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描述了由PWM定时组成的伺服控制器时钟结构,分析了伺服控制器间时钟不同步的两类原因:时钟偏移和时钟漂移。针对时钟偏移和时钟漂移的特点,提出了多种通过检测Ether CAT从站SYNC0信号边沿来触发伺服控制器间PWM定时同步的时钟同步方案。在PWM定时同步的基础上,通过SYNC0信号边沿标定伺服控制器的控制输出时刻和反馈采样时刻,从而实现伺服控制器间的多轴同步。最后实验证明该设计方案能有效地保证基于F28M35伺服控制器间的多轴同步。
Describes the servo controller clock structure composed of PWM timing, and analyzes two reasons why the clocks of the servo controllers are out of synchronization: clock offset and clock drift. Aiming at the characteristics of clock skew and clock drift, a variety of clock synchronization schemes for triggering the PWM timing synchronization between servo controllers by detecting the signal edge of SYNC0 signal of Ether CAT slave are proposed. On the basis of PWM timing synchronization, the control output timing and feedback sampling timing of the servo controller are calibrated by the SYNC0 signal edge to realize multi-axis synchronization among the servo controllers. The final experiment proves that this design scheme can effectively guarantee the multi-axis synchronization based on the F28M35 servo controller.