TELKOM
NIKA
, Vol. 11, No. 9, September 20
13, pp.
5218
~52
2
3
ISSN: 2302-4
046
5218
Re
cei
v
ed
Jan
uary 16, 201
3
;
Revi
sed
Ju
n
e
7, 2013; Accepte
d
Ju
ne
20, 2013
Large-scale Net
w
orked Multi-axis Control Solution
using EtherCAT and Soft Logic
Zhiy
u
an Cheng*
1
, Qing Ma
2
, Minqi Ya
n
1
, Yu Zhang
1
1
Xi’
an i
n
stitute of optics an
d p
r
ec
isio
n mech
a
n
ics of Chi
nes
e Academ
y
of
Scienc
es, Xi
’a
n, 7101
19, Ch
i
n
a
2
Xi'
an U
n
iv
ersit
y
of Architectur
e
and T
e
chno
l
o
g
y
, Xi’a
n, Chi
n
a
*Corres
p
o
ndi
n
g
author, e-ma
i
l
: cz
y
@
o
p
t.ac.cn
A
b
st
r
a
ct
Aiming
at th
e d
e
ficie
n
cies
of t
he tra
d
itio
nal
mu
lt
i-axis
contr
o
l so
luti
on s
u
c
h
as c
o
mpl
e
x n
e
tw
orked
structure, poor
clustered-c
o
n
t
rol f
eature a
n
d
unsatisf
a
ctor
y engi
ne
erin
g
practica
bil
i
ty, the pa
per firstl
y
opti
m
i
z
e
d
th
e
existi
ng s
o
lu
tion
in
netw
o
rked fi
eld
bus
,
control
l
er
mod
e
l, e
ngi
ne
erin
g rel
i
a
b
il
ity a
n
d
ma
inta
ina
b
il
ity. T
hen
it pro
p
o
s
ed a
nov
el s
o
lutio
n
co
mbin
e
d
hi
gh s
p
e
ed r
eal-ti
m
e
Ether
CAT
(Ethernet
for
control
Auto
mation
T
e
chn
o
l
o
gy) fiel
db
us w
i
t
h soft lo
gi
c c
ontrol
l
er. T
h
e
new
sol
u
tion
took
adva
n
tag
e
of
extraord
i
nary
r
eal-ti
m
e perfor
m
a
n
ce of
EtherCAT
an
d
made
go
od us
e
of pow
erful
clustere
d-contr
o
l
architectur
e
of
soft log
i
c co
ntroller.
T
hus th
e
new
sol
u
tio
n
is
conc
ise
an
d ef
fective to s
o
lv
e
the
Larg
e
-sca
l
e
netw
o
rked c
o
n
t
rollin
g pr
ob
le
m
of 11
00
dis
t
ributed
mo
tor
s
. Co
mpar
ed
w
i
th the traditi
ona
l sch
e
m
es,
th
e
eng
ine
e
ri
ng pr
actice sh
ow
s that the n
o
vel
soluti
on
h
a
s th
e adv
antag
e o
f
perfect real-ti
m
e
perfor
m
a
n
c
e,
pow
erful cl
ustered-c
ontrol c
apa
bil
i
ty, flexi
b
le a
nd v
a
ria
b
le n
e
tw
orked
structure, excelle
nt en
gin
e
erin
g
practica
bil
i
ty. T
he n
o
vel
sol
u
tion
is
w
o
rth
usin
g for
ref
e
renc
e
i
n
so
lv
e si
mi
lar
larg
e
-
scale
netw
o
rk
ed
control
lin
g pro
b
le
ms.
Ke
y
w
ords
:
lar
ge-sca
le distri
b
u
ted
motors, EtherCA
T
,
soft logic contro
l, mot
i
on co
ntrol
Copy
right
©
2013 Un
ive
r
sita
s Ah
mad
Dah
l
an
. All rig
h
t
s r
ese
rved
.
1. Introduc
tion
The di
strib
u
te
d multi-axi
s
motion
contro
l te
chn
o
logy has bee
n wid
e
ly
applie
d
in
variou
s
indu
strial fiel
ds, e.g, asse
mbly lines, CNC ma
chi
ne
tools, etc. Wit
h
the
widely
appli
c
ation of
th
e
techn
o
logy, it is becoming
more a
nd mo
re critical
. In rece
nt years
with the co
ntinuou
s expan
sion
of indust
r
ial a
u
tomation
scale, the num
ber of c
ontrol
l
ed motor i
s
increa
sing m
o
re and m
o
re. At
the same tim
e
, the accu
ra
cy and sp
eed
demand of system is also
becomi
ng hi
gher a
nd hig
her.
