- 學位論文
應用於LINUX系統之工業用乙太網路伺服控制
Industrial Ethernet Servo Control based on Linux System
摘要
傳統工具機與馬達驅動器的溝通大多為配線集中式，有鑑於其對外界雜訊抗干擾能力差與占用體積龐大，我們選擇抗干擾能力佳且配線簡單的數位串列傳輸協定-EtherCAT來取代配線集中式。而目前市面上的EtherCAT主站有相當多，但許多都只能在windows平台使用，對於移植到其他平台，甚至是嵌入式系統有非常大的麻煩，所以我們選擇在LINUX平台上的開源軟體 - IGH EtherCAT，除此之外，IGH EtherCAT更支援許多Linux realtime 套件，讓我們確保系統能夠快速、精準的執行。 本文在LINUX系統結合EtherCAT協定與CANopen協定，統一伺服控制的參數，避免更換不同從站控制器而需要重新設定，降低伺服器控制的複雜度，並成功達成具有良好同步性能的多馬達位置控制與速度控制。
並列摘要
Tranditional CNC mostly using parallel connection to communicate with servo driver. Because its low noise resistance and large scale, we choose a digital serial communication protocol – EtherCAT, which has better noise resistance and simple wiring to replace parallel connection. There’s many EtherCAT masters on the market, but mostly can only using on Windows platform. It’s inconvenient to transplant EtherCAT to other platform, even embedded system. So we choose the open source software – IGH EtherCAT, which is on the Linux platform. Furthermore, it supports many Linux Realtime patches, which can ensure our system works much more fast and precisely. In this thesis, we combine both EtherCAT and CANopen protocol. Uniform the parameter of servo control. This can avoid resetting if we change to different slave controller and decrease the complexity of servo control, achieveing multi-motors postion control and velocity control with good synchronization.