This thesis focuses on implementation of EtherCAT master application for Zybo development board with Zynq-7000 SoC.

The company, ScandiNova Systems, has had a need for a test system that can automate and optimize fault detection of the digitizer circuit in the control system of their klystron modulators. This thesis work is intended for this need with the aim of constructing a test system built in LabVIEW, and a pulse generator to generate stimulation for the digitizer circuit board. The test system has been tested and the results have shown that it works well for the given circumstances. The analysis of how the digitizer circuit reads an analog signal works almost perfectly, given an 5%-tolerance interval from the reference value of how the pulse should be. However, not all of the digital outputs of the digitizer can be checked for faults with the current configuration of the circuit board. If the FPGA-code on the digitizer circuit is revised with the pulses of the pulse generator the Boolean error outputs of the FPGA can be correctly checked.   If a test system is to be created for other circuits in the control system based on the work done in this thesis project, the parts specified for the present circuit shall be removed from the LabVIEW-program. For example, almost all parts of the GUI that are specified for the digitizer circuit, the stepping of the DIP-switches etc,, shall be removed. Stimuli for the circuits shall also be created according to their specifications.

The aim of this work is to implement a workplace that will simulate the network infrastructure of industrial automation protocols. In this work we focus on and perform analysis of industrial protocols ModBus, Profibus, Profinet, EtherCAT, CANopen. Furthermore, the network infrastructure with PLC with selected protocols will be operated. The output of the work will be a workplace that will be able to simulate real communication of two selected protocols between two and more devices. Another part of the work will be the simulation of three types of equipment occurring in an industrial environment.

<p>Med en växande produktionsindustri i Asien så blir det allt svårare för företag i Europa och Sverige att konkurrera med den effektiva och framförallt billiga arbetskraft som erbjuds i öst. För att kunna konkurrera på ett effektivt sätt så har industrirobotindustrin växt kraftigt under de senaste åren. Detta är en rapport på hur ett koncept har påbörjats för att implementera ett Ethernet baserat kommunikationssystem kallat EtherCAT i ett robotsystem från Motoman. En testutrustning har byggts och simulerat en kommunikation med en PLC. Ett första HMI gränssnitt har skrivits som översätter informationen från PLCn för att göra informationen lättförståelig för människor. Det har förberetts ett robotprogram till en robot från Motoman. Rapporten innehåller också en faktadel för hur EtherCAT fungerar och en jämförelse med andra systembussar.</p> / <p>With a fast growing production industry in Asia it’s getting harder and harder for Swedish companies to compete with the low production cost that the east offers. To be more competitive robot solutions are used more and more. This is a report of a first concept to implement a new Ethernet based communication called EtherCAT, in one of Motoman robot controllers. Test equipment has been constructed and simulated a communication with the PLC. A first HMI interface has been written to show the information from the PLC in a way that is understandable for humans. For one of Motoman’s robots a program has been prepared.</p>

Med en växande produktionsindustri i Asien så blir det allt svårare för företag i Europa och Sverige att konkurrera med den effektiva och framförallt billiga arbetskraft som erbjuds i öst. För att kunna konkurrera på ett effektivt sätt så har industrirobotindustrin växt kraftigt under de senaste åren. Detta är en rapport på hur ett koncept har påbörjats för att implementera ett Ethernet baserat kommunikationssystem kallat EtherCAT i ett robotsystem från Motoman. En testutrustning har byggts och simulerat en kommunikation med en PLC. Ett första HMI gränssnitt har skrivits som översätter informationen från PLCn för att göra informationen lättförståelig för människor. Det har förberetts ett robotprogram till en robot från Motoman. Rapporten innehåller också en faktadel för hur EtherCAT fungerar och en jämförelse med andra systembussar. / With a fast growing production industry in Asia it’s getting harder and harder for Swedish companies to compete with the low production cost that the east offers. To be more competitive robot solutions are used more and more. This is a report of a first concept to implement a new Ethernet based communication called EtherCAT, in one of Motoman robot controllers. Test equipment has been constructed and simulated a communication with the PLC. A first HMI interface has been written to show the information from the PLC in a way that is understandable for humans. For one of Motoman’s robots a program has been prepared.

The aim of this report is introduction and implementation of EtherCAT protocol on Texas Instruments AM437x microcontroller. The primary goal is to implement EtherCAT communication with slave device. The EtherCAT configurable digital output module is implemented as example application.

The aim of this theses describes the design of the control program for the synchronous axes model and reconstruction of this model. The first main part is description of synchronous axes model, description of engines and other components of model. Then model modifications are described. Another part is discussing the TwinCAT programming environment and describe all important elements that must be performed for proper functionality of the model. There is also a description of function blocks that are used to program motion sequences. The last part is described of demonstration program and program which would be used for teaching.

This paper describes the design of Stepper motor controller module controlled over Ethernet for positioning system. Part of this work describes analysis of the assignment, design of modular circuit, choosing right components and prototype design of communication and power module. In another part each module is described with emphasis to modularity. It deals with description of manufactured prototypes and their tested paramethers.

This thesis focuses on the design and creation of control unit for DC motors drives. A principle on which the DC motor is based, a method of its control and a possibility to obtain current information about the position are briefly described in this work. After that, the different types of buses for communication with a superior system and justification of the chosen one, are presented. In the next section, there is a special emphasis on creation of the suitable driver model and a design of the elecrical schematic and PCB. The end of the thesis contains a description of commission a PCB and testing the main functions.

The main task of the thesis is the practical verification of the ultrasonic sealing method for producing bags with a higher probability of goods in the sealing area. Most of the work deals with programming a block for the overall operation of an ultrasonic generator. Part of the solution is creation of visualization of the generator user interface. The last part is designing and implementing a reporting system to help customers get production data.