So the traditional poi
nt-to-point motion
control
sol
u
tion ca
n hardly meet the ne
w nee
d [1-4].
Firstly, the
tradition
al
multi-axi
s
control
syst
em is ofte
n compo
s
e
d
of PLC
(Prog
r
am
mab
l
e Lo
gic Cont
rolle
r)
or Indu
strial P
C
. An
d ea
ch
PC
or PLC exch
an
ges informati
on
by a va
riety o
f
fieldbu
s. Th
ese
fieldb
us i
n
clu
de P
R
OF
INET, INTE
RBUS, PROFI
B
US SERCO
S,
POWERLINK
,
and so on.
Ho
wever, t
he vast
m
a
j
o
rity of abov
e fieldbu
s
cannot me
et
th
e
accurate
clo
c
k syn
c
h
r
oni
zation
re
qui
rements for e
x
traordi
nary
high-sp
eed
motion
cont
rol
in
whi
c
h several
axes ca
rry o
u
t coordinate
d
movement
s simultane
ou
sly [5].
Secon
d
ly, the unchan
gea
ble ha
rdware
archit
ectu
re
of PLC and
PC hardly meet the
need
of flexib
le and
varia
b
l
e
large-scale
distri
buted motor cont
rol
system
s. Fo
r exampl
e, o
n
ce
the numb
e
r
o
f
controlled m
o
tor
cha
nge
s, the ha
rd
ware and
software of the
whol
e syste
m
mu
st
be adj
uste
d
again,
whi
c
h
is very in
co
nvenient in
e
ngine
erin
g a
pplication. From the te
chn
i
cal
point of
view,
these traditio
nal
solutio
n
s i
nevit
ably hav
e some
defe
c
ts: si
ngle
inte
rface,
comple
x
wirin
g
, poor
maintaina
b
ility. They are only suitable
fo
r cont
rol of a few moto
rs, n
o
t for large
-
scale
netwo
rked co
ntrol [6-7].
The aim of the pape
r is p
r
oviding a co
n
t
rol so
lutio
n
o
f
large–
scale
netwo
rked di
stribute
d
motors. In a
spe
c
ific
project the
r
e a
r
e
1100
moto
rs in total a
n
d
ea
ch m
o
to
r carrie
s spe
c
ial
optical device used to adjust optical path. We
will
centrally control
1100 stepper motors and
sep
a
rately
a
c
curate m
o
tion
co
ntrol
of
ea
ch
motor.
Unfortunately
at
pre
s
ent
no
so
lution p
e
rfe
c
tly
meets the ne
ed of the proj
ect [8-1
0].
Aiming at th
e defici
e
n
c
ie
s of tra
d
ition
a
l
schem
es,
the pap
er o
p
t
imizes
mo
st of the
existing solu
tions an
d propo
se
s a n
o
vel solu
tio
n
which com
b
ine
s
high
-speed real
-time
EtherCAT fiel
dbu
s an
d soft
ware logi
c
clu
s
tere
d-
co
ntrol
techn
o
logy.
The extrem
el
y high speed
of
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Larg
e
-scale
Networked M
u
lti-axi
s
Control So
lution using EtherCAT
and Soft… (Zhiyu
an Che
ng)
5219
the EtherCAT make re
al-time Ether
net
possibl
e, which
co
uld n
o
t be re
alize
d
with tra
d
itional
fieldbu
s.
2. Optimized
Design of EtherCAT
Re
cently, wit
h
the
stand
ardizatio
n
of th
e re
al-time
Ethernet fo
r in
dustri
a
l a
ppli
c
ation
s
,
Ethernet-ba
s
ed
motion control syst
e
m
s are gaini
ng increa
sin
g
intere
st in
netwo
rke
d
control
system. In the following, we will discuss the fiel
dbus architecture design
of the novel solution.
2.1. Featur
e Analy
s
is of Fieldbus
Profibus
: As a low-co
st co
mmuni
cation
fieldbu
s,
PROFIBUS is wi
dely applied i
n
factory
automation
monitori
ng an
d
cont
rol of
the
d
e
vice
lay
e
r. It's tran
sm
issi
on
sp
eed
can
be
sele
cted
in the rang
e of 9.6k baud
~ 12M ba
ud.
