Research And Design Of The EtherCAT-based Servo Control System

In recent years, with the constant improvement of the industrial 4.0, “smart factory”, “intelligent production” and "smart logistics" have been affecting today’s complex industrial process, the growing expansion of industrial control, control must be networked. At the same time, EtherCAT put forward by Beckhoff is the industrial Ethernet protocol with high speed and high efficient utilization and EtherCAT is very suitable for constructing high-performance networked control systems.A servo control system is built up in this thesis based on EtherCAT communication protocol, master’s functions are realized with a PC using Window 7 system together with CoDeSys software. Slave Station is built up by two chips, one is about frame processing chip ET1100 from Beckhoff company, and the other is about TMS320F28035 chip from TI company. The main work of this thesis is described as follows:(1) Various Ethernet protocols are analyzed. The real-time Ethernet communication protocol EtherCAT is detailed including the principle, the physical layer, data link layer and CoE application layer and register configuration problems.(2) The slave of the servo control system based on EtherCAT communication protocol is designed. The slave interface controller chip ET1100 and the DSP chip TMS320F28035 are both used in the design of the servo control system, and the hardware design is given.(3) The program of the servo control system based on EtherCAT communication protocol are designed. ESI files are programmed, and the data exchange program between DSP and ET1100, the main initialization and main executable program, as well as the motor driver program with the vector control algorithm are introduced and designed.(4) Experiments in the servo control system based on Ether CAT communication protocol are uesd to verify the feasibility of the system.Finally, this article summarizes the innovation and the shortage, and prospects the application of EtherCAT, and points out the further research work.