EtherCAT 鈥� 鐢ㄤ簬鎺у埗鍜岃嚜鍕�(d貌ng)鍖栨妧琛�(sh霉)鐨勪互澶恫(w菐ng) EtherCAT 鏄互澶恫(w菐ng)鐝�(xi脿n)鍫�(ch菐ng)绺界窔 鈼廍therCAT 鏄洿閬�(d谩)I/O绱�(j铆)鐨勫(sh铆)鏅�(sh铆)浠ュお缍�(w菐ng)銆� 鈼忓啀涔熺劇(w煤)闋堜笅鎺涘瓙绯荤当(t菕ng) 鈼忔矑(m茅i)鏈夌恫(w菐ng)闂�(gu膩n)寤舵檪(sh铆) 鈼忚几鍑鸿几鍑�, 鍌虫劅鍣紝椹�(q奴)鍕�(d貌ng)鍣�锛岄’绀哄柈鍏�: 鎵€鏈夎ō(sh猫)鍌欎綅浜庡悓涓€鍊�(g猫)绺界窔涓娿€� EtherCAT 锛氭洿蹇� 鍌宠几閫熺巼: 2 x 100 Mbaud 锛堝叏闆欏伐锛� 鍒锋柊鏅�(sh铆)闁�: 鈼�256 闁�(k膩i)闂�(gu膩n)閲� I/O 锛�11 µs 鈼�1000 闁�(k膩i)闂�(gu膩n)閲� I/O 鍒嗗竷浜� 100 绡€(ji茅)榛�(di菐n) 锛�30 µs = 0.03 ms 鈼�200 妯℃摤閲� I/O 锛�16 浣嶏級 锛�50 µs, 20 kHz 閲囨ǎ闋荤巼 鈼�100 浼烘湇杌� 锛堟瘡 8 瀛楃瘈(ji茅) IN+OUT锛� 锛� 100 µs = 0.1 ms 鈼�12000 闁�(k膩i)闂�(gu膩n)閲� I/O 锛� 350 µs I/O鍜岄﹨(q奴)鍕�(d貌ng)浣跨敤鐨勪互澶恫(w菐ng)甯跺 浠ュお缍�(w菐ng)骞€: 鈮� 84 瀛楃瘈(ji茅)锛坕ncl. preamble + IPG Inter Packet Gap锛� 甯跺浣跨敤姣旇純: 鈼忔瘡绡€(ji茅)榛�(di菐n)4瀛楃瘈(ji茅)鐢ㄦ埗鏁�(sh霉)鎿�(j霉): 鈼弍olling/time slicing: ca. 2.5% 鈼忓唬鎾�锛坢aster 鈫� slaves锛� ca. 20鈥�30% 鈼忔瘡绡€(ji茅)榛�(di菐n)2鏁�(sh霉)鎿�(j霉)浣嶇殑鐢ㄦ埗鏁�(sh霉)鎿�(j霉): 鈼廍therCAT: 80鈥�97% 瀵�(sh铆)鐢ㄥ師鍓�: 浠ュお缍�(w菐ng) 鈥滈涓€鑸€� 閫氶亷(gu貌)绲曞皪(du矛)灏嬪潃锛屽(sh铆)鐝�(xi脿n)鏈€灏忕殑鍗�(xi茅)璀伴牠 鍎�(y艒u)鍕�(sh矛): 鈼忓皥闁€閲濆皪(du矛)鍒嗗竷寮廔/O鐨勫劒(y艒u)鍖栧牨(b脿o)鏂囩祼(ji茅)妲�(g貌u) 鈼忓畬鍏ㄧ殑纭欢閫氳▕: 鏈€濂界殑鎬ц兘 鈼忚嫢缍�(w菐ng)绲�(lu貌)涓彧鏈塃therCat瑷�(sh猫)鍌欙紝鍓囩劇(w煤)闋堜氦鎻涙(j墨) 鈼忛’钁楃殑瑷烘柗鍔熻兘 