Due to it
's b
u
s cy
cle cost
ing about 10
ms, which isn’t
qualified
for
the hig
h
-spe
ed real
-time
motion
c
ont
rol [11].
Wh
en it i
s
u
s
e
d
in l
a
rg
e
scale
clu
s
terin
g
mo
tion-control system, it must conne
ct
external moto
r d
r
ives an
d wiri
ng is com
p
lex
and maintai
n
ability is poor.
PROFINET
:
PROFINET
la
unched
by th
e the P
R
OFI
B
US International
Org
ani
zation, is a
new
gene
rati
on indu
stri
al
Ethernet te
chn
o
logy
st
a
ndard. PRO
F
INET provides
a compl
e
te
netwo
rk solut
i
on in
clu
d
ing
real
-time Eth
e
rnet
mo
tion
control,
di
stri
buted autom
ation
a
nd so
on.
As a
solutio
n
of Large-scal
e dist
ribute
d
contro
l e
a
ch
SIMENS TCPU, networki
ng by PROFI
N
ET
fieldbu
s, at most co
ntrol 32
motors
whi
c
h is unfav
ora
b
le in larg
e-scale n
e
two
r
ked co
ntrol [12
].
Ether
CAT
:
EtherCAT
is an g
enui
ne
ope
n real-t
i
m
e Ethernet
in eq
uipm
e
n
t layer,
origin
ally dev
elope
d by Be
ckhoff Autom
a
tion Ltd.
Eth
e
rCAT
sets a
ne
w
stand
ard for re
al-tim
e
perfo
rman
ce
and to
polo
g
y flexibility, at the
sam
e
ti
me, it al
so
redu
ce
s the
cost of
fieldb
us.
EtherCAT i
s
a gen
uine
o
pen real
-time
Ethernet
in
equipm
ent la
yer. EtherCAT bu
s takes
on
stron
g
real
-time
pe
rforma
nce, simpl
e
wirin
g
,
comp
act
stru
cture. The
EtherCAT fieldbu
s
modul
e
can n
o
t onl
y be easily
repla
c
ed
b
u
t also p
r
o
v
ides dia
gno
sis fun
c
tion,
improving
the
maintainability of the system.
In summ
ary, EtherCAT i
s
optimu
m
i
n
larg
e-scale
netwo
rked
control. Thu
s
the ne
w
solutio
n
ado
p
t
s optimize
d
EtherCAT fiel
dbu
s network archite
c
tu
re.
2.2. EtherCAT Opera
t
ion
Principle
EtherCAT
te
chn
o
logy
bre
a
ks th
rou
gh
the lim
it of
other Ethern
e
t sol
u
tion
s, witho
u
t
receiving Eth
e
rnet
pa
ckets, deco
d
ing
a
nd repl
i
c
ating
pro
c
e
s
s dat
a to net e
qui
pment. Base
d on
Maste
r
-slave stru
cture,
ma
ster si
te laun
ch
s co
ntrol
cycle an
d tele
g
r
aph. Data fra
m
es trave
r
se
all
slave
equip
m
ents. Acco
rdi
ng to the
co
mmand
s in
the me
ssag
e, ea
ch e
quip
m
ent read
s
and
write
s
mat
c
hi
ng sub d
a
ta to app
ointed
place of
the
passin
g
data
array. After data fram
es
visit
the last slav
e station of the
wh
ole sy
stem, it upwardly se
nd
s the pro
c
e
s
se
d data as u
p
link
telegra
ph to the ho
st statio
n. Schemati
c
st
ru
cture of system is sho
w
n in Figu
re
1.
Figure1. The
Sketch
of EtherCAT Fi
eldb
us
Distribu
ted
Clock Tech
nolog
y
:
The Di
stribute
d
Clo
c
k is de
sign
ed to
sy
nch
r
oni
ze
distrib
u
ted m
o
tion co
ntroll
er. The u
s
e
of DC in
sy
stem
s whe
r
e
the device
s
are located
in
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NIKA
Vol. 11, No
. 9, September 201
3: 521
8 – 5223
5220
different pl
aces m
u
st
ca
re
the sig
nal
pro
pagatio
n del
a
y
from the tim
i
ng sou
r
ce to
the device a
n
d
synchro
n
ize t
he di
stri
buted
clo
c
k.
