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http://dx.doi.org/10.22156/CS4SMB.2019.9.8.045

Design of a Closed-Loop Stepping Motor Drive based on Real-Time Ethernet  

Kim, Jin-Ho (Division of Computer Engineering, Kyungnam University)
Ha, Kyung-Jae (Division of Computer Engineering, Kyungnam University)
Publication Information
Journal of Convergence for Information Technology / v.9, no.8, 2019 , pp. 45-52 More about this Journal
Abstract
This paper proposes the design of a closed-loop stepping motor drive for real-time Ethernet (RTE), which can be easily applied to a variety of RTE protocols. The proposed design is divided into a closed-loop step motor drive which can be reused for various types of RTE protocol and RTE module developed for each specific RTE protocol. It is based on a layered architecture so that the motion control algorithm can be easily reused independently of the RTE protocol and motion profile. To verify the proposed design, closed-loop motor drives based on EtherCAT and Mechatrolink III were developed and their performances were evaluated. Cycle time was measured to verify the real-time communication performance of the developed EtherCAT and Mechatrolink III based motor drive. As a result, the EtherCAT was 7.5 times faster than the Mechatrolink III when 32 motor drives were connected.
Keywords
Real-Time Ethernet; Fieldbus; Motor drive; Stepping motor; EtherCAT; Mechatrolink III;
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