Design and Implementation of MECHATROLINK-III Bus Slave Station Based on SOPC

Abstract

Traditional design can not choose appropriate CPU, peripherals and I/O module for different slave station of MECHATROLINK-III bus. Aimed at these issues, this paper proposes a slave station solution based on SOPC technology. To make I/O device as an example, a MECHATROLINK-III bus slave station is designed using SOPC, NIOS soft core and FPGA technologies. Data link layer peripherals, I/O module and CPU are customized and implemented in this slave station. The operation mode of this slave station can be changed by software method instead of hardware. The interrupting module is constructed using IP component technology to enable the interrupt handler. Finally the slave station driver of MECHATROLINK-III bus is transplanted to this I/O device to achieve Master/Slave communication based on MECHATROLINK-III protocol. The experiment results show that the proposed solution can enhance reusability and flexibility of the slave station.

Input Shaping Control to Reduce Residual Vibration of a Flexible Beam

“…Mechatrolink-III is chosen to investigate because of their advantages such as fast communication, high reliability and rapid design. The performance of Mechatrolink-III was analyzed in [13] and slave station was designed in [14]. The protocol guarantees the short cycle time which is considered as a typical factor in motion control fields.…”