Research And Implementation Of EtherCAT Slave Station Based On Embedded Industrial Ethernet

With the high degree of informationization of industrial production process,the shortcomings exposed by traditional fieldbus make it difficult to face the increasingly complex production environment.The rapid development of industrial Ethernet technology fills the shortage of traditional fieldbus and is rapidly applied in different industrial production industries because of its openness,rapidity,stability and convenience.Among them,the EtherCAT industrial Ethernet technology,developed by BECKHOFF,Germany,has the most outstanding information transfer capability and extremely powerful distributed cooperative control performance.The complete EtherCAT technology information ecology,rich hardware and software products,and the support of multiple protocol conversion fusion through gateways,can meet most industrial control and communication situations,so it is increasingly favored by enterprises.This project is based on a school-enterprise cooperation project with Yinchuan Hoyee Technology Co.,Ltd.Through in-depth research and analysis of the current status of industrial Ethernet research and EtherCAT development at home and abroad,a slave device based on embedded STM32 and EtherCAT slave control chip AX58100 is studied,and specific software and hardware implementation methods and processes are proposed.The specific software and hardware implementation methods and processes are proposed.Based on the development of the slave device,the master software TwinCAT from BECKHOFF is used to design the PLC program and draw the PLC HMI interface to form a complete master-slave control system.The research focuses on the following :(1)This project investigates the operation principle of EtherCAT communication protocol and cut and port the EtherCAT protocol stack.The EtherCAT protocol stack software execution flow is analyzed and the role played by important functions in the protocol stack source code is discussed.(2)This project implements the EtherCAT protocol application layer CoE communication,analyzes in detail the periodic data communication and non-periodic data communication of the CoE protocol and its sub-protocol Ci A 402 motion control protocol,gives the principle and method of defining object dictionary and establishing object dictionary mapping under the CoE protocol.(3)This project implements the FSMC communication interface circuit between STM32 and AX58100 and the drive circuit between STM32 and DC brushless motor.(4)This project implements the IO function of the slave device,which can operate with TwinCAT for digital input and output and analog input.(5)This project implements the position control and speed control of DC brushless motor by master and slave station under EtherCAT protocol.