The Design of Servo Driver Industrial Ethernet Interface
|School||Huazhong University of Science and Technology|
|Course||Control Theory and Control Engineering|
|Keywords||Servo drive system Industrial Ethernet interface EtherCAT CANopen|
With the increasing levels of industrial automation , industrial control network required burden of work are becoming increasingly onerous also growing scale and complexity of the transmission of information across the network , which put forward higher requirements to the control system . The servo system as a control system requires a high control accuracy , dynamic response , and other performance indicators must also face these problems. In this thesis, the industrial Ethernet technology is applied to the servo system . EtherCAT Industrial Ethernet protocol CANopen specification phase , TMS320F2812 series DSP platform, design and realization of industrial Ethernet communication interface of the servo drive , set up a network of motion control systems . CANopen and EtherCAT combined analysis of EtherCAT and CANopen technical details of key points , given the design of a variety of motion control mode , the software design and implementation of specific methods and points . Layered and modular manner given communication interface design process is divided into three major modules : EtherCAT communication module , the CoE communication module with CANopen motion control module hierarchy . And each module is divided into multiple sub-modules according to function EtherCAT communication module mainly includes : EtherCAT state machine services , mail services , and process data services ; the CoE communications module include: Service Data Objects (SDO) services , the process data objects ( PDO ) the service object dictionary services; motion control modules include device state machine and a variety of motion control mode implementation module . Each module of this article gives the specific design and implementation process . Four motion control mode control results , including the location and speed mode cycle synchronization as well as the position and velocity trajectory planning mode . Experimental results show that the system can meet the high-speed, high - precision , high reliability , and synchronized control requirements . Summary and Outlook work done .