Design Of EtherCAT Master And Servo Control System Based On Embedded Linux

Multi-axis systems are widely used in the field of motion control,such as robots,CNC machining,aerospace,etc.,but with the development of industrial technology,traditional field buses can no longer meet the real-time and synchronization requirements of multi-axis systems.EtherCAT i s a real-time industrial Ethernet technology.This paper proposes a master-slave control system solution based on the EtherCAT bus,designs and develops EtherCAT master and servo slaves with real-time performance,and builds a multi-axis synchronous control system.A software and hardware scheme of master-slave control system based on EtherCAT is proposed.The structure of the master-slave servo control system is analyzed and designed.Then the hardware scheme of the master-slave control system is proposed.The master station uses an embedded platform and the slave station uses STM32 as the microprocessor.Then,the software function requirements of the master-slave system are analyzed,and a software solution is designed according to the requirements.Design an EtherCAT master system based one mbedded Linux.BeagleBone with AM3358 as the processor was selected;according to the real-time requirements,a Xenomai-based Linuxreal-time system was built,and the AM3358 network chip driver was designed and modified;according to the functional requirements,the EtherCAT master frame work was built,the application design was completed,and the analysis of distributed clock The synchronization algorithm finally designed the man-machine interface of the master station system.Design EtherCAT servo slave based on LAN9252 and STM32.LAN9252 was selected as the EtherCAT slave controller and STM32 was used as the slave micro processor to complete the slave hardware circuit design.Complete the slave communication and data processing,and realize the CoE-based motion control function.Aiming at the trajectory planning problem in contour position mode,as implified fast-planning S-type acceleration and deceleration control algorithm is proposed.Finally,amulti-axis synchronization system control scheme based on EtherCAT is proposed for the synchronization of multi-axis control systems.Built a master-slave control system platform based on EtherCAT.Tests were performed on master station performance,slave station functions,slave station synchronization,and servo control.The test results show that the system has stable and good real-time performance and small jitter error.The contour position mode is performed to verify the correctness of the S-type acceleration and deceleration algorithm based on fast planning;the multi-axis synchronization error in the servo cycle synchronous position mode At the ns level,it has good synchronization performance and has certain application value.