Th
e
DC u
n
it of Eth
e
rCAT
slave
controlle
rs su
pport
s
th
e
clo
c
k
synchro
n
ization bet
wee
n
slave
s
. For synchroni
zi
ng
sy
st
em
s,
t
he
mast
e
r
a
ssi
g
n
s t
h
e
f
i
rst
sl
av
e
supporting DC as the
Reference Cl
ock
wh
i
c
h all other slaves will follow [13].
Band
w
i
dth
utiliz
ation and perform
a
nce:
EtherCAT pop
ulat
es the data
of many
device
s
in
bo
th the input a
nd outp
u
t direction
within
one Ethe
rnet
frame. Th
ea
ctual b
and
wi
dth
utilization of the media i
n
crea
se
s to over 90%.
The
full-dupl
ex feature
s
of 100
BaseTX a
r
e f
u
lly
utilized, so t
hat effective data rate
s of >100
Mbit/s can be a
c
hi
eved. EtherCAT is not only
sub
s
tantially faster than traditional
field
bus
system
s, but is also
con
s
id
ere
d
to be the fastest
among
the
i
ndu
strial
Ethernet
solutio
n
s. Typi
cal
E
t
herCA
T
cycl
e time
s a
r
e
50-2
5
0
μ
s, while
traditional fiel
dbu
s system
s take 5-15 ms for an updat
e [14].
2.3. Excellent Fea
t
ures o
f
EtherCAT
EtherCAT in
corpo
r
ate
s
many excell
ent featur
e
s
espe
cially i
n
ca
se of L
a
rge
-
scale
netwo
rked co
ntrol [15-16].
Extremely
fast:
A dedi
cated interfa
c
e chi
p
ma
ke
s sure th
at the teleg
r
am
passin
g
throug
h the sl
ave station is
read a
nd written in a few n
ano
se
con
d
s.
Flexible top
o
log
y
structure:
Ethe
rCA
T
sup
port
s
al
most any top
o
logy incl
udi
ng Line,
tree or
star.
Extremely
a
ccura
te sy
n
c
hronization
:
A very pre
c
ise net
wo
rk-wide time b
a
s
e
with a
jitter of significantly less th
an 1 micro
s
e
c
on
d is availa
ble.
Simplest har
d
w
a
re
: One
of
the
mai
n
a
d
vantage
s of Ether
-CAT i
s
that it doe
sn’t
req
u
ire
any spe
c
ial h
a
rd
wa
re on th
e maste
r
co
m
puter; a sta
n
d
a
rd Ethernet card is all tha
t
is requi
red.
3. Optimized
Design of S
o
ft Logic
Co
ntrol Model
3.1. Anal
y
s
is
of Various Control Model
Traditional h
a
rd PLC
con
t
rol
: Althoug
h the tra
d
itio
nal ha
rd PL
C cont
rolle
r is
reliabl
e,
the
un
cha
n
g
eable hardware stru
ctu
r
e
sho
w
di
sa
d
v
antage
s of
poor interop
e
rability an
d
bad
flexibility in solving large-scale
dist
ribut
ed cont
rol problem. Because
of
its bad perform
a
nce in
clu
s
tere
d-co
n
t
rol, sin
g
le fu
nction,
bad
i
n
terface
o
p
e
nne
ss etc, it
isn't
suitabl
e for large-scale
distrib
u
ted
co
ntrol. Fo
r
exa
m
ple, tho
ugh
SIEMEN
S T
C
PU is excl
u
s
ively ap
plied
motion
control,
one TCP
U
at most control
s
32 axes.
Industrial P
C
con
t
rol
: B
e
ca
use ind
u
strial PC i
s
b
a
se
d on P
C
cont
rol pl
atform
s, in
contrast
with
PLC, it ta
ke
s
on
stron
g
a
ccounting
capa
bility, rich i
n
terfaces,
stron
g
commo
nalit
y.
Unfortu
nately
most of th
em ru
n Wi
n
dows
o
perating sy
stem
whi
c
h i
s
ba
sed on
message
transmissio
n
mecha
n
ism. Thus the u
n
ce
rtaint
y of message transmi
ssion
can not meet
the
requi
rem
ents
of real-time m
o
tion co
ntrol.
