Research And Development Of The Real Time Ethernet For Motion Control

The motion control system based on network has the superiorities such as good openperformance, low cost, simple wiring, easy maintenance and so on, it has been researched and appliedmore and more widely in recent years. Standard Ethernet has the features of fast communication speed,uniform protocol, wide range of application and so on, so it is suitable for being the communicationmedia of motion control system which is based on network. However, standard Ethernet can not beused in the area of motion control directly because of the uncertainty in data communication causedby the communication mechanism of CSMA/CD. The real-time Ethernet technology which is basedon the modification of the standard Ethernet can meet the requirement about reliability and real-timeperformance in different fields of motion control application.Through research on the methods of the transform of real-time Ethernet, the article proposed akind of real-time Ethernet for motion control which is based on the method of modifying the MAClayer of standard Ethernet. Focusing on the center of researching and developing the MAC layer ofreal-time Ethernet for motion control system, the main work and achievement is as follows:Firstly, designed and proposed the overall architecture of motion control system based onreal-time Ethernet, planed the communication and synchronous mechanism of the real-time Ethernet.Secondly, planed the design specification of the MAC layer special communication chip of thereal-time Ethernet, realized the design of the MAC layer special communication chip which is basedon FPGA by the design method of modular. Thirdly, developed the research of the appropriate methodof the MAC layer special chip of the real-time Ethernet based on the platforms of DSP and FPGArespectively, and design a chip for motion control in slave based on FPGA through adding themodules of motion control in the controller based on FPGA chip. Finally, designed and made a circuitboard especially for the development of the MAC layer special chip of real-time Ethernet, builded theplatform for testing the real-time Ethernet, analyzed the reliability, real-time performance andsynchronous of the real-time Ethernet through collecting the real-time communication data. The testresult demonstrated that the protocol of the real-time Ethernet and the special chip which the articleresearched and designed can meet the expected requirements of the motion control system which isbased on network.