Real-time Communication Module Design of LinuxCNC Based on SOEM Master Protocol

摘要

Multi-axis systems have a wide range of applications in engineering and technology. It can be used in CNC machine tools, multi-axis industrial robots and other fields. Real-time communication modules play an important role in multi-axis systems. It is the communication bridge between software and hardware. This paper introduces the design of a new LinuxCNC real-time communication module which based on EtherCAT SOEM master protocol library. Compared with traditional solutions, this solution has low code volume, good open source and active community support. The design scheme of the communication module is given. Verification experiments for IO slave stations and servo motor slave stations are designed for this module. The experimental results show that the calling time of the communication module is 1ms, which is strictly consistent with the host computer. The measured motor position error in each communication cycle is only ±2.5%, which shows that the module has accurate control time and high control precision, and can be applied to the research of multi-axis systems.