The Research On Servo Motor Slave Based On EtherCAT

In 2003, a German company, Beckhoff put foweard EtherCAT fieldbus technology which is a real-time industrial Ethernet protocol. It is one of the highest reliability and real-time Industrial Ethernet protocols.This article is based on the subject of the Shanghai STEP Electric Co., Ltd. The content of this article is to study the application of EtherCAT Industrial Ethernet to servo control. The servo slave developed can be applied to controlling servo motor.This paper is designed for EtherCAT Industrial Ethernet slave system based on STM32. The main work is to develop software protocol stack and hardware platforms. The specific contents are as follows:Firstly, this paper is aimed to analyze the EtherCAT protocol including the physical layer protocol, data link layer protocol and application layer protocol.Secondly, this paper creates a hardware platform for the EtherCAT slave device. The EtherCAT slave station contains slave microprocessor and slave control, which are responsible for STM module and ESC module respectively. Each part starts from the corresponding core chip and focuses on interface in this design. Thirdly,this paper focuses on designing and developing the EtherCAT slave protocol software based on STM32 processor. By doing so, it is aimed to design the slave software including state machine processing function, the concrete realization of the cyclical process data and mailbox data. At last, an EtherCAT master-slave operation platform is set up to verify the reliability and real-time performance of the slave protocol stack.This article is based on the subject of the Shanghai STEP Electric Co., Ltd. The content of this article is to study the application of EtherCAT Industrial Ethernet to servo control. The servo slave developed can be applied to controlling servo motor.