摘要
为了实现伺服驱动器EtherCAT工业以太网通信接口功能,提出了一种基于LAN9252与STM32F407硬件方案,结合EtherCAT与CANopen DS402伺服和运动控制行规实现该接口的方法,给出了软件设计过程。基于TwinCAT主站软件,搭建伺服驱动EtherCAT通信接口测试平台,验证接口功能,对实时性、稳定性与同步性进行分析。测试结果表明:实现了EtherCAT通信,报文刷新时间为16.55μs,同步脉冲抖动为5ns,丢包率与出错率为零,满足伺服驱动实时性、稳定性与同步性要求,该方法可行。
In order to realize the EtherCAT communication interface on servo driver, A kind of design scheme was put forward that uses LAN9252 and STM32.Combining the DS402 servo and control profile, the software design of communication interface of servo driver was completed. Based on TwinCAT, a test platform of EtherCAT communication was built to verify the function of the equipment and analyze the real-time performance, stability and synchronization. The result shows that the interface can achieve the communication of EtherCAT, the refresh time of message is 16.55μs, the jitter of synchronization is 5 ns, the packet loss rate and error rate are both zero, which can meet the requirements of high real-time performance, stability and synchronization of servo driver, and the proposed method is feasible.
作者
董海涛
朱国庆
黄丽宇
DONG Hai-tao;ZHUGuo-qing;HUANGLi-yu(School of Mechanical Engineering,GuangxiUniversity,Nanning530004,China;Information Network Centre,GuangxiUniversity,Nanning530004,China;Guangxi Key Laboratory of Manufacturing System & Advanced Manufacturing Technology,Nanning530004,China)
出处
《组合机床与自动化加工技术》
北大核心
2019年第4期95-98,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
赛尔网络下一代互联网技术创新项目(NGII20170306)
广西制造系统与先进制造技术重点实验室(主任基金)项目(16-380-12S012)
国家自然科学基金资助项目(51465005)
