Dissertation
Dissertation > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system

The Design of Servo Driver Industrial Ethernet Interface

Author LiWenHu
Tutor LiYeSong
School Huazhong University of Science and Technology
Course Control Theory and Control Engineering
Keywords Servo drive system Industrial Ethernet interface EtherCAT CANopen
CLC TP273
Type Master's thesis
Year 2011
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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 .

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