실시간 이더넷 기반 스테핑 모터 드라이브 개발
Design of a Closed-Loop Stepping Motor Drive based on Real-Time Ethernet
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초록
본 논문에서는 다양한 실시간 이더넷 프로토콜에 쉽게 적용할 수 있는 폐루프 스테핑 모터 드라이브를 개발하는 방법을 제안한다. 제안 방법은 다양한 유형의 실시간 이더넷 프로토콜에 공용으로 재사용할 수 있는 모터 드라이브 모듈과 각 실시간 이더넷 프로토콜마다 개발되는 통신 인터페이스 모듈로 나누어진다. 또한 계층적 구조를 사용하여 모션 제어 알고리즘을 다양한 실시간 이더넷 프로토콜과 모션 프로파일에 독립적으로 재사용할 수 있도록 하였다. 제안하는 방법을 검증하기 위해 EtherCAT 및 Mechatrolink III를 활용하여 폐루프 모터 드라이브를 개발하였으며, 실시간 이더넷 기반에서 정상적으로 제어되는 것을 확인하였다. 개발한 EtherCAT 및 Mechatrolink III의 실시간 통신 성능을 확인하기 위해 Cycle time을 측정하였으며, 그 결과 32개의 모터 드라이브를 연결한 경우 EtherCAT이 Mechatrolink III 보다 7.5배 정도 더 빠른 것을 확인하였다.
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.
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