Soft logic
co
ntrol
: Soft lo
gic
cont
rol b
a
s
ed
on P
C
co
ntrol pl
atform
own
s
advant
age
s of
PLC and P
C
. The num
ber
of motors in
soft logical
architecture ca
n be ch
ang
ed freely. In case
of
more
than
th
ousand
s
of m
o
tors
control, it is
co
st-effective. For exa
m
ple the
soft logi
c
controll
er
of Beckh
off
comp
any in Germ
any ca
n control 255
motors which offers high
perform
an
ce
in
clu
s
tere
d-co
n
t
rol, netwo
rk stru
cture, interface op
enn
ess. Afte
r the above a
nal
ysis, this
pap
er
adopt
s soft lo
gic controll
er
in the new
sol
u
tion.
3.2. Featur
es
of Soft Logi
c Con
t
rol
Soft logic controlle
r co
n
s
ist
s
of Pr
ogrammi
ng system and Operating system.
Programmin
g
system is u
s
ed to develo
p
use
r
’s
pr
o
g
r
am. Ope
r
ati
ng syste
m
is the core of soft
PLC, whi
c
h i
s
mainly
co
mpri
sed by t
he I/O interf
ace, e
rro
r m
anag
er et
c. Erro
r man
a
g
e
r is
respon
sibl
e for real-tim
e d
e
tection
soft
ware an
d
ha
rdwa
re e
r
rors,
whi
c
h
can
greatly improve
the
maintainability of the system [17].
The ope
n architecture of PC platform
s i
s
appli
ed in soft logic co
ntrol and on
e or more
softwa
r
e virt
ual PL
C re
al
-time control
engin
e
s
ru
n
in re
al-time
ope
rating
system. Thu
s
the
system
ca
n n
o
t only finish
hard P
L
C l
ogi
cal
control fu
nction, b
u
t al
so ma
ke
s u
p
for defi
c
ien
c
y of
hard PL
C in
pro
c
e
ss
cont
rol and net
wo
rk
comm
uni
cation. Comp
a
r
ed
with tradi
tional PLC, Soft
logic i
s
more suitabl
e for la
rge
-
scal
e co
n
t
rol.
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Larg
e
-scale
Networked M
u
lti-axi
s
Control So
lution using EtherCAT
and Soft… (Zhiyu
an Che
ng)
5221
3.3. Soft Logic Control Architecture
The soft logic control is m
a
de up of thre
e par
t
s
: user
system, com
m
unication In
terface,
Real
-time
system, which is sho
w
n i
n
Fig
u
re 2.
M
onito
ring
softwa
r
e
(HMI, O
C
X, DLL,OP
C)
ru
ns
in User laye
r. Soft logic re
al-time software (Vi
r
tual P
L
C, NC, CNC) i
s
embe
d
ded in Real-ti
m
e
sy
st
em.
Both monitori
ng software in use
r
layer
and real
-time
control software in
kernel l
a
yer ru
n
in emb
edd
ed
PC
platform
s. Soft logi
c
real-time
op
erating system
is
b
a
s
ed on client
an
d serv
er
model. A
s
th
e cli
ent, mo
ni
toring
software o
r
thi
r
d-part
y
softwa
r
e
ex
cha
nge
s i
n
formation
with t
he
ADS ro
uter th
roug
h
DLL, O
C
X control
or OPC i
n
terfa
c
e.
The route
r
convey
s
cont
rol comm
and
s
to soft PLC/NC modul
es o
r
IO module in
real-time
ke
rnel layer. Fin
a
lly t
he serve
r
modul
es
su
ch
as soft PLC o
r
NC
cont
rol termin
al equip
m
ents by IO mappin
g
me
chani
sm.
Figure 2. The
Archite
c
ture
of Soft Logic Control
4. Nov
e
l Opti
miz
e
d Control Solution
After the abo
ve analysi
s
, EtherCAT fie
l
dbu
s and
so
ft logic cont
roller was
effectively
optimize
d
in t
he ne
w soluti
on. The top
o
l
ogy archit
e
c
ture of the
ne
w solution i
s
briefly sh
own
in
Figure 3. T
w
o layers
of ne
twork
cont
rol stru
cture con
s
titute
the
ne
w solutio
n
:
Control ce
nter and
five distrib
u
te
d control
no
de a
r
e
on th
e top n
e
two
r
ked
layer; M
o
tor d
r
ive te
rminals an
d I/O
device
s
et
c
orga
nize the
bottom Ethe
rCAT fiel
dbu
s laye
r
whi
c
h is
sh
own i
n
Figu
re
4.
