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The paper firstly discusses the EtherCAT real-time Ethernet technology in detail, including operating principle, communication protocol and superior performance of EtherCAT Ethernet , synchronization, high-speed and so on. To show how to build up a master system based on configuration software TwinCAT and how to design a slave system considering the features of application, the methods of developing systems based on EtherCAT technology are proposed. Finally, a plate loading and unloading system based on EtherCAT technology is designed to obtain a faster response speed and higher synchronization accuracy. The system has realized high-speed remote data transmission and high-precision velocity control for Multi-axis which the traditional fieldbus can’t achieve.

In this paper, we describe the control strategy of high speed parallel robot system with EtherCAT network. This work deals the parallel robot system with centralized control on the real-time operating system such as window RTX, intime etc. Most control scheme and algorithm is implemented master platform on the PC, the input and output interface is ported on the slave side. The data is transferred by maximum 20 us-second with 1000 bytes. EtherCAT is very high speed and stable industrial network. The control strategy with EtherCAT is very useful and robust on Ethernet network environment. In this study, we propose the centralized parallel robot control mechanism approach. The experiment and simulation result using selected approach is omitted.

In order to solve the problem of real-time communication for multi-axis in networked motion control systems(NMCSs), a field-programmable gate array (FPGA) based real-time solution is proposed. In the proposed solution, a hardware data processing strategy is designed and the data link layer of real-time communication is implemented on FPGA. Moreover, in order to decrease the forwarding delay, the forwarding of real-time communication data is shifted down to data link layer from application layer. Theoretical analysis and experimental results show that the FPGA-based real-time solution reduces jitter and delay of communication. After 20000 tests, each nodes delay is 1.180 μs in average, which achieves the same real-time performance as EtherCAT.

In this paper, we present an approach to secure fieldbus communication of automation systems used in security-critical applications. We propose a protocol that applies a scheme combining a stream cipher and a Message Authentication Code (MAC) to ensure integrity, confidentiality, authenticity, and freshness of transmitted telegrams over a fieldbus while maintaining real-time constraints. The security discussion shows that the protocol is secure against an adversary attacking the fieldbus communication. A first proof-of-concept implementation for the EtherCAT fieldbus protocol is implemented to perform some initial runtime analyses.

Firstly, analyzing several interfaces of the current CNC machine tools, then proposing connecting them with Industrial Ethernet and a kind of topologic structure based on Industrial Ethernet.Concretely illuminating the frame structure of digital interface and communication mode of EtherCAT,and analyzing and evaluating the functions and characteristics of the Industrial Ethernet.Finally, a method for designing based on hardware and software of standard CNC platform for Industrial Ethernet.The cnc system proved to be advanced in the aspect of real-time property,reliability and synchronism.

This paper proposes a high-power controllable current quality disturbance generator, which is composed of multiplex cascade H bridge modules, and simulates current quality problems, such as positive and negative current distrubance, current fluctuation, harmonic current and so on. The device adopts a topology with decoupling fundamental and harmonic current. A power module parallel-connected on the fundamental connection reactance outputs harmonic current, while cascade fundamental power modules generate fundamental and low order harmonic current, which realizes decoupling control of fundamental and harmonic current. This paper proposes the control strategies of all types of current disturbances, and the EtherCat-based controller. Finally, a 10kV/1MVA controllable current quality disturbance generator has been created. The experiment result proves that the proposed main circuit topology, control strategy and EtherCat-based controller are feasible and efficient. The emergence of this device creates a fundamental platform for measurement, analysis, evaluation and control of current quality in grid.