implementing fr networked motion control system withimplementing fo.docxVIP

Implementing for Networked Motion Control System withLarge-Capacity Data AcquisitionLei Wanga, Mu Guolib, Jing Wangba*aSchool of Electronic Information Engineering, Dalian University of Technology, Dalian, 116024,ChinabState Key Laboratory of Coastal and Offshore Engineering, Dalian University of Technology, 116024,Dalian ChinaAbstractAs one of the most popular real-time Industry Ethernet protocols, EherCAT has become widely used in distributednetworked motion control systems. By the help of the unique features, the EtherCAT protocol is adopted to constructa networked servo motion control system with low delivery delay and high accurate clock synchronization in thepaper. This system can achieve not only high-speed synchronous transmission of motion control commands andfeedback information but also high-efficiency large-capacity data acquisition with low delay and jitter. A set ofexperiments, which evaluate the crucial performance for the implemented networked motion control system includingmessages access delay and jitter, are performed. Through analyzing the experimental results, the system performanceis verified.? 2011 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of [CEIS 2011]Keywords: EtherCAT; motion control; data acquisition; clock synchronization1. IntroductionDistributed servo motion control systems can be finding applications in a broad range of area such asprinting machines, robotics, surface mounting machines, assembly lines, and CNC machine tools, etc. Tocope with the desire to reduce wiring, lower cost, and increase reliability, various Industry Ethernet* Corresponding author. Tel.: +86-4118207; fax: +86-411E-mail address: wang_leiqjy@163.com.1877-7058 ? 2011 Published by Elsevier Ltd.doi:10.1016/eng.2011.08.007LLeeiiWWaanngge,ettaal.l // PPrroocceeddiiaaEEnnggiinneeeerriinngg0105 () 02080 –– 03020 29protocols have been introduced into those control systems to construct the networked motion