基于EtherCAT和CAN总线的柔性工装控制系统

针对柔性工装在成形过程中存在参数复杂、被控伺服电机数量多及其多个移动横梁之间分散式布置等问题,提出了基于EtherCAT和CAN总线技术的分布式网络控制方案,阐述了柔性工装工作原理,研究了以PC和PLC为核心的硬件整体结构,并利用VC++软件完成了人机交互界面的开发。该系统中,上位机与控制柜内分站模块组、控制柜内分站模块组及移动横梁上的分站模块组、各个移动横梁之间的模块组采用EtherCAT总线通信;移动横梁上的分站模块组与伺服电机、各个伺服电机之间采用CAN总线通信,两种总线高低结合进行数据传输,使传输速率提高将近10倍。

A Control System of Flexible Fixture Based on EtherCAT and CAN Bus

To solve the problems of the complex parametersso many controlled servo motors and the disperse arrangement of mobile beams in flexible fixture processwe proposed a project of distributed network control based on EtherCAT and CAN bus technology.The principle of flexible fixture was introducedthe hardware structure of this system with core of PC and PLC was studiedand man-machine interface was designed by using VC++.EtherCAT technology was adopted in the communication of the host computer with the control cabinetthe control cabinet with mobile beamsand the communication among the mobile beams.The CAN bus was used in the communications of mobile beams with servo motors and among servo motors.The transmission rate was increased by nearly 10 times by using the combination of the two kinds of transmission modes.