Research On Multi-axis Servo Control System Based On EtherCAT

With the development of industrial automation, multi-axis servo control system has become indispensable in Numerical Control System, Reconfigurable Manufacturing System, Flexible Manufacturing System and various new manufacturing systems, the requirement of quickness, real-time, reliability for multi-axis servo control system has become more and more strict, and the traditional fieldbus has been unable to meet the requirements of Industrial Ethernet came into being. In many industrial Ethernet, real-time industrial Ethernet- EtherCAT which the German BECKHOFF company launched in 2003 because of its high-speed, high efficiency, real-time, flexible topology, wide applicability,maximum support 65,535 devices and other features has been widespread attention and application in the world. In this paper, a multi axis servo control system test platform is built to study the real-time performance, reliability and stability of the servo system in the control of multiple servo motors based on industrial Ethernet EtherCAT. The main work of this paper is as follows:Firstly, this paper summarizes the development process of the industrial control network from the fieldbus to the real-time Ethernet, and compares several real-time Industrial Ethernet networks:Ethernet, Powerlink EtherCAT, PROFINET. Ethernet/IP. The realization method of the multi-axis servo system based on EtherCAT in the reconfigurable mold is simulated by MATLAB.Secondly, a multi-axis servo system based on EtherCAT is designed and built. The servo control system scheme is determined that the computer system with the TwinCAT software as the master station, the Beckhoff bus coupler EK1100 and the two servo drives as the slave station, load movement by two perpendicular KK module.Thirdly, coordinate the movement of two axes in the plane by programming the NC file and PLC program according to the specified character trajectory and real-time data acquisition of X, Y axis in real time by configuring the slave station of Beckhoffs TwinCAT software, configuring and debugging the servo motor parameters and saved to the EXCEL table.Fourthly, according to the control system requirements, using TwinCAT PLC Control built-in man-machine interface function design interface to monitor PLC parameters. The TwinCAT Scope View and Scope 2 oscillographs are used to observe the character trajectory and the dynamic parameters of the two axes respectively. Finally, the EtherCAT technology is verified on the multi- Servo control field advantage.