Development of independent EtherCAT slave module and application to closed loop step motor drive with multi-axis

Lee, Do Eon; Nguyễn, Quang Vinh; Kim, Tae−Won; Moon, Jun Young; Jeon, Jae Wook

doi:10.1109/ccaa.2016.7813864

Cited by 9 publications

(4 citation statements)

References 8 publications

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“…Slave controller [16] The communication cycles were still not short enough for better servo drive control.…”

Section: Motivation and The Proposed Approachmentioning

confidence: 99%

Emerging the real‐time performance for the single axis slave controller in the decentralised network

Bui,

Ngo

2023

IET Collab Intel Manufact

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In the era of the fourth industrial revolution, many certain technologies such as Internet of Things (IoT) or Internet of Service (IoS) have been implemented for the improvement of current system. However, most of them did not ensure the real‐time performance which is inevitable for modern motion systems. The implementation of Ethernet‐based protocol, rapid data exchange and synchronised transmission are proper for the novelties of slave controller. An integration of the decentralised network into the motion control system is introduced firstly. To demonstrate the conceptual design, some descriptions of motivations and related definitions are explained. Then, the structure of hardware components and internal connections are mentioned. Later, the software architecture including the data exchange and flowchart of motion program, is described in detail. To verify the feasibility and effectiveness of the proposed approach, some technical analysis of timing synchronisation and tracking deviation between our method and the others are carried out. In addition, several practical validations are conducted in the same conditions. The contributions of the authors are (i) to firstly present the concept of controller design using the real‐time technology, (ii) to illuminate both hardware design and software design of the proposed approach and (iii) to analyse the superior performance in delay time between our method and the others as well as validate the real‐world results to prove the effectiveness and feasibility. From the authors’ achievement, it is observed that these results can be broadly purposeful to the sustainable development of Industry 4.0.

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“…Slave controller [16] The communication cycles were still not short enough for better servo drive control.…”

Section: Motivation and The Proposed Approachmentioning

confidence: 99%

Emerging the real‐time performance for the single axis slave controller in the decentralised network

Bui,

Ngo

2023

IET Collab Intel Manufact

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“…EtherCAT is one of the most used industrial network technologies, due to its high bitrate, Ethernet compatibility and real-time transmission capabilities [18]. Use of EtherCAT for multidrive applications has been reported in [19] for large systems, without strict delay requirements, and more recently in [20] and [21] for delay sensitive step motor control.…”

Section: Case Study: Ethercatmentioning

confidence: 99%

“…where the time to transmit the Ethernet frame is t tr = l/r, where l is the number of bits in the frame, and r = 100 Mbits/s is the transmission rate. The values of t p and t f depend on the EtherCAT hardware, where t p is in the order of tens of nanoseconds, and t f is usually less than a microsecond [20].…”

Section: A Ethercat Protocol Descriptionmentioning

confidence: 99%

Multi-drive control and condition monitoring in networked electric drives with EtherCAT

Zanuso

Fodor

Peretti

et al. 2020

2020 International Conference on Electrical Machines (ICEM)

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Multi-drive systems and condition monitoring could benefit from a larger exchange of information between the electric drives and the industrial network. This is favored by the Industry 4.0 and the Industrial Internet initiatives together with the emergence of high-speed industrial networks. This paper investigates how recent industrial communication protocols can handle the emerging diversity of service requirements. After a brief overview of multi-drive system and condition monitoring applications for networked electric drives, the paper provides a quantitative evaluation of the performance of EtherCAT-based network of electric drives, supporting both dynamic control and condition monitoring.

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“…So EtherCAT is widely used in servo systems. It solves the problem that traditional analog and pulse servo control methods cannot meet the high speed and high precision control requirements of motion control systems, and better meets the realtime communication and synchronization control requirements required for multi-axis motion control [5].…”

Section: Introductionmentioning

confidence: 99%

Design of small-size EtherCAT slave controller applied to servo system

Ji,

2023

Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023)

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Nowadays, various servo controllers on the market are increasingly pursuing higher power density, which means that the hardware design of each module in the system should be small enough. The application of EtherCAT communication technology has become the mainstream of the development of servo system interface. Therefore, this paper designs a small-size EtherCAT slave controller applied to the servo system. By using ARM to simulate the memory function of EEPROM, sharing the clock source between the slave communication element and the servo control element, and integrating the slave communication module with the servo control module, the volume of EtherCAT slave hardware platform is reduced effectively, which provides favorable conditions for improving the power density of the servo system. After experimental verification, the final design of the small-size EtherCAT slave controller can perform standard, correct and reliable EtherCAT communication work.

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Development of independent EtherCAT slave module and application to closed loop step motor drive with multi-axis

Cited by 9 publications

References 8 publications

Emerging the real‐time performance for the single axis slave controller in the decentralised network

Emerging the real‐time performance for the single axis slave controller in the decentralised network

Multi-drive control and condition monitoring in networked electric drives with EtherCAT

Design of small-size EtherCAT slave controller applied to servo system

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