鈼忎互澶恫(w菐ng)鍏煎鐨勭董璀�(h霉)鎬ц兘 鈼忓彲浣跨敤妯�(bi膩o)婧�(zh菙n)浜ゆ彌姗�(j墨) 鈼忛€氶亷(gu貌)浜ゆ彌姗�(j墨): 涓€鍊�(g猫)Mac鍦板潃鍙í鍟�(w猫n)澶氶仈(d谩)65535 鍊�(g猫)绡€(ji茅)榛�(di菐n) 鈥滈涓€鑸€濈殑閬�(y霉n)绠�锛岀瘈(ji茅)绱勬檪(sh铆)闁� 鏁�(sh霉)鎿�(j霉)鍦ㄥ牨(b脿o)鏂囧偝閫佹湡闁撳彲浠ヤ慨鏀规垨娣诲姞锛岃€岀劇(w煤)闇€鍫嗘＇銆佺珐瀛樻垨鍒嗚В/绲勫悎銆� 姣忓€�(g猫)绡€(ji茅)榛�(di菐n)鏈€灏忕殑鍫�(b脿o)鏂囧欢鏅�(sh铆)鏈€浣虫€ц兘 EtherCAT 鎬ц兘锛� 鈼�40 杌� 锛堟瘡杌�6瀛楃瘈(ji茅)杓稿叆/ 杓稿嚭鏁�(sh霉)鎿�(j霉)锛� 鈼�50 I/O 绔�锛岀附鍏�560鍊�(g猫) EtherCAT 绺界窔绔瓙 鈼�2000 鏁�(sh霉)瀛楅噺 + 200 妯℃摤閲廔/O, 绺界窔闀�(zh菐ng)搴� 500 m 鈼廍therCAT鎬ц兘 : 寰挵(hu谩n)鏅�(sh铆)闁� 230µs at 33% 绺界窔璨�(f霉)杓�, 鍫�(b脿o)鏂囬暦(zh菐ng)搴� 77µs 鈼忔瘮杓�: 1 鍊�(g猫)CAN 骞€ 锛�8 瀛楃瘈(ji茅)閬�(gu貌)绋嬫暩(sh霉)鎿�(j霉)锛夛紝鍦ㄧ附绶氶€熺巼 500 kBit/s鏅�(sh铆): 250µs "鎱�"鐨勬帶鍒剁郴绲�(t菕ng)鍚屾ǎ鍙楃泭 鐝�(xi脿n)鏈夌従(xi脿n)鍫�(ch菐ng)绺界窔I/O鐨勭郴绲�(t菕ng)绲�(ji茅)妲�(g貌u) 浣跨敤 EtherCAT鐨勫弽鎳�(y墨ng)鏅�(sh铆)闁� 鈼忓弽鎳�(y墨ng)鏅�(sh铆)闁撴槑椤檷浣� 鈥撯€斺€� 鍚屾ǎ鐨勬帶鍒跺櫒鎬ц兘 鈼忓啀涔熸矑(m茅i)鏈変笅鎺涙湰鍦癐/O寰挵(hu谩n)鍜岀附绶氭摯(ku貌)灞曞欢鏅�(sh铆) 鈼忓緱鐩婁簬妤靛叾绨�(ji菐n)鍠殑鍗�(xi茅)璀�锛岀郴绲�(t菕ng)鐒�(w煤)闇€灏堥杸鐨勪富绔� 鐝�(xi脿n)鍫�(ch菐ng)绺界窔: 闇€瑕佸湪鎺у埗绯荤当(t菕ng)涓槧灏� 鈼忓偝绲�(t菕ng)鐨勭従(xi脿n)鍫�(ch菐ng)绺界窔绯荤当(t菕ng)鐢熸垚涓€鍊�(g猫)鐗╃悊鐨勯亷(gu貌)绋嬫槧鍍忓崁(q奴) 鈼忕墿鐞嗙殑閬�(gu貌)绋嬫槧鍍忓崁(q奴)蹇呴爤鏄犲皠鍒伴倧杓亷(gu貌)绋嬫槧鍍忓崁(q奴) 鐩存帴鍏�(n猫i)瀛樿í鍟�(w猫n)绡€(ji茅)绱勬檪(sh铆)闁� 鐝�(xi脿n)鍫�(ch菐ng)绺界窔鍗�: 澶氶仈(d谩) 30% 