Identification Method of Servo System Errors and Interpolation Algorithm Errors for EtherCAT Bus
Currently,the EtherCAT bus is commonly used in industrial motion control for communication between master and slave stations,and a large amount of motion data information is transmitted on the EtherCAT bus.Based on this,a servo system error and inter-polation algorithm error identification method for EtherCAT bus was proposed.The data on the EtherCAT bus during the motion process were captured through ET2000 and WireShark,valid data were filtered to generate.pcapng file,this file and the ENI.xml file of the mo-tion control system were analyzed to obtain target position and actual position information,and finally error analysis were conducted on the obtained position information.Corresponding motion trajectories were designed for various types errors.Multiple sets of motion control experiments were conducted on the machine tool for single axis point motion,two axis interpolation motion,and two axis prospective in-terpolation motion.Errors such as servo response lag,servo dynamic performance mismatch,tracking error,positional jitter,and interpola-tion algorithm error were identified,obtaining the motion control accuracy of single axis and the ability of multi axis motion to cooperate with each other.
servo system errorEtherCAT businterpolation algorithm error
万方数据
维普
