EtherCAT-based High-precision Multi-axis Interpolation Synchronous Control Method

To address motor control jitter and slow interaction speed in multi-axis systems using traditional trapezoidal interpolation, this study proposes a high-precision multi-axis interpolation synchronization control method based on EtherCAT. It employs a three-stage S-curve acceleration-deceleration model and a level spreading sequence to optimize control, reducing motor jitter and improving precision. Leveraging EtherCAT's high-speed, real-time communication, the method enhances system interaction speed and ensures data accuracy. A PID jitter control-based synchronization further improves master-slave clock synchronization. Experimental results show the method outperforms traditional approaches, effectively reducing jitter, enhancing precision, and significantly boosting system interaction speed.