鐨� CPU 鏅�(sh铆)闁撶敤浜庢暩(sh霉)鎿�(j霉)寰�(f霉)鍒� EtherCAT: NIC 鏄疨CI绺界窔涓荤珯, 鏁�(sh霉)鎿�(j霉)鐢盌MA鎻愪緵, 鐩存帴鏀惧埌 PC 鍏�(n猫i)瀛�: 鈼廋PU 娓涜矤(f霉) 鈼忔洿楂樼殑鎬ц兘 EtherCAT 鍌抽€佸欢鏅�(sh铆)鐨勬脯(c猫)閲� 锛圛锛� 娓�(c猫)閲廍therCAT 绡€(ji茅)榛�(di菐n)鏁�(sh霉)鎿�(j霉)骞€鐧�(f膩)鍑哄拰杩斿洖涔嬮枔鐨勬檪(sh铆)闁撳樊 鍙▓(j矛)绠椾换鎰忕瘈(ji茅)榛�(di菐n)闁撶殑鍌抽€佸欢鏅�(sh铆) EtherCAT 鍒嗗竷鏅�(sh铆)閻� 绮剧⒑鍚屾 锛�<< 1 µs!锛� 锛岄€氶亷(gu貌)鍒嗗竷鏅�(sh铆)閻樼殑绮剧⒑瑾�(di脿o)鏁翠締(l谩i)瀵�(sh铆)鐝�(xi脿n)锛� 浣跨敤SCOPE VIEW闀�(zh菐ng)鏈熻瀵熷叐鍊�(g猫)鐛�(d煤)绔嬭ō(sh猫)鍌欌€斺€�300鍊�(g猫)绡€(ji茅)榛�(di菐n)锛岀瘈(ji茅)榛�(di菐n)闁撻浕绾滈暦(zh菐ng)搴�120绫� EtherCAT 鏄伐妤�(y猫)浠ュお缍�(w菐ng) 鈼忓皪(du矛) TCP/IP瀹屽叏閫忔槑 鈼忓彲浣跨敤鎵€浠ヨ嫳鐗圭恫(w菐ng)鎶€琛�(sh霉): HTTP, FTP, 鈥� 鈼忕劇(w煤)闇€鍤�(y谩n)鏍肩殑瀵�(sh铆)鏅�(sh铆)鑳藉姏 鈼忎换浣曚互澶恫(w菐ng)瑷�(sh猫)鍌欏潎鍙€ｆ帴鍒颁氦鎻涙(j墨)鐨勭鍙� 鈼忎娇鐢ㄦ(bi膩o)婧�(zh菙n)鐎忚鍣ㄨí鍟�(w猫n)Web Server 鈼忚櫅鎿互澶恫(w菐ng)浜ゆ彌姗�(j墨)鍙矾鐢变换浣曚互澶恫(w菐ng)骞€ 鈼忓彲寰炰互澶恫(w菐ng)娈电殑鍏�(n猫i)閮ㄥ強澶栭儴璺敱 EtherCAT 甯冪窔鏇寸偤闈堟椿 闆讳俊铏�(h脿o): 100 baseTX and E-bus E-bus:浣庡宸俊铏�(h脿o) 锛圠VDS锛� 绗﹀悎 ANSI/TIA/EIA-644 鐢� IEEE 802.3ae妯�(bi膩o)婧�(zh菙n) EtherCAT 浠ｆ浛 PCI 淇濊(h霉)浣犵殑鎶曡硣: 鈼忕従(xi脿n)鏈夌附绶氱郴绲�(t菕ng)鐨勭劇(w煤)绺泦鎴� 鈼忛亷(gu貌)绋嬫槧鍍忓崁(q奴)鐨勫埛鏂版檪(sh铆)闁�锛岀稉(j墨ng) PCI 锛�500 瀛楃瘈(ji茅) 杓稿叆/杓稿嚭鏁�(sh霉)鎿�(j霉)锛�: 400 µs 鈼忛亷(gu貌)绋嬫槧鍍忓崁(q奴)鐨勫埛鏂版檪(sh铆)闁擄紝缍�(j墨ng) EtherCAT锛�1500 瀛楃瘈(ji茅) 