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EtherCAT-based multi-axis synchronization control device and method

A multi-axis synchronization and control device technology, applied in the direction of program control, computer control, general control system, etc., can solve the problems of low openness, high price, and dependence on imported EtherCAT equipment

Active Publication Date: 2017-10-03
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, domestic EtherCAT equipment mainly relies on imports, which are expensive and have low openness.

Method used

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  • EtherCAT-based multi-axis synchronization control device and method
  • EtherCAT-based multi-axis synchronization control device and method
  • EtherCAT-based multi-axis synchronization control device and method

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Embodiment Construction

[0074] In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings.

[0075] Such as figure 1 As shown, a multi-axis synchronous control device based on EtherCAT, including the mechanical body part, AC servo drive part and control part:

[0076] The mechanical body part includes:

[0077] Supporting platform 1 and several AC servo motors 2-9 installed on said supporting platform 1;

[0078] The AC servo drive part includes:

[0079] A number of AC servo drive slave stations 10-17 connected one-to-one with the AC servo motors 2-9, the AC servo drive slave stations 10-17 work in the synchronous position mode, and are used to output the position according to the obtained pulse signal, and Respectively output the photoelectric encoder value, angular velocity value and torque value corresponding to the AC servo driver;

[0080] The control section includes:

[0081] The PC master stati...

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Abstract

The invention discloses an EtherCAT-based multi-axis synchronization control device, which comprises a mechanical body part, an AC servo driving part and a control part, wherein the mechanical body part comprises a support platform and a plurality of AC servo motors; the AC servo driving part comprises a plurality of AC servo driver slave stations in one-to-one corresponding connection with the AC servo motors; and the control part comprises a PC master station, which is in circuit connection with the AC servo driver slave stations by means of an EtherCAT network, and used for initializing the EtherCAT network, realizing master and slave clock synchronization of the PC master station and the AC servo driver slave stations as well as clock synchronization among the AC servo driver slave stations, and transmitting position signals to the AC servo driver slave stations. The invention further discloses an EtherCAT-based multi-axis synchronization control method. The EtherCAT-based multi-axis synchronization control device can realize the multi-axis synchronization control and signal acquisition based on an industrial Ethernet EtherCAT protocol.

Description

technical field [0001] The invention relates to the field of industrial Ethernet and motion control, in particular to an EtherCAT-based multi-axis synchronous control device and method. Background technique [0002] The traditional field bus has been widely used in the field of control, but this specific protocol design mode brings the compatibility and speed problems of the control system. At present, the rate of the field bus is low, and the fastest profibus bus rate can only reach 12Mb / s. In addition, there is no unified international standard for fieldbus technology. Although the protocol is open, the control systems of different protocols are not easy to be compatible due to the difference in frame format and cycle time, which is not conducive to the openness, decentralization and operability of the control system. Therefore, Ethernet with high speed, high reliability and general international standards has been introduced into the field of industrial automation contro...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/042Y02P90/02
Inventor 李琳林燕龙邹焱飚
Owner SOUTH CHINA UNIV OF TECH
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