Implementation of Vector Control of PMSM by Applying Optical-EtherCAT Communication for Robot

Abstract

A key technology of the next generation robots is the ability to move with high speed, high precision and communication network control. We propose a vector control system by applying optical-EtherCAT to PMSM with two-axes. We describe configurations of hardware and software to vector control of PMSM with two-axis using an optical-EtherCAT and explain two phase coordinate transformations of the d-q-axis that is the basis of vector control with an optical EtherCAT. We also report results of vector current control, vector current and speed, and vector current and position control of PMSM with two-axes for proposed optical EtherCAT. We confirm that we achieved satisfactory control results due to vector control implemented with an optical EtherCAT.