Real-Time EtherCAT Slave Design For Servo Motor Drives Of Industrial Robots

Manufacturing industry can best reflect the level of national productivity.Therefore,vigorously developing manufacturing industry is the top priority of China's national economic development.China is a large manufacturing country.In order to better catch up with the manufacturing power,in 2015,the State Council of China issued "Made in China 2025",which proposed several areas that need to focus on development.Among them,when referring to the field of "high-end CNC machine tools and robots",relevant departments and personnel are called on to break through the technical bottlenecks of all aspects of robots,including controllers and drivers.The development of the robot industry has driven the rapid development of servo motor drives.At present,high-end robot control systems require servo motor drives to transmit larger amounts of data,faster transmission speeds,longer transmission distances,stronger real-time performance and higher The reliability of ordinary fieldbuses cannot fundamentally meet such high requirements.In this case,Ethernet technology is applied to the industrial field.Among them,the EtherCAT industrial Ethernet fieldbus technology proposed by German BECKHOFF company is used to solve the drive bus technology.The bottleneck problem is of great significance.Therefore,this paper proposes a solution for the dedicated slave station of the EtherCAT bus-based multi-axis servo drive system based on AM3359 ARM.Because AM3359 is a heterogeneous multi-core architecture,this solution is highly integrated and easy to implement.Using a single EtherCAT slave can realize the control of eight-axis servo drive system.Finally,the system was tested in various aspects.First,the development process of the servo driver is explained,the advantages of the bus-type multi-axis servo driver are shown,and the real-time industrial Ethernet field bus technology is introduced.Introduced several common industrial Ethernet technologies used for servo motor driver bus,and compared and analyzed the advantages of EtherCAT bus technology.Secondly,in-depth study of EtherCAT real-time industrial Ethernet technology,including operation principle,system composition,EtherCAT data frame structure,addressing mode,communication mode,state machine,network clock synchronization,application layer protocol and EtherCAT slave station work principle.Thirdly,the hardware design of the EtherCAT slave control system using the AM3359 chip as the core is introduced,including power management circuit design,SDRAM interface circuit design,USB to JTAG / serial port design,FLASH interface circuit design,physical layer interface chip design,AM3359 Circuit design,etc.In terms of software implementation,the TI RTOS real-time operating system based on TI's SYS / BIOS is transplanted,and the servo motion control profile Ci A402 is implemented in the application module to achieve up to eight axis real-time control with a single slave.Finally,with the help of the existing equipment in the laboratory,the basic functions of the slave station software and hardware and the performance of the slave station were tested.After testing,the system has complete functions,good real-time,scalability and security.The EtherCAT bus multi-axis servo system for industrial robots based on AM3359 can meet the control requirements of high speed,high precision and high reliability.