基于 EC-01M 的嵌入式 EtherCAT 主站设计

针对目前采用以脉冲模拟量方式设计的多轴运动控制卡中存在的响应速度慢、灵活性差和同步性差等问题,以及目前 EtherCAT 主站实现方案中存在的成本高、操作复杂和开发周期长等问题,提出了一种使用主站芯片实现 EtherCAT 通信的多轴运动控制卡方案。通过 STM32H743IIT6 搭载 EC-01M 主站芯片实现 EtherCAT 通信,搭建了基于 EtherCAT 通信的多轴运动控制实验平台,进行了实验测试与性能分析并对 EC-01M 同步性问题进行了研究优化。实验结果表明,该控制系统操作简单,学习容易,同步控制性能良好,可移植性强,为嵌入式系统实现 EtherCAT 通信提供了一种新的方案,具有一定的参考意义。

Embedded EtherCAT Master Design Based on EC-01M

In view of the problems of response speed,flexibility and synchronization in the current multiaxis motion control cards designed with pulse analog,and the problems of high cost,complicated operation and long development period in the current EtherCAT master solution,a multiaxis motion control card solution using a master chip to implement EtherCAT communication is proposed.The Experimental platform of multiaxis motion control based on EtherCAT communication is built by using STM32H743IIT6 with EC-01M master chip to implement EtherCAT communication,and the experimental test and performance analysis are carried out and the synchronization problem of EC-01M is optimized.The experimental results show that the control system is simple to operate,easy to learn,with good synchronization control performance and high portability,which provides a new solution for the implementation of EtherCAT communication in embedded systems and has certain reference significance.