| Summary: | 碩士 === 國立中正大學 === 機械工程學系暨研究所 === 102 === CNC machine toolsare that the government fully support in recent years. Many of CNC machine tools have used dedicated analog links for the connection of the central motion controller and the drivers.However, analog link-based systems have many drawbacks: analog links are sensitive to external noise, have low resolutions, and limit the expandability due to the complex analog cabling. Therefore, the Ethernet based network technology attracts manufacturers and researchers' attention, and is applied to servo control/automation systems. EtherCAT is one of the Ethernet based network technology, and it has the advantages of high speed communication, precise synchronization, wire saving, low hardware costs, and the maintenance is convenient. EtherCAT can support solutions for those problems of analog link-based systems exactly.
In this thesis, we use the DSP F28335 and the EtherCAT ET1100 chip to develop the PMSM control system with the EtherCAT protocol. The develop system can be of great help for real-time control, monitoring, multi-axis controllers, and developingEtherCAT systems.This thesis starts with the comparisons between the commonly use of industrial communication protocols and EtherCAT such that the comparison provides us with choosing EtherCAT rationally. Then we introduce the framework, the protocol,modules of the EtherCAT in detail and describe how to build the communicationbetween the EtherCAT masterandslave. In addition, we briefly analyze the framework of commercial off-the-shelf Yaskawa Σ-Ⅴservo drives with EtherCAT, and understood howtoimplementtheconceptof CoE.
Finally, we have designed a serial communication experiment thatseries of our PMSM control system and commercial drivers, commercial IO Modules.They communicate with each other through the EtherCAT and follow CANopen Cia402.
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