文档介绍：西南科技大学硕士研究生学位论文第I页摘要与众多工业以太网总线相比,工业以太网EtherCAT具有高性能、高可靠性、低成本、配置简单、易于与普通以太网完全兼容的优势。本文基于ARM芯片实现了工业以太网EtherCAT从站控制器的硬件和软件设计。使用TI 公司AM3359芯片内部集成的PRU-ICSS实现从站控制器ESC的设计,并基于TI公司SYS/BIOS实时操作系统,开发了基于ARM的工业以太网EtherCAT从站控制器,设计了从站控制器的驱动软件和应用软件。通过对比分析几种常用实时工业以太网的性能,根据高实时性的工业控制以太网系统的需求,深入研究EtherCAT技术,确立从站控制器的设计方案。硬件方面:根据相关芯片的技术参数,设计从站控制器的硬件电路;详述各个功能模块的电路设计;完成了印制电路板的设计和电路调试。软件方面,基于TI公司SYS/BIOS实时操作系统,使用分层的软件设计方法,完成了EtherCAT从站控制器程序设计,如:从站控制器系统的初始化,PRU-ICSS的初始化,电机驱动程序的设计,应用层CoE对象词典程序的设计。通过搭建EtherCAT测试平台,验证了所设计EtherCAT从站控制器软硬件的正确性,从站控制器通信的可靠性和扩展性。关键词:工业以太网EtherCAT从站PRU-ICSS pared with otherindustrial , the EtherCAT withhigh real-time performance of industrial has been developing rapidly with the advantages of its high real-time reliabe, low cost, simple configuration, patible with , best making use on the ARM chip, the hardware and software of the industrial EtherCAT slave controller are realized, theindustrial EtherCATslave station controller basedon ARM is developed,using TI’sAM3359 on-chip PRU-ICSS to realize the stavecontroller’s driver software and application this paper, by comparing the performance of some real-time industrial generally used, according to the requirements of high real-time industrial control system,the correct design hardware design includedthe slave hardware design and PCB design. by researchingthe EtherCATand TI’s datasheets, the descriptions of each function module and schematic designare discussed; the design of PCB and circuit debug pleted. Based on SYS/BIOSsystem, EtherCATslavecontroller program pleted. By using the layered software design method, the system initialization from the slavecontroller,Such as: the slavecontroller system initialization, PRU-ICSS’sinitialization, the design of the motor driver,the application layer CoE program design object dictionary. By seting upEtherCAT communications test