Design of a Closed-Loop Stepping Motor Drive based on Real-Time Ethernet

실시간 이더넷 기반 스테핑 모터 드라이브 개발

  • Kim, Jin-Ho (Division of Computer Engineering, Kyungnam University) ;
  • Ha, Kyung-Jae (Division of Computer Engineering, Kyungnam University)
  • 김진호 (경남대학교 컴퓨터공학부) ;
  • 하경재 (경남대학교 컴퓨터공학부)
  • Received : 2019.07.19
  • Accepted : 2019.08.20
  • Published : 2019.08.28


This paper proposes the design of a closed-loop stepping motor drive for real-time Ethernet (RTE), which can be easily applied to a variety of RTE protocols. The proposed design is divided into a closed-loop step motor drive which can be reused for various types of RTE protocol and RTE module developed for each specific RTE protocol. It is based on a layered architecture so that the motion control algorithm can be easily reused independently of the RTE protocol and motion profile. To verify the proposed design, closed-loop motor drives based on EtherCAT and Mechatrolink III were developed and their performances were evaluated. Cycle time was measured to verify the real-time communication performance of the developed EtherCAT and Mechatrolink III based motor drive. As a result, the EtherCAT was 7.5 times faster than the Mechatrolink III when 32 motor drives were connected.

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Fig. 1. Architecture of the proposed closed-loop stepping motor drive

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Fig. 2. Block diagram of the proposed closed-loop stepping motor drive

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Fig. 3. Block diagram of interface between motor drive and RTE module.

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Fig. 4. Developed closed-loop stepping motor drive

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Fig. 5. Experiment environment for the developed motor drive.

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Fig. 6. Experiment environment to measure cycle time

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Fig. 7. Measured signals for EtherCAT and Mechatrolink III

Table 1. Proposed common motion interface

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Table 2. Proposed common parameters

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