基於LinuxCNC系統之EtherCAT雲端伺服控制

Cloud-based EtherCAT Servo Control in LinuxCNC System

郭立偉(LI-WEI GUO)

指導教授 ： 朱元三

國立中正大學/工學院/電機工程學系/碩士(2016年)

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，我們選擇利用EtherCAT數位式串列協定實作CNC工具機來取代傳統式軸卡工具機。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，但因其原始碼不公開且需要額外付授權金，也不便對於移植到其他平台。
　　本文主要探討EtherCAT在LinuxCNC系統上的通訊原理，操作伺服馬達，並實驗在此架構下仍然可以達到運動控制的需求，並結合物聯網MQTT協定達到遠端監控的效果。
論文首先會對EtherCAT協定做詳細的介紹，並說明如何在LinuxCNC系統上使用。接著介紹各個元件間的通訊方式，並整合遠端控制功能。最後由實驗結果藉由不同廠牌的控制器驗證此系統符合運動控制的規範，測試是否可以與我們EtherCAT工具機進行遠端監控。

關鍵字

LinuxCNC ； EtherCAT ； MQTT

並列摘要

The traditional machine tools mostly using parallel connection to communicate with servo driver. In view of its low noise resistance and large scale, we choose EtherCAT (Digital Servo Motion Control protocol) which has better noise resistance and simple wiring to replace parallel connection. There are a lot of EtherCAT masters currently available, but most of them can only be used in Windows platform. Its source is not disclosed and needed to pay additional licensing fees. And it’s hard to transplant to other platforms.
　　This paper discusses the EtherCAT communication protocol on LinuxCNC system, and experiments that whether the architecture can achieve needs of motion control. Finally, the architecture will combine with MQTT protocaol to reach remote control results.
　　Firstly, this paper will introduce the EtherCAT in detail, and explain how to use the system on LinuxCNC. Then introduce communication between the various components. Eventually, we use different brands of controllers to verify this system of motion control specification, and test whether the EtherCAT machine tools can be remote monitoring.

並列關鍵字

LinuxCNC ； EtherCAT ； MQTT

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