| EtherCAT protocol is an open real-time Ethernet communication protocol,which is widely used in industrial control system.This paper provides a complete set of EtherCAT master system design based on Linux embedded platform,for the purpose of being proficient in the whole EtherCAT protocol technology.Develop a complete set of EtherCAT master system with independent intellectual property rights,from hardware to software and from software to GUI.Design EtherCAT slave module.Design communication board with ET1100 and control panel with STM32 microcontroller.Combine the communication board and the control panel through the SPI bus interface.Two sets of slave module are accessed,respectively for digital input signal detection and analog input signal detection.Design EtherCAT master module.Firstly,choose the BeagleBone Black based on AM3358 as the Linux embedded platform and implement the embedded real-time Linux system with Xenomai on the platform.Then,build the IgH EtherCAT Master for Linux open-source framework and configure the develop environment on the system.Lastly,design the application program with the framework and complete the whole EtherCAT master module design.Design EtherCAT master application program interaction pattern.One is the console mode based on command-line.Another is GUI mode which is designed with Qt.By any mode,users can read and write process data and service data.Besides,users also can execute some necessary functions operation.The test result shows that slave module's function is achieved,which can effectively detect the input digital signals and analog signals.The master module's function is achieved,which could establish effectively PDO and SDO communication with slaves.Synchronization delay control is in ns level,the frame communication time is in us level and the communication jitter is in us level,which can meet the requirement of real-time performance in the industrial control system.Console mode and GUI mode interaction is effective. |
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