摘要
基于实时工业以太网的伺服驱动器具有更高的数据传输带宽、更快的实时性能与同步控制功能,是伺服在CNC与工业机器人高端应用中的必然趋势。对于双芯片结构(FPGA+DSP)的工业以太网型伺服驱动器硬件方案,双端口存储器(DPRAM)的实现与控制方式,不仅是伺服驱动器中DSP与FPGA间数据通讯的基础,而且是工业以太网内上位机(如PLC与运动控制卡)对伺服驱动器实现实时、可靠与高效控制的关键。针对FPGA+DSP的硬件拓扑结构,本文设计了一种具有多级缓存、读写通道分离与高效并口访问控制特征的DPRAM,在保证同步数据帧传输完整性的同时,有效地提高地址总线的利用率与并口总线的访问效率,并通过测试程序验证了该DPRAM的可行性及可靠性。
With the advantages of greater bandwidth,faster real-time communications and synchronization for demanding control applications,the servo system based on industrial Ethernet is becoming an increasingly essential element in the CNC and industrial robot applications. According to the DSP and FPGA based servo controller,the realization and control method of the dual port ram（ DPRAM） is not only the communication channel between FPGA and DSP,but also the key of faster real-time,higher reliability and higher performance of motion control of host controller. In order to ensure the integrity of the process data object（ PDO）,maximize the utilization of address bus and accelerate the accession cycle of parallel port,the DPRAM containing multiple level buffer,separate channel for read / write operation and high efficient parallel port controller was proposed in this paper,and the feasibility and validity of the DPRAM were verified by the CRC comparison.
出处
《微电机》
2016年第3期53-57,78,共6页
Micromotors
