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研究生： 張立慶
Li-Ching Chang
論文名稱： EtherCAT工業區域網路伺服器的嵌入式系統設計與實作
Embedded System Design and Realization of EtherCAT Master for Industrial Local Area Networks
指導教授： 陳慶瀚
Ching-Han Chen
口試委員:
學位類別： 碩士
Master
系所名稱： 資訊電機學院 - 資訊工程學系在職專班
Executive Master of Computer Science & Information Engineering
論文出版年： 2014
畢業學年度： 102
語文別： 中文
論文頁數： 60
中文關鍵詞： 工業區域網路
外文關鍵詞： EtherCAT
相關次數： 點閱：14  下載：0 
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    • 自動化控制系統的控制精度與即時性要求日益提高，傳統的匯流排或乙太網路已經無法滿足需求。EtherCAT具有低成本、通訊效率高、應用廣泛與速度快等優點，是工業自動化控制網路發展的必然趨勢。

    本文首先討論了工業乙太網路的發展，並介紹了發展過程中的傳統匯流排與乙太網路，然後分析了EtherCAT技術與工作原理，依照EtherCAT的既定架構與MIAT方法論，經過系統分析、IDEF0與Grafcet後，設計出EtherCAT主站軟體的主要架構，並參考CoDeSys軟體的運作流程，用C語言開發EtherCAT主站，所開發出的軟體在ARM開發版上的Linaro Ubuntu作業系統下執行與從站做連結溝通，並傳送指令封包驅動從站的輸出埠來驗證EtherCAT主站功能。

    本研究實現了EtherCAT主站的嵌入式系統，期望以更低的系統建置成本、更少的消耗功率和縮小設備體積，達成即時、準確與抗干擾的工業自動化系統通訊和控制應用。

    The control accuracy and real-time requirements of automatic control system is increasing day by day, the traditional interface bus and Ethernet has been unable to meet the demand. EtherCAT has the advantages of low cost, high efficiency, wide application and communication fast, is the inevitable trend of the development of industrial automation and control network.

    First, we discussesthe development of embeddedindustrial ethernet, and introduces the development of traditional bus and ethernet, then analyzes the EtherCAT works and technology, design the EtherCAT master embedded software, by combining MIAT Methodology, system analysis, IDEF0 and Grafcet, and refer to CoDeSys software the operational process, using C language development EtherCAT master, finally implementation developed software on ARM and transmits the instruction packet driver the EtherCAT slave I/O ports to verify the EtherCAT master embedded software function.

    This research implement embedded system on EtherCAT master, expect to cost reduced, lower power consumption and reduce equipment size to implement real-time, accuracy and noiseless industry automatic system that can be used in communication and control system.

    摘要 I Abstract II 致謝 III 目錄 IV 圖目錄 VII 表目錄 IX 第一章、緒論 1 1.1 研究動機與目標 1 1.2 論文架構 3 第二章、文獻回顧 4 2.1 工業乙太網路的發展歷史 4 2.2 工業乙太網路的發展現況 4 2.2.1 確定性與即時性的通訊 5 2.2.2 穩定性與可靠性 5 2.2.3 安全性 5 2.3 EtherCAT工業乙太網路技術 6 2.3.1 傳統現場匯流排及乙太網路的即時能力 7 2.3.2 EtherCAT的即時能力 8 2.4 EtherCAT工作原理 9 2.5 工業乙太網路的未來 10 第三章、EtherCAT主站應用MIAT設計 11 3.1 嵌入式系統設計方法論 11 3.1.1 IDEF0 12 3.1.2 Grafcet 13 3.1.3 GRAFCET軟體及硬體合成 14 3.2 EtherCat主站系統架構設計 15 3.2.1 EtherCat主站輸出模組架構設計 15 3.2.2 EtherCat主站輸入模組架構設計 18 3.2.3 EtherCat主站行程資料通訊模組架構設計 19 3.2.4 EtherCat主站郵箱模組架構設計 20 3.3 EtherCat主站Grafcet離散事件建模 24 3.3.1 EtherCat主站輸出模組Grafcet 24 3.3.2 EtherCat主站輸入模組Grafcet 25 第四章、EtherCAT主站實驗 27 4.1 實驗平台 27 4.2 實驗結果 30 第五章、結論與未來研究方向 31 5.1 結論 31 5.2 未來工作 32 參考文獻 33 附錄 36 狀態機(State Machine)模組Grafcet 36 狀態機(State Machine)模組Init到Pre-Op中間狀態Grafcet 37 狀態機(State Machine)模組Pre-Op到Safe-Op中間狀態Grafcet 38 狀態機(State Machine)模組Safe-Op到Op中間狀態Grafcet 39 處理資料(Process Data)模組Grafcet 40 郵箱(Mailbox)模組Grafcet 41 EoE模組Grafcet 42 CoE模組Grafcet 43 FoE模組Grafcet 44 SoE模組Grafcet 45 分佈式時鐘(Distributed Clocks)模組Grafcet 46 分佈式時鐘(Distributed Clocks)模組取得傳輸延遲Grafcet 47

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