分布式EtherCAT转CAN高速控制模块

doi:10.16180/j.cnki.issn1007-7820.2025.08.007

摘要/Abstract

摘要：

针对人形机器人领域中传统转换模块系统资源占用率高、控制频率慢以及控制电机数量少的问题,文中提出了一种将EtherCAT(Ethernet Control Automation Technology)协议转换为CAN(Controller Area Network)总线协议的设计方案。采用EtherCAT工业实时以太网作为现场网络,构建ARM(Advanced RISC Machines)处理器结合AX58100芯片作为EtherCAT从站硬件平台。针对模块中实时周期的控制任务,设计了基于SOEM(Simple Open EtherCAT Master)的主站。分析和研究了不同主站平台对转换模块的通信延时影响,主站向AX58100发出数据报文,经AX58100传输至STM32F405,通过内部逻辑判断并进行转换输出,从而实现设备控制。实验结果验证了EtherCAT转CAN模块的可行性和有效性,传输速率可以达到3 328 000 bit·s^-1,实时抖动时间达到微秒级,系统资源占用率减小到9.6%左右,连接设备数量与单协议无异,满足现有项目的实际需求。

关键词: EtherCAT总线, CAN总线, 协议转换, 分布式控制模块, 多电机控制, 从站控制器, 嵌入式, 工业以太网

Abstract:

In view of the problems of high resource utilization, slow control frequency and small number of simultaneous control motors of the traditional conversion module system in the field of humanoid robots, a design scheme based on the conversion of EtherCAT(Ethernet Control Automation Technology) protocol to CAN(Controller Area Network) bus protocol is proposed in this study. The EtherCAT industrial real-time Ethernet is used as the field network, and the ARM(Advanced RISC Machines) processor combined with the AX58100 chip is constructed as the EtherCAT slave hardware platform. In view of the control tasks of real-time cycle in the module, the master station based on SOEM (Simple Open EtherCAT Master) is designed. The impact of different master platforms on the communication delay of the conversion module is analyzed and studied. The master sends data messages to AX58100, which are transmitted to STM32F405 via AX58100, and the device control is realized by internal logic judgment and conversion output. The experimental results verify the feasibility and effectiveness of the EtherCAT to CAN module, the transmission rate can reach 3 328 000 bit·s^-1, the real-time jitter time reaches the microsecond level, the system resource utilization reduced to about 9.6%, and the number of connected devices is no different from that of the single protocol, which meets the actual demand of the existing project.

Key words: EtherCAT bus, CAN bus, protocol conversion, distributed control module, multi-motor control, slave controllers, embedded, industrial Ethernet

中图分类号:

TP17

洪宇琪, 李清都, 牟海明, 刘常义. 分布式EtherCAT转CAN高速控制模块[J]. 电子科技, 2025, 38(8): 49-56.

HONG Yuqi, LI Qingdu, MOU Haiming, LIU Changyi. Research on Distributed EtherCAT to CAN High Speed Control Module[J]. Electronic Science and Technology, 2025, 38(8): 49-56.

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参数	P08/D	P11/D
电机类型	无刷力矩电机	无刷力矩电机
直径	40 mm	52 mm
长度	54/48 mm	64/61 mm
重量	180/200 g	388/428 g
减速比	36∶1	36∶1
工作电压	24 V	24 V
最大功率	36 W	120 W
额定扭矩	1.0 nm	6.6 nm
额定转速额定扭矩转矩系数反向背隙	80 rpm 1.0 nm 1.1 nm·A^-1 12 arcmin	80 rpm 6.6 nm 2.2 nm·A^-1 12 arcmin
反向背隙	12 arcmin	12 arcmin

API	说明
ec_init	初始设置EtherCAT接口
ec_config_init	完成时,所有从站进入PRE_OP状态
ec_config_map	所有PDO映射到IOmap
ec_configdc	配置DC从站测量传输延迟
ec_statecheck	检查从站的从属状态
ec_send_processdata	发送PDO过程数据给从站
ec_receive_processdata	接收各从站的PDO过程数据
ec_writestate	将预设的状态写入从站中

参数	USB转CAN	Ethercat转CAN
最小运行周期	8 ms	<1 ms
最大挂载电机数量	6	8
CPU资源占用率	30%	10%