随着现代科技的发展,工业领域中应用多轴伺服联动的场合越来越多,对其同步性能的要求将会越来越高。将EtherCAT(Ethernet for Control Automation Technology)技术引进到多轴伺服控制系统中可进一步提高系统的同步性能。为使EtherCAT技术更好地应用到多轴伺服运动系统中,本文阐述了EtherCAT的基本通信原理,介绍了基于EtherCAT的多轴伺服运动控制系统的基本结构以及从站工作原理,并从延迟计算、偏移补偿和漂移补偿3个方面重点分析了EtherCAT的同步性能,最后试验表明其同步性能可很好地满足多轴伺服运动控制领域的应用。

The multi-axis servo linkage sees more and more applications in the industrial field, and its synchronization is an urgent issue. The introduction of the EtherCAT (Ethernet for Control Automation Technology) into the multi-axis servo motion system could improve the synchronization of the system. In order to enhance the performance of a multi-axis servo motion system with the EtherCAT, this paper first discusses the EtherCAT's basic communication theory, and the basic structure of a multi-axis servo motion controller system, based on the EtherCAT, and the theory of the slave. Then, we analyze the synchronization of the EtherCAT by calculating the delay, the compensating offset and the compensating drift. At last, an experiment is carried out, which shows that, the EtherCAT's synchronization can satisfy the requirements of the multi-axis motion controller system very well.