The Design And Implementation Of EtherCAT Slave

With the continuous development of control, computer, communications and network technology, open architecture, networking, high reliability, complex, multi-axis become the development trend of CNC system. Ether CAT has attracted wid e attention of CNC manufacturers because of its open, flexible topology and hi gh reliability.National Engineering Research Center for High-End CNC is a specialized en tity in CNC system development.Under the support of "high-end CNC machine tools and basic manufacturing equipment" of the National Science and Technolog y Major Project, the application of Ether CAT in the numerical control system is d eeply studied. Based on this project, the EtherCAT slave is designed and impl ementationed to solute the matter of IO control system, A/D control, and other f unctions in CNC.Firstly, we studied the Ether CAT protocol from the physical layer, data link layer and application layer. Secondly we analysed the Ether CAT slave, compared the two schemes of ESC, studied the technical characteristics of ESC. Third, us ing modular design ideas, the EtherCAT slave is implemented based on STM32 and ET1100 and the interface of the development process involved in the design is emphatically introduced and analyzed. Fourth, the hardware driver, the EtherC AT protocol stack and application layer software is realized based on EtherCAT slave hardware platform with using hierarchical design idea of the software desig n, we use matrix to realize COE object dictionary, and to achieve the SDO uplo ad / download service request. At last, we set up the Ether CAT system running platform of EtherCAT, the hardware and software of the basic functions, extende d, SDO service is verified, and we program the PLC control program to complet e the Ether CAT IO slave test.Using modular design method can effectively improve the quality of the hardware development, speed up the development speed; the hierarchical design can effectively reduce the coupling system, improve the system’s portability and scalability.