EtherCAT bus is a modern, high-performance industrial communication bus that can connect Ethernet devices and real-time EtherCAT devices to achieve distributed control just like the traditional real-time control bus.
EtherCAT bus servo control mainly involves several key steps. First, you need to plug in the communication cable to ensure that the PLC (Programmable logic controller) is properly connected to the drive. The lower port of the PLC should be connected to the CN3 port of the drive, and if there is a second or more servo, the CN3 port of the next servo can be connected through the CN4 port, supporting up to 32 axis control.
Next, you need to configure the nine-pin serial cable for the servo drive. The main three signals that need to be connected are positive limit, negative limit and origin. The servo enable can be directly controlled by communication, and the alarm reset can also be connected.
Then, you need to build a new project and select the corresponding PLC model. In the software, right click EtherCAT and select Auto Scan to identify the servo drive. After that, right click the motion control axis, click “Add Axis”, and select the output device as the servos scanned earlier. This way, you can download the program to the PLC.
After downloading, click the monitoring icon to enter the servo shaft debugging. After clicking the enable button, the motor will lock up. By clicking “jog+” or “jog-”, the forward and reverse of the motor can be realized to complete the servo test.
During the control process, you can programmatically set parameters such as enable, manual JOG, relative positioning, absolute positioning, origin regression, current position, speed and torque to meet your specific needs.
It should be noted that the EtherCAT interface of the servo drive has two, some of the drive these two ports can be connected at will, some are divided into EtherCAT IN and EtherCAT OUT, the IN port is connected to the first-level device, the OUT port is the next level device, the two can not be mixed. When conducting multi-axis control, ensure that all levels of drive devices are connected in the correct order.
EtherCAT controller is an important component of EtherCAT bus control, the main role has the following aspects:
1. Communication with advanced controller: EtherCAT controller can communicate with advanced controller (such as PLC, host computer, etc.), so as to achieve the control of EtherCAT device.
2. Receive and process EtherCAT data frames: EtherCAT controller can receive and process data frame information from EtherCAT devices, complete data analysis and appropriate processing.
3. Sending EtherCAT data frames: The EtherCAT controller can send data frames to the EtherCAT device to achieve control of the EtherCAT device.
4. Provide error detection and diagnosis: EtherCAT controller can provide error detection and diagnosis function, detect and report EtherCAT device error conditions, so as to ensure the safety and stability of the device.
In general, EtherCAT controller is the core component to realize EtherCAT bus servo control. It realizes the control of equipment and data processing through communication with EtherCAT devices, and is the key part to realize EtherCAT bus control.
Post time: Mar-07-2024
