Motion requires the controller to frequently update the drive with new trajectory setpoints. The bus involved in the motion controlMotion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics and CNC machine tools; however, it is more complex than in the use of specialized machines, where the kinematics is usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile and assembly industries requires to be able to handle rigid jitter and timing demands including high data throughput and low latency.
EthernetEthernet is a large, diverse family of frame-based computer networking technologies that operate at many speeds for local area networks (LANs) is certainly the most popular communications bus today because it is used in most computer networks. Motion controlMotion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics and CNC machine tools; however, it is more complex than in the use of specialized machines, where the kinematics is usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile and assembly industries devices using Ethernet allow high-speed connections to computers without requiring special hardware. This reduces the cost and time required to make high-speed connections.
The EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs technology overcomes the system limitations of other Ethernet solutions. The Ethernet packet is no longer received, then interpreted and copied as process data at every connection. Instead, the Ethernet frame is processed on the fly. Each slave node reads the data addressed to it, while the telegram is forwarded to the next device. Similarly, input data is inserted while the telegram passes through. The telegrams are only delayed by a few nanoseconds.
A motion bus driver is a software component responsible for managing the communication link between the PAC"Programmable Automation Controller" PAC is a compact controller that combines the features and capabilities of a PC-based control system with that of a typical programmable logic controller (PLC). A PAC thus provides not only the reliability of a PLC, but also the task flexibility and computing power of a PC. Additionally, because they function and communicate over popular network interface protocols, PACs are able to transfer data from the machines they control to other machines and components in a networked control system, if any is present (see Different Implementations), and the drives. On most systems this communication link is implemented via a physical wire coupled to a communication protocol.
Plugged to a computer motherboard, this card allows attaching peripheral devices via a specific bus (for example, if your PAC does not have built-in connection for Profibus fieldbus, you can insert a specific PCI"Peripheral Component Interconnect" The PCI specifies a computer bus for attaching peripheral devices to a computer motherboard card )
Figure 2-14: PCl Interface Card
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