Abstract: Aiming at the application problems of realtime industrial Ethernet EtherCAT in servo motion control, the realtime embedded Linux system, the construction of EtherCAT master and the servo motor control mode were studied. The master software solution combining Linux&Xenomai realtime system and IGH EtherCAT master protocol stack was put forward. The embedded EtherCAT master was built based on the AM4377 hardware platform, the application program of the master was developed, the bus configuration flow was expounded, and the periodic realtime task was realized.The servo motion control system based on EtherCAT was designed and the multiaxis servo motion control was realized. Moreover, the master periodic realtime task performance test and machine tool processing experiments were carried out. The results indicate that the embedded realtime EtherCAT master can accurately perform periodic realtime tasks, and has good realtime performance, which can meet the performance requirements of servo motion control system.
Key words: EtherCAT; realtime industrial Ethernet; embedded system; servo motion control