Design And Implementation Of Multi-Axis Motion Control System Based On EtherCAT

The motion control system is a key component of industrial automation equipment,it was always been regarded as a key research object by enterprises and universities both at home and abroad.Under the background of the intelligent development of manufacturing industry in various countries,it is trend to promote the development of control network,production agility and information integration.Limited by real-time performance,bandwidth and interface standard,the motion control system based on traditional fieldbus is difficult to keep up with the current development trend.,and the field Bus technology with better performance is needed to make up for the shortcomings.Industrial Ethernet EtherCAT stands out because of its low latency,high synchronization accuracy,and flexible structure.The combination of motion control system and EtherCAT technology plays an important role in promoting the intelligentization of manufacturing.This paper developed software and hardware for multi-axis motion controller and built an embedded master to realize EtherCAT communication.For the user interaction requirements,the PC based CNC program has been designed to realize the NC processing function.For the specific production scenario test,a three-axis platform was designed for verifying the system performance and software function.The main research work of this paper as follows:First of all,this paper fully analyzes the basic technology of EtherCAT,and put forward the hardware architecture of “PC+ embedded master + servo slave”.The master hardware was designed based on TI's AM4377 core board,and the hardware architecture of "ARM core board + backplane" was developed.The Xenomai-Linux system was transplanted on this controller architecture to provide development conditions and operating environment for real-time applications.Secondly,for the development of the CNC program,this paper studied the MVC and FLUX software architecture at first.By combining the advantages of the two software frameworks,the "message routing" mechanism method was proposed,and the event processing and message passing process of the CNC program were optimized,and the code quality was improved.The multiplexing rate reduces the coupling of the module.By designing the numerical control interface,G code interpreter,ESI file configurator and other modules,the basic functions of the numerical control system are realized.Finally,in order to complete the actual test of the motion control system,Delta servo and Beckhoff IO modules were selected as slave devices,the EtherCAT three-axis machine tool experimental platform was designed.Performance tests and physical processing experiments were carried out on the platform to verify the correctness and effectiveness of the system in terms of communication functions and motion control functions.