A high-precision multi-axis clock synchronization method based on ethercat

Abstract

The invention discloses a high-precision multi-axis clock synchronization method based on EtherCAT, comprising the following steps: setting a time measurement module, starting the time measurement module, measuring the time between EtherCAT sync interruption and application layer execution, and then converting the above measured time Input to the clock synchronization correction algorithm module to correct the clock, correct the application layer time through the clock synchronization correction algorithm module, and perform the above operations on each axis respectively, and finally make the execution interval between the execution interrupt of the application layer of all axes and the EtherCAT synchronization interrupt be a fixed value. Realize the effect of multi-axis clock synchronization. The invention can not only realize the high-precision clock synchronization between the single-axis servo and the master station, but also realize the synchronization between axes, and the synchronization level can reach 0.1us, which greatly improves the synchronous response of the multi-axis servo and improves the control accuracy.

Description

technical field [0001] Herein, the present invention relates to a multi-axis clock synchronization method, in particular to an EtherCAT-based high-precision multi-axis clock synchronization method, which belongs to the field of industrial Internet multi-axis transmission technology. Background technique [0002] Here, with the rapid development of industrial technology, the market has more and more demand for servo systems, and the bus servo can realize advanced control such as position / speed / torque because of its simple wiring, high communication rate, and large data throughput. Features, are widely used in 3C, industrial robots, smart factories and other industries. Traditional field buses include Profitbus-DP, CANopen, etc. These traditional field buses have low communication efficiency and long communication cycles, and it is difficult to meet the high synchronization, high efficiency and high speed requirements of high-end motion control. [0003] In recent years, indu...

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Problems solved by technology

[0008] The above method can solve the problems of communication cycle fluctuation and communication asynchrony caused by different sources of master and slave clocks, data slippage and other problems in the use of single servo. However, this method can only solve the synchronization problem of single axis, and only It can solve the jitter problem and cannot achieve high-precision synchronization of multiple axes

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