Servo Motor Control System Design Based on EtherCAT Real-Time Communication

EtherCAT is widely used in servo motor drive control system because of its excellent performance. In order to achieve the best performance of servo motor drive control system, the software architecture is analyzed and designed based on the hardware architecture of EtherCAT servo drive system. Based on the DC synchronous mode of EtherCAT and the three closed-loop control algorithm of position, the communication program and motor control program are combined, and the strict timing design is carried out. The communication period between master and slave stations is 300us, which achieves good synchronization performance and is verified by experiments. The experimental results show that its synchronization performance and rapidity are good.