為了實現高精度的定位，多軸同步控制已成為改善機械性能的重要議題，隨著精度需求的提高，特別是對於由多個軸組成的加工工具機，軸之間的同步性能會顯著影響加工品質，所以需要非常即時傳輸大量數據，才能實現良好的同步控制。基於上述需求，控制器的即時性能及網路通訊的同步性能將成為本論文的要點。
本研究建立三軸伺服運動控制系統，使用即時乙太網路技術構建EtherCAT架構，採用菊鏈拓樸的分佈連接方式實現多軸同步控制，由於EtherCAT的通訊特點除了有高效率數據傳輸及高同步性能外，廣泛的適用性及擴充性可支援多種設備連接，大幅提升自動控制應用領域的便利性。在這項研究中，採用台達AH系列可程式控制器（Programmable Logic Controller, PLC）作為EtherCAT主站並基於EtherCAT通訊架構下分別採用主從式同步、並行式同步這兩種多軸同步控制方式驗證同步性能，通過不同負載實驗測試來評估上述兩種多軸同步控制方法的同步性能，實驗結果表明此兩種同步控制方法基於EtherCAT架構皆具有良好的響應速度和精確控制能力，並行式同步法具有更好的同步結果，該系統可應用於軌跡加工、飛剪、追剪、龍門控制及多軸高速加工等。

In order to achieve high-precision, multi-axis synchronous control has become an important issue in improving machining accuracy. As the accuracy requirements increase, especially for machining tools consisting of multiple axes, the synchronization performance between the axes can significantly affect machining quality. So it is necessary to transfer a large amount of data very instantly, in order to achieve good synchronization control. Based on the above requirements, the real-time performance of the controller and the synchronization performance of network communication will become the main issue of this study.
This study establishes a three-axis servo motion control system by using the instant Ethernet technology to build the EtherCAT architecture, and the daisy chain topology to achieve multi-axis synchronous control as well. Because of the high-efficiency data transmission and high synchronization performance of EtherCAT communication features, in which a wide range of applicability and expandability can support a variety of device connections, the convenience of automatic real-time control applications can be achieved. In this study, a Delta's AH Series Programmable Logic Controller (PLC) is used as the EtherCAT master. Based on the EtherCAT communication architecture with the two-axis, master-slave serial synchronization, and parallel synchronization control methods are used to verify the synchronization performance between two axes. The synchronization performance of the above two multi-axis synchronous control methods is evaluated through experimental tests under different loading. The results show that these two synchronous control methods have good response speed and precise control ability based on EtherCAT architecture. The parallel synchronization control can obtain better results. The system can be applied to trajectory processing, flying shear, chasing, gantry control and multi-axis high-speed machining.

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