The Design And Implementation Of EtherCAT Slave Software

Control system has more and more demanding for data transmission speed, transmissiondistance, real-time capability, but traditional fieldbus has been unable to meet those demand. Athome and abroad, many real-time industrial Ethernet have been proposed to solve theseproblems. In many industrial Ethernet technologys, the EtherCAT proposed by BECKHOFF inGermany has been developing rapidly for its highly real-time, reliable, flexible topology, lowcost, simple configuration, fully compatible with ordinary Ethernet, the advantages of bestmaking use of Ethernet technology. This paper uses AM3359ARM chip to implement theEtherCAT slave hardware and software, sets up the EtherCAT network to test slave software’sperformance and EtherCAT slave network’s performance.Fistly, in this thesis, the development trend of the servo control system and the problemsthat the servo control system barged against are introduced, the value of real-time industrialEthernet to solve these problems is described.At the same time, the paper introduces severalimportant real-time industrial Ethernet: EPA, EtherCAT, Ethernet Powerlink, PROFINET,Ethernet/IP, SERCOS III, and comparatively analyses the advantages EtherCAT has comparedto other industrial Ethernet.Secondly, the EtherCAT real-time industrial Ethernet technologies are in-depthly studied,including operating principle, topology, system components, addressing modes, communicationmode, the state machine, the network clock synchronization, the application layer protocol andworking principle of the components of EtherCAT slave. The EtherCAT master is brieflyintroduced.Thirdly, the method to implement EtherCAT slave controller hardware using AM3359chipis described. The layered software design methods to design slave station software is used: driverlayer software, EtherCAT protocol stack, application layer software.The slave stationinformation file is introduced.Finally, an EtherCAT network is set up to test the basic functions, real-time capability ofsoftware, and scalability of slave software. The real-time capability and reliability of EtherCATnetwork is tested. A PLC control program in master is designed to achieve an automatic controlof the slave.