| As the rapid development of micro-electronics, power electronics and industrial Ethernet,the traditional motion control system has been unable to meet the development demand ofmodern manufacturing industry, owning to their control mode, stability&opening. Multi-axisnetwork motion control system base on real-time industrial Ethernet has become adevelopment trend in industrial automation field.In this thesis, a master-slave multi-axis motion control system with EtherCAT has beenbuilt, which is based on the study of industrial Ethernet and motion controller systemically,adopting the solution based on DSP&FPGA as the application layer, introducing the newreal-time industrial Ethernet in the field of industrial automation—EtherCAT technology. Alsothe core hardware and the communication software has been researched and designed.In the respect of hardware configuration of the slave, a networking motion controlsystem with EtherCAT slave function has been realized by using the PHY chip (KS8721) ofMICREL as the physical layer, the ET1100of BeckHoff as the data link layer, and the kernelprocessor of floating-point DSP (TMS320F28335) of TI&the co-processor(FPGA) of AlteraCorporation as the application layer. Additionally, the periphery interface circuit of the corechip and servo interface module have been analyzed and designed in detail.In the respect of communication software development, the slave device description andthe network interface program have been analyzed and designed in detail, and the EtherCATcommunication between the master&the slave, and the SPI data exchange inside the slavehave been realized. In this way, the correspondence has been guaranteed for the specificcontrol task of application layer.Finally, based on hardware and software design, a simulation experimental platform forthe network motion control system is built. The system debugging experiment of software andhardware are completed. The result shows that system meets the requirement of the design. |
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