The Sofeware System Design Of Master And Canopen Application Research Based On Ethercat

The performance of traditiona l industrial control network is millisecondleve l, however, the performance of EtherCAT can be achieved at the leve l ofmicrosecond. Therefore EtherCAT research will be of great significance toenhance the performa nce of industria l control networks. Because that theCANopen has a good application characteristics of the servo drive at the sa metime, and the CANopen application layer protocol can be equipped withconve ntiona l CANopen products by simp le cutting over EtherCAT. So origina lproduct performance of CAN bus can be upgraded from millisecond tomicrosecond directly, and does not increase the cost. It can be seen that theCANopen over EtherCAT products will have a very strong competitive.EtherCAT system has been set up in this thesis, using a linear directlyconnected master and sla ve connection manner. Embedded processor andDM9000are used for the Master, as ET110is used for the Slave, the master-sla veprocess data communication is achieved by the way of logica l addressing.Cyclical mode is selected for Master and freedom mode is selected for the Slave.Several communication mechanis m are designed and inte graed to achieve asafe and effective master software system s uch as the queue mecha nism, theredundant mode, the receiving data caching mechanis m, the receiving datapacket mechanis m.The performance of the software system is tested andoptimized after the designing work in this chapter. The transceiver time isoptimized fro m initia l2713us to374us and the reception time is optimized from370us to117us. The questions during test are also explained in the third chapter.Communication data objects is a core part of the object dictionary in theCOE. All part of CANopen and the section specifical for EtherCAT are containedin this part. The CANopen crop manner over EtherCAT is put forward in thisthesis. The CANopen chiping based on EtherCAT is imp le mented in this thes is,object dictionary and related methods are designed creatively for slave, the bas icfra mework of SDO services is achie ved by calling these, the upload/downloadservices of standard CANopen protocol is achieved ultimately.