high speed and stability.EtherCAT,introduced by Beckhoff, is an industry Ethernet.On data link layer,EtherCAT adopts real-time soft core,and uses independent channels for process data transmission,which improving the real-time quality of the system.The network also has the characteristics of flexible topology,simple system configuration and low cost of construction,which is fit for motion control system.Now the network has attracted lots of industry equipment developers.This paper is based on the development of wave-maker system in sea research,developing a slave device by using EtherCAT slave controller ET1100 and DSP TMS320F28335,achieving accutate position control using the one-master and one-slave EtherCAT structure.In this article,firstly,the concept and characteristics of servo motion control system are introduced,the composition of it is analyzed,and give own perspective based on practice experience,two networks which have been already used in motion control system successfully are introduced,Secondly,analyzed EtherCAT theory and master/slave key technology Particularly in part two of this article.Combining this projection design,new series DSP chip TMS320F28335 produced by TI which used for industry control is intruduced,the motion control and communication module used in the design are analyzed,meanwhile the corresponding registers configuration are given.At last,based on EtherCAT theory and DSP TMS320F28335 technology,we developed a slave device of EtherCAT,avoid the disadvantage using pulse direction method of position control in make wave.Meanwhile,the frame of the system and main processing of master and slave station are given in this paper.Experiment is done and results show the designed system has high precision of position control and the system not only has the real-time of EtherCAT but also has motion control capabilities of TMS320F28335.