杓稿叆/杓稿嚭鏁�(sh霉)鎿�(j霉)锛�: 150 µs 鈼忎笉鍐嶅湪鎺у埗绯荤当(t菕ng)锛圛PC鎴朠LC锛変腑瑕佹眰鍗犱竴鍊�(g猫)妲� 鈼忕劧鑰屽嵒鍏峰倷鏈€澶ч檺搴︾殑鎿�(ku貌)灞曟€� EtherCAT 閰嶇疆瀹规槗 鍦板潃: 鈼忕劇(w煤)闇€瑕佹墜鍕�(d貌ng)瑷�(sh猫)缃湴鍧€ 鈼忓湴鍧€鍙互鑷嫊(d貌ng)鍒嗛厤 鈼忓湴鍧€鍙繚鎸� 鈥� 鏂板姞鍏ョ瘈(ji茅)榛�(di菐n)鍚�锛屼笉鏈�(hu矛)鏀硅畩?c猫)顒�?ji茅)榛�(di菐n)鐨勫湴鍧€ 鎷撴櫘绲�(ji茅)妲�(g貌u): 鑷嫊(d貌ng)鎷撴櫘鐩(bi膩o)/瀵�(sh铆)闅涘皪(du矛)姣� 瑷烘柗: 绮剧⒑瀹氫綅瑷烘柗 缍�(w菐ng)绲�(lu貌)瑕�(gu墨)鍔�: 鎬ц兘鐛�(d煤)绔嬩簬: 寰炵珯瀵�(sh铆)渚� 鎷撴櫘绲�(ji茅)妲�(g貌u)锛堢劇(w煤)浜ゆ彌姗�(j墨)/闆嗙窔鍣級 EtherCAT 鎴愭湰鏇翠綆 涓荤珯: 娓涘皯浜嗙‖浠�锛屽付渚�(l谩i)浠ヤ笅濂借檿: 涓绘澘闆嗘垚鐨勪互澶恫(w菐ng)鎺у埗鍣ㄥ(sh铆)鐝�(xi脿n)瀵�(sh铆)鏅�(sh铆)鍔熻兘锛屼笉闇€瑕侀€氳▕鍗�(xi茅)铏曠悊鍣� 娌�(m茅i)鏈夌壒娈婄殑鎻掑叆鍗�,涓绘澘闆嗘垚鐨勪互澶恫(w菐ng)鍙ｅ凡瓒冲 鎵€浠�: 鍦ㄤ富绔欑锛屾湁鏄庨’鐨勬垚鏈劒(y艒u)鍕�(sh矛) 寰炵珯: 鍍�(ji脿)寤夌墿缇庣殑EtherCAT寰炵珯鎺у埗鍣ㄥ(sh铆)鐝�(xi脿n)閫氳▕鍔熻兘 灏�(du矛)浜庣啊(ji菐n)鍠殑瑷�(sh猫)鍌�: 涓嶉渶瑕� µC 瀵�(sh铆)鏅�(sh铆)鐗瑰緛鏅亶鐛�(d煤)绔嬩簬µC 鎬ц兘鍜屽爢妫ц檿鐞嗘檪(sh铆)闁� 鎵€浠�: 鍦ㄥ緸绔欑锛屼篃鏈夋槑椤殑鎴愭湰鍎�(y艒u)鍕�(sh矛) 搴曞堡绲�(ji茅)妲�(g貌u): 妯�(bi膩o)婧�(zh菙n)鐨勪互澶恫(w菐ng)闆荤簻鍜岄€ｆ帴鍣� 娌�(m茅i)鏈変氦鎻涙(j墨)鍜岄泦绶氬櫒 鎵€浠�:鍦ㄥ簳灞ょ祼(ji茅)妲�(g貌u)涓婏紝涔熸湁鏄庨’鐨勬垚鏈劒(y艒u)鍕�(sh矛) 瀵�(sh铆)鐝�(xi脿n)/宸ュ叿: 妯�(bi膩o)婧�(zh菙n)缍�(w菐ng)绲�(lu貌)鐩�(ji膩n)瑕栧伐鍏�: Microsoft or EtherReal 鍓栨瀽杌熶欢: 鍏嶈不(f猫i) 涓嶈姹傞珮鍒嗚鲸鐜囩殑鏅�(sh铆)闁撳垎鏋愬櫒 闁�(k膩i)鐧�(f膩)宸ュ叿: 430 鈧� - 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