After
optimizin
g, o
ne n
e
two
r
ked
co
ntrol
cente
r
can
c
ontrol
220 step
per motors,
g
r
eat
ly
improvin
g
t
h
e
clustered-
control capabilit
y of
system. Meanwhile
the
extraordinary real-t
im
e performance
of
EtherCAT a
s
sures that it can meet t
he n
eed of high
speed motio
n
control.
Figure 3. The
Netwo
r
ked T
opolo
g
y of Control
Sys
t
em
Figure 4. The
EtherCAT Fi
eldbu
s Archit
ecture
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NIKA
Vol. 11, No
. 9, September 201
3: 521
8 – 5223
5222
5. Ev
aluation of Optimized Solution
5.1. Perform
a
nce Compa
r
ison of ea
c
h
Solution
There is an index com
pari
s
on of ea
ch control sol
u
tion perfo
rma
n
c
e, whi
c
h is
sho
w
in
Table 1. It sh
ows that the optimize
d
co
ntrol sol
u
tion
is better than
others.
5.2. Ev
aluation of Op
timized Solution
In the following, We will bri
e
fly evaluate the new solution.
Real-time p
e
rforma
nce
of Eth
e
rCAT
: In con
d
itio
n of controlli
ng 40
motors, 200
0
digital sign
al Input/Output, 200 anal
og si
gnal inpu
t/out
put, Figure 5
sho
w
e
d
that EtherCAT
cycle
time is the shorte
st one
(276u
s). Be
ca
use of
the hi
gh-effe
cien
cy
of EtherCAT
commu
nication
mech
ani
sm, the real
-time p
e
rform
a
n
c
e is
significantly better than ot
her fieldb
us.
Clustered
-
co
ntrol per
f
or
mance o
f
s
o
ft logic
:
Due to the
so
ft logic in
co
rporatin
g
several software
re
al-time
engin
e
s,
it ca
n
mo
stly
cont
rol
255
moto
rs. Th
e te
st h
a
s
sh
own tha
t
the numb
e
r
o
f
controlled
motors by so
ft logic is
fa
r
more th
an th
e other co
ntrol model
su
ch as
traditional P
C
or PLC.
Table 1. Co
mpari
s
io
n of Perform
a
n
c
e
index
Performance
index
ProfiBus
scheme
ProfiNet
scheme
EtherCAT
scheme
Control model
Hard
PLC
Hard PLC
Soft
Logic
Filedbus t
y
pe
Profibus
PROFI
N
ET
EtherCAT
Real time
<10ms
<800us
<300us
Motor numb
e
r
of each unit
2 32
255
Maintainability
bad
good
best
Reliability
poor
good
best
Figure 5. The
Real-tim
e Performa
nce of
Fieldbu
s
6. Conclusio
n
In summa
ry, the existing
solution
s are n
o
t suit
able fo
r large
-
scal
e n
e
tworke
d con
t
rol, so
the pap
er
propo
sed
a ne
w optimi
z
e
d
solutio
n
co
m
b
ining Ethe
rCAT net
wo
rk stru
ctu
r
e a
n
d soft
logic
cont
rol tech
nolo
g
y. They are
suita
b
le for net
worked
cont
rol in
prin
ciple a
n
d
cha
r
a
c
teri
stics.
Therefore,
th
e optimi
z
ed
solutio
n
con
c
isely a
nd
effectively solves th
e la
rge
-
scale
distri
bu
ted
control pro
b
l
e
m. At prese
n
t, this method has b
een
applie
d su
ccessfully in the spe
c
ific p
r
o
j
ect.
The p
r
a
c
tice
sho
w
s that
it takes on
superi
o
rity
in system
i
n
teg
r
ation and
fl
exible
st
ru
ctu
r
e,
engin
eeri
ng p
r
acti
cability. The
n
o
vel sol
u
tion
redu
ce
s the compl
e
xity in wiri
ng
conne
ction
s
, a
n
d
provide
s
ea
se in mainten
ance and ag
ility etc.
So
i
t
has the sig
n
ifican
ce of being u
s
ed
as
reference in solving similar
net
wo
rk di
stri
buted control
probl
em.
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ang L
i
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i
ng, Z
hao
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u. Electromec
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TELKOM
NIKA
ISSN:
2302-4
046
Larg
e
-scale
Networked M
u
lti-axi
s
Control So
lution using EtherCAT
and Soft… (Zhiyu
an Che
ng)
5223
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h
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