Research On EtherCAT Motion Control System Based On Linux

As the rapid development of computer, communication and Internet, the traditionalmotion control system has been unable to meet the development demand of modernmanufacturing industry, owing to their closed-end structure, lack of control softwarecompatibility and networking capabilities. Study on EtherCAT motion control system base onLinux has become a development trend in industrial automation field.In this thesis, an EtherCAT motion control system base on Linux has been built, which isbased on the study of industrial Ethernet and motion controller systemically, adopting thesolution based on DSP&FPGA as the application layer, introducing the new real-timeindustrial Ethernet in the field of industrial automation—EtherCAT technology and theopen-sourcing Linux system. Also the core hardware and the communication software hasbeen researched and designed.In the respect of hardware configuration of the slave, a normal PC and a normal NICnetwork card is available. The software code is installed on kernel of Linux.In the respect of hardware configuration of the slave, The motion controller uses thefloating-point DSP TMS320F28335of TI company as the kernel processor and CycloneIIEP2C8of Altera Corporation as the co-processor, as well as the ET1100chip of Beckhoffcompany is used to realized the EtherCAT slave network interface. Additionally, the peripheryinterface circuit of the core chip and servo interface module have been analyzed and designedin detail. In the respect of communication software development, the system can periodicsend and receive data.Finally, based on hardware and software design, a simulation experimental platform forthe EtherCAT motion control system based on Linux is built. The system debuggingexperiment of software and hardware are completed. The result shows that system meets therequirement of the design.