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Coordinated Distributed Motor Control, any standards?

stomp
Genius 4615 points
Other Parts Discussed in Thread: DP83640

Hi,

We are looking a specifying a project using TI products. We need to have several stepper motors and/or AC servo drives running on a distributed network and with each motor controller operating in a coordinated fashion. I guess picture it as a robot with each joint axis running on a network.

We already use Ethernet / DP83640 / Precision Real Time protocol in one of our applications, but really looking for feedback from motor experts. Is there a standard networking / messaging format what can be used to ensure coordination between motor drives in a distributed application?

Thanks

Stomp!

  • 0
    TI__Mastermind 26065 points

    Hi Stomp,

    This is more system based question. If you are using stepper/servo motor with interpolation on different axis (STEP DIR interface on the driver layer), such as a CNC system, it will need very fast real time control. I'm not sure whether the latency of Ethernet can support it. But It is possible if you are not really need such high real time requirement.

    Best regards,

  • 0 in reply to Wilson Zuo
    Genius 4615 points
    Hi Wilson,
    Thanks for the reply.
    I have not found any standards about this type of approach. We have IEEE1588 which can give us +/-8ns timing across ethernet, but I was hoping for some type of standard.
    Thanks anyhow.
  • 0 in reply to stomp
    TI__Mastermind 26065 points
    Hi Stomp

    Sorry we not familiar with ethernet interface. For CNC motor driving high level controller, we can usually see DSP/MCU + CPLD/FPGA as the interpolation processor, and then outputs all the STEP/DIR and other control signals to all the axis.

    I think ethernet used in CNC can be the data exchanger at even higher level between multi distributed CNC systems. But not for the motor control level.

    You can also find support from ethernet forum e2e.ti.com/.../ethernet

    Best regards,
  • 0
    TI__Guru** 118000 points
    some robotics customers have their own motion comms package over SPI or EtherNET. Then there are MANY other standards: ProfiNET IRT, Ethernet/IP, EtherCAT, and SERCOS are the most common, especially in co-ordinated motion systems. These will be supported through high level PLC software like Codesys.