Real-time Industrial Ethernet EtherCAT System Slave Design

Real-time industrial Ethernet is a special technology that adapts to high real-time characteristics.For systems with high real-time performance and synchronization performance,real-time industrial Ethernet has outstanding performance.In recent years,real-time industrial Ethernet EtherCAT communication technology has been favored by major industrial manufacturers.This thesis has studied the working principle of EtherCAT communication protocol,and the system composition and communication technology characteristic of EtherCAT network.According to the technical characteristics of the system,an EtherCAT slave is designed with the STM32 chip as the microprocessor and the LAN9252 chip as the controller.The main interface design of the slave microprocessor and the slave controller is elaborated.The hardware resources are used reasonably.The design of the hardware part of the slave station.The EtherCAT slave program design adopts a hierarchical design concept.The function of the EtherCAT slave is analyzed,and the overall structure and overall flow of the slave program are designed.Slave driver design,slave protocol stack design,and slave application layer design are implemented.Finally,TwinCAT was used as the master station,and the servo motor was used as the slave station functional test platform for the controlled object.Performance tests were performed through the basic communication,switching control,and servo motor control of the master and slave stations.Experiments showed that the basic communication of the slave station was normal and real-time.Good performance.