Real Time Development Interface Embedded in a Compact Motion Controller

Abstract

This paper presents a real-time development interface for motor control, embedded in a single board (MCB). The MCB’s CPU is an ARM CortexA8 supporting EtherCAT implementation. This CPU computes the control algorithm that can be implemented with Matlab/Simulink toolchain. The host PC that runs Matlab environment is able to connect to the running code via EtherCAT bus by use of Ethernet over EtherCAT (EoE) directly. Via external mode the developer is able to monitor all Simulink signals of the deployed model on hardware board during runtime. Manipulation of constant block values is also feasible to e.g. investigate on different controller parameters online. The actual prototype board is fully functional and will now be miniaturized to fit into a modular drive unit. With this unit complex multi-axis systems can be installed, monitored and investigated by simply attaching EtherCAT communication bus and single power supply voltage. Thanks to Simulink development environment the controller code development is very efficient. Since the hardware is reduced to mass electronics components the cost is acceptable.