Linux-based Ethercat maser/slave station control system and method

Abstract

The invention discloses a linux-based Ethercat maser / slave station control system and method. The system comprises an Ethercat maser station system and an Ethercat slave station system, the Ethercat maser station system finishes computing tasks such as task control and motion control and builds an abstract logic circuit by the aid of a hardware abstract layer, the hardware abstract layer is connected with an Ethercat maser station module, data are encoded into an Ethercat message by the Ethercat master station module according to an Ethercat communication protocol, and the Ethercat message is transmitted to the slave station system by an Ethernet port. A position / speed instruction value is transmitted to a digital interface / analog interface by the aid of real-time high-speed communication between the Ethercat maser / slave stations, the digital interface / analog interface receives a pulse instruction value fed back, the pulse instruction value is transmitted to the master station by the Ethercat slave station system, and the Ethercat master station module obtains the feedback position / speed instruction value and feeds back the position / speed instruction value to a motion controller, so that full-closed loop / semi-closed loop control is finished. The system has the advantage that a motion control system is flexible in networking and wiring, high in communication speed and reliability and low in cost.

Description

technical field [0001] The patent of the present invention relates to the field of industrial automation control research, in particular to a Linux-based EtherCAT master / slave control system and method. Background technique [0002] In the field of motion control, with the development of microelectronics, power electronics, and computers, breakthroughs have been made in the problems of complex motor control and poor speed regulation performance that plague AC servo systems. The AC servo system has become the main development direction of the contemporary high-performance servo system, and the motion controller based on industrial Ethernet has been widely used in industrial robots and CNC machine tools. Due to the higher and higher requirements for speed and precision of motion control, high requirements are put forward for the transmission speed of the field bus used for servo motion control and the real-time performance of the bus interface. [0003] At present, the domest...

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Problems solved by technology

[0003] At present, the domestic market mostly adopts the control method of PC + motion control card in the motion control system, in which the motion control card completes the core interpolation and control algorithm, no matter how the CPU speed in the control card is increased or the algorithm is improved, the impact on the response of the entire system is minimal , because the fieldbus communication has become a bottleneck hindering the improvement of system performance

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