Design and Implementation of Ethercat Master Based On ZYNQ

Abstract

Abstract In order to realize the functional requirements of EtherCAT protocol and EtherCAT master station in the field of industrial automation, and to solve the problem that the real-time performance and stability of the current embedded master station controller is not high enough, a hardware scheme for implementing the function of EtherCAT master station is proposed based on the architecture of embedded Zynq-soc (ARM+FPGA). The scheme is herein proposed for implementing Ethernet card equipment of EtherCAT master based on FPGA to improve the stability and response speed of the link layer. Real-time system software implementation scheme based on Linux has been improved. Xenomai is adopted to improve the real-time performance of the system and the accuracy of control cycle. Finally, an embedded real-time EtherCAT master station is constructed, and the EtherCAT slaves are the testing platform of two sets of panasonic AC SERVO Driver MADHT series. The experimental results show that the master controller meets the compatibility of EtherCAT standard protocol, with high real-time performance and stability.