Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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Implementation and Validation of EtherCAT Support in Integrated Development Environment for Synchronized Motion Control Application

동기 모션 제어 응용을 위한 통합개발환경의 EtherCAT 지원 기능 구현 및 검증

  • Lee, Jongbo (Dept. of Mechanical and Information Engineering, University of Seoul) ;
  • Kim, Chaerin (Dept. of Mechanical and Information Engineering, University of Seoul) ;
  • Kim, Ikhwan (Dept. of Mechanical and Information Engineering, University of Seoul) ;
  • Kim, Youngdong (Dept. of Mechanical and Information Engineering, University of Seoul) ;
  • Kim, Taehyoun (Dept. of Mechanical and Information Engineering, University of Seoul)
  • 이종보 (서울시립대학교 기계정보공학과) ;
  • 김채린 (서울시립대학교 기계정보공학과) ;
  • 김익환 (서울시립대학교 기계정보공학과) ;
  • 김영동 (서울시립대학교 기계정보공학과) ;
  • 김태현 (서울시립대학교 기계정보공학과)
  • Received : 2013.09.03
  • Accepted : 2013.11.12
  • Published : 2014.02.01
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Abstract

Recently, software-based programmable logic controller (PLC) systems, which are implemented in standard PLC languages on general hardware, are gaining popularity because they overcome the limitations of classical hardware PLC systems. Another noticeable trend is that the use of integrated development environment (IDE) is becoming important. IDEs can help developers to easily manage the growing complexity of modern control systems. Furthermore, industrial Ethernet, e.g. EtherCAT, is becoming widely accepted as a replacement for conventional fieldbuses in the distributed control domain because it offers favorable features such as short transmission delay, high bandwidth, and low cost. In this paper, we implemented the extension of open source IDE, called Beremiz, for developing EtherCAT-based real-time, synchronized motion control applications. We validated the EtherCAT system management features and the real-time responsiveness of the control function by using commercial EtherCAT drives and evaluation boards.

기존의 전용 하드웨어 기반 PLC 구현 방식의 한계를 극복하는 방안으로 최근에 범용 하드웨어 상에서 표준화된 PLC 언어를 이용해 모션 제어 응용을 구현하는 소프트웨어 기반 PLC 시스템이 각광받고 있다. 또한 모션 제어 응용의 다양한 산업 분야 활용에 따라 증대된 시스템 복잡도에 대응하면서도 응용을 손쉽게 개발할 수 있는 통합개발환경의 필요성도 날로 커지고 있다. 한편 기존의 저속 필드 버스를 대신하는 분산 제어 네트워크 기술로 저비용으로 대용량, 고속 통신 지원이 가능한 산업용 Ethernet 기술이 주목받고 있다. 본 논문에서는 오픈 소스 소프트웨어 형태의 PLC 통합개발환경인 Beremiz를 확장하여 주요 산업용 Ethernet 기술 중 하나인 EtherCAT 기반의 실시간 다축 동기 모션 제어 응용 개발 및 관리 기능을 설계, 구현하였다. 또한 상용 EtherCAT 모터 드라이브와 평가 보드와의 연동을 통하여 EtherCAT 시스템 관리 기능의 동작과 다축 제어의 실시간성 보장 여부를 검증하였다.

Keywords

References

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Cited by

  1. Evaluation of EtherCAT Clock Synchronization in Distributed Control Systems vol.38, pp.7, 2014, https://doi.org/10.3795/KSME-A.2014.38.7.785