摘要
针对力控关节高速通信的需要,设计了通信速率可达100 MHz的工业以太网通信总线(EtherCAT)的通信系统,分别从EtherCAT原理、主从站结构以及主从站软硬件方面进行介绍,并利用ET1100和FPGA为核心的芯片搭建了一套EtherCAT通信系统。进行实物测试显示,系统性能稳定可靠、通信速率高、实时性好,可以实现力控关节高速通信的需求。
The communication system of industrial Ethernet communication bus(EtherCAT)with 100 MHz communication rate was designed for high speed communication of force controlled joints needs.The EtherCAT principle,master slave structure and master slave software and hardware were introduced respectively.In addition,an EtherCAT communication system was established by using the core chip of ET1100 and FPGA.Finally.the physical test show that the system performance is stable and reliable,with high the communication speed,and good real time performance,Thus,this system can meet the requirements of high speed communication of joints.
作者
张子建
尚恺
杜云鹏
韩少杰
左堃罡
董洋洋
ZHANG Zijian;SHANG Kai;DU Yunpeng;HAN Shaojie;ZUO Kungang;DONG Yangyang(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《机械与电子》
2019年第10期76-80,共5页
Machinery & Electronics
基金
国家自然科学基金(51705241,11802118)
江苏省自然科学基金(BK20170808)
