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基于X86平台的EtherCAT主站设计
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广东省科技计划项目(2015B010114004;2015A020209176)


Design of EtherCAT Master Based on X86 Platform
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    摘要:

    工业以太网现场总线EtherCAT具有高速高效率、同步性能好等优点,被广泛应用于运动控制领域。基于X86平台提出一种EtherCAT主站的设计方案、设计流程与实现流程,并构建了由EtherCAT主站、伺服控制器和伺服电机组成的控制网络。详细探讨了主站内核改造、主站对从站XML文件的解析流程,以及用于EtherCAT主、从精确实时同步分布时钟机制。实验结果证明:所研发的主站实时性稳定可靠,多轴同步误差在纳秒级别,达到了工业应用领域中对EtherCAT主站性能的要求。

    Abstract:

    Industrial Ethernet fieldbus EtherCAT is widely used in the field of motion control due to its high speed, high efficiency and good synchronization.Based on X86 platform, a design scheme, design flow and implementation flow of EtherCAT master were proposed. The control network was composed of EtherCAT master, servo controller and servo motor. It was discussed in detail the master kernel transformation, the master process of parsing XML files from the slave station and the clock distribution mechanism for master/slave precise realtime synchronization of EtherCAT.The experimental results show that the developed master is stable and reliable in real time and the error of multiaxis synchronization is on the nanosecond level, which meets the performance requirements to the EtherCAT master in industrial applications.

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蒋杰,高军礼,徐超蓝,张小花.基于X86平台的EtherCAT主站设计[J].机床与液压,2019,47(7):89-93.
. Design of EtherCAT Master Based on X86 Platform[J]. Machine Tool & Hydraulics,2019,47(7):89-93

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  • 在线发布日期: 2019-12-04
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