基于EtherCAT的控制系统从站设计

微特电机 ›› 2020, Vol. 48 ›› Issue (1): 60-64.

基于EtherCAT的控制系统从站设计

肖博翰，王洪武，张东宁

中国电子科技集团公司第二十一研究所，上海 200233

出版日期:2020-01-28 发布日期:2020-01-16

Design of Slave Station for Robot Arm Motor Integrated Control System Based on EtherCAT

XIAO Bo-han,WANG Hong-wu,ZHANG Dong-ning

No.21 Research Institute of CETC,Shanghai 200233,China

Online:2020-01-28 Published:2020-01-16

摘要/Abstract

摘要： 对于基于EtherCAT协议的机械臂电机一体化控制系统从站的设计，从工作原理、协议以及其优势三个方面对EtherCAT技术进行了简述，根据分层思想对EtherCAT从站硬件设计和从站软件设计进行了描述，测试平台的测试结果验证了控制系统从站的性能。

关键词: 电机一体化控制系统, EtherCAT, EtherCAT从站控制器, 微处理器μC

Abstract: For the design of robotic arm's motor integrated control system slave station base on EtherCAT protocol, working principle, protocol and advantages of EtherCAT were briefly introduced. The EtherCAT slave hardware and slave software design were described based on the layering idea. The performance of the control system slave station was verified by the test platform's results.

Key words: motor integrated control system, EtherCAT, EtherEAT slave controller (ESC), microprocessor μC

中图分类号:

TM351

. 基于EtherCAT的控制系统从站设计[J]. 微特电机, 2020, 48(1): 60-64.