基于arm的工业以太网ethercat从站设计-控制工程专业论文.docxVIP

西南科技大学硕士研究生学位论文第 西南科技大学硕士研究生学位论文 第 PAGE IV 页 西南科技大学硕士研究生学位论文第 西南科技大学硕士研究生学位论文 第 III 页 Abstract Compared with other industrial Ethernet, the EtherCAT with high real-time performance of industrial Ethernet has been developing rapidly with the advantages of its high real-time reliabe, low cost, simple configuration, fully compatible with the Ethernet, best making use of Ethernet technology. Based on the ARM chip, the hardware and software of the industrial Ethernet EtherCAT slave controller are realized, the industrial ethernet EtherCAT slave station controller based on ARM is developed, using TI’s AM3359 on-chip PRU-ICSS to realize the stave controller’s driver software and application software. In this paper, by comparing the performance of some real-time industrial Ethernet generally used, according to the requirements of high real-time industrial Ethernet control system, the correct design is established. The hardware design included the slave hardware design and PCB design. b y researching the EtherCAT and TI’s datasheets, the descriptions of each function module and schematic design are discussed; the design of PCB and circuit debug work is completed. Based on SYS/BIOS system, EtherCAT slave controller program design is completed. By using the layered software design method, the system initialization from the slave controller, Such as: the slave controller system initialization, PRU-ICSS’s initialization, the design of the motor driver, the application layer CoE program design object dictionary. By seting up EtherCAT communications test experiments, the test results verify the correctness of the design of the hardware and software of the EtherCAT slave controller, which means that the reliability and stability of communication of the slave station are quite satisfactory. Key words: Industrial Ethernet;EtherCAT Slave;PRU-ICSS;AM3359 目 录 HYPERLINK \l _bookmark0 1 绪论 1 HYPERLINK \l _bookmark1 1.1 选题意义及课题来源 1 HYPERLINK \l _bookmark2 1.2 实时工业以太网发展 2 HY