本研究旨在發展以 EtherCAT技術為基礎之主從式架構建構 PC-based CNC運動控制系統。其發展步驟可分為以下三個步驟:(1) 單軸封閉式伺服CNC控制系統之設計 (2)使用 EtherCAT乙太網路建立一PC-based的主從式(Master – Slave)架構運動控制器,其中包含即時伺服控制、CNC運動控制回授演算法、插補規劃(interpolation)、G code的執行和I/O PLC控制,以及提供圖形化使用者介面和網路通訊功能 (3) 三軸CNC工具機控制系統之組裝與測試等步驟,同時於I/O控制,本文使用Petri-Net建構此CNC控制流程之順序控制模式,如M02、M03等,各項M指令雜項功能。最後經由實驗結果與誤差分析顯示EtherCAT架構下之CNC控制之直線與圓弧運動中,可以得到優異之控制成果。
In paper, the CNC control system based on EtherCAT technology is developed. Its developing procedures can be divided into three steps. First, the closed loop control system of single servo axes should be developed. Secondly, a master-slave architecture of software motion control based on EtherCAT protocol is suggested and a PC-based controller is adopted to perform all real-time servo motors and CNC/motion control algorithms including feedback control loops, interpolations, G code processing and PLC, as well as providing the graphical user interface, and network communications. Finally, a 3-axixCNC control system is fabricated based on EtherCAT protocol, and two particular cases of line and circle motion are studied to prove the effectiveness/efficiency of the CNC control system based on EtherCAT model. While the I / O control, use the Petri-Net in used to develop sequence control, such as M02, M03…etc, the M function. However, it will greatly enhance the competitive capability of companies trying to rapidly toward industry 4.0.