Design Of Multi-axis Motion Control Systems Based On EtherCAT

Recently,with the application and the promotion of industrial Ethernet technologies,network motion control systems begin to burst out of a strong vitality.First,EtherCAT has been introduced into this paper as a new real-time industrial Ethernet in the current industrial areas,based on the research of the present development of industrial Ethernet and network control systems.And then,a maser-slave multi-axis motion control system with EtherCAT has been designed which constructed by STM32 as the core processor and LAN9252 as the protocol stack chip.In the hardware design of the system,LAN9252 of Microchip has been adopted to realize the physical layer and link layer of EtherCAT communication,the STM32F407VGT6 of ST is used as the core processor to realize the application layer of EtherCAT communication.And they together with the FOC firmware library of ST and combined with SPM of Fairchild chip to build the servo drive circuit to achieve the servo driver of EtherCAT's communication function.Then based on the driver of the EtherCAT and a PC master station,a main multi-axis movement control system is built.In the software design of the system,the PDI(Process Data Interfaces)interface program between LAN9252 and STM32 should be designed at first,and then the EtherCAT mailbox and process data communication would be achieved through the interface.So that the application layer protocol Cia402 can be written and docked with ST's FOC firmware library,then slave device description files are written to achieve the multi-axis motion control system with the master station program of Twincat on PC.In the end,a three-axis Cartesian coordinate manipulator is used as an experimental platform,the experimental results show that the designed system meet with expected requirments of this project.A solid foundation is laid for the further research.