EtherCAT Master Implementation And System Testing

With the steady development of manufacturing industry and the continuous improvement of modern industrial networking,decentralization,intelligence and flexibility,the motion control system based on traditional industrial fieldbus technology has problems such as slow speed and poor compatibility,which has gradually been unable to meet the needs of industry.The Ether CAT(Ethernet Control Automation Technology)bus Technology is gradually favored by the market for its high transmission rate,high real-time,high openness,changeable topology and other advantages,and has become a new wave in the field of motion Control research.In this paper,under the support of a Chengdu industrial automation equipment production company's bus type Ether CAT master station control card design and development project,the Ether CAT master station based on ARM+FPGA architecture has been deeply studied.Firstly,the master is used Leetro i6-1113v1.0 as the development platform.The development platform uses the Zynq-7000 based on the Cortex-A9 ARM processor and the Kintex-7 FPGA architecture as the main chip.Linux Ubuntu + Xenomai real-time operating system was built on Zynq-7000.Secondly,Ig H Ether CAT Master for Linux Master protocol stack is installed under the Linux Ubuntu real-time operating system,and Ether CAT Master function is realized on Zynq-7000.Thirdly,Beckhoff packet capture analysis tool ET2000 and packet analysis software Wireshark were used to test the performance of Ether CAT master station implemented in this paper,and the communication time data of the master station were processed.The test results show that the communication jitter is 440 ns when the Ether CAT master station implemented in this paper enables a single servo slave station.Then,based on the Ether CAT master station scheme implemented in this paper,a method is proposed to compare the PDO data sent to the FPGA by the IGH Ether CAT stack with the PDO data sent to the bus by the FPGA.This comparison method can verify the correctness of PDO data in the protocol stack to bus transmission process.Finally,due to the extremely short Ether CAT communication cycle,the performance evaluation of Ether CAT master station and the location of abnormal communication data in product development need to involve a large amount of data processing.In order to reduce the burden of developers and improve the efficiency of developers' analysis of system performance,this chapter proposes and implements an evaluation system based on communication time data to solve this problem.Through this system,the communication quality of the current system can be briefly evaluated and the alarm function of the detection master station can be detected,and the communication sequence with large jitter can be output.