实时以太网ethercat网络研究及在多轴运动中的应用-检测技术与自动化装置专业论文.docxVIP

AbstractRecently, the multi-axis motion system has been widely applied to various fields, such as the high-speed printing, electronic assembly and intelligent robot. Currently, its real-time and synchronism property directly affects the quality and performance of products. The traditional multi-axis motion network constructed based on fieldbus has already shown many defects in the speed and synchronization accuracy during long distance transmission. Moreover, for a long time, there exist too many fieldbus standards. The application of fieldbus has been seriously limited due to the difficulty in interfacing with multi-vendor products. In light of this, to bring the real-time Ethernet into multi-axis motion field will be a good solution to these problems, with its high bandwidth, high precision and better openness. These would be of great significance for further theoretical research and application prospects of networked multi-axis motion system.At the beginging, the paper focus on shortages of fieldbus, and then bring in the latest industry Ethernet known as EtherCAT originally developed by Beckhoff after compared with other real-time Ethernet. Then, the operating principle and basis of EtherCAT is presented in details from three aspects (EtherCAT Physical Layer, EtherCAT Data Link Layer and EtherCAT Application Layer). On this basis, a basic communication network has been constructed with master-slave mode. In the designer, functions of EtherCAT master are mainly accomplished by TwinCAT configuration software and applications written in VC++. ADS (Automation Device Specification) router is adopted to realize communication between these two softwares. As to EtherCAT slave, after finishing the basic network constructed by Beckhoffs terminal, the paper has proposesd a novel design method of multi-axis motion system (MMS). In MMS, Programmable system-on-chip device is employed as microprocessor center in conjunction with EtherCAT controller.They realize functions of c