基于 ASIX AX58101（LT 版本）EtherCAT 从站控制器，我们做了一款"分支器"参考设计——主站的一条 EtherCAT 链路，经 AX58101 内部分发到人体的头、双臂、躯干、双腿等部位，就地驱动关节电机、读取编码器与传感器。它特别适合人形机器人：用最少的节点把部位级数据收拢到一根网线上。Built on the ASIX AX58101 (LT) EtherCAT slave controller, we built a "junction" reference design — one EtherCAT link from the master is split inside AX58101 to the robot's head, both arms, torso and legs, driving joint motors and reading encoders and sensors locally. It fits humanoid robots especially well: the fewest nodes, all body-part data on a single cable.
主站 EtherCAT 帧进入 AX58101，芯片内部通过 SPI Master / PWM / 编码器接口 / I²C 把控制与采集分发到四个身体部位子模块；双 PHY（Port0↔Port2 可互换）让分支拓扑可以灵活级联。The master's EtherCAT frame enters AX58101, which fans control and sensing out to four body-part modules via its internal SPI Master / PWM / encoder / I²C; the dual PHY (Port0↔Port2 swappable) lets the branch topology cascade flexibly.
下面这张板级拓扑，把原理图里的走线接法一眼讲清：主站 EtherCAT 帧从 CN1 进，经 3 颗 AX58101 内部分发到 7 路分支输出（CN2–CN8 / DUT#1–7）。三颗芯片用 Port3（MII 扩展口）串接级联，所以它们的 3 个 EtherCAT 端口（Port0/1/2）全部留给外部；SWAP 只是把 Port0↔Port2 对调，方便沿身体继续级联。This board-level topology makes the schematic's wiring obvious at a glance: the master's EtherCAT frame enters at CN1, then 3 AX58101 chips split it to 7 branch outputs (CN2–CN8 / DUT#1–7). The three chips are daisy-chained through Port3 (MII expansion), so all three EtherCAT ports (Port0/1/2) stay free for external use; SWAP just swaps Port0↔Port2 for easier cascading.
每颗 AX58101 内置 3 个 EtherCAT 端口，级联走 Port3 不占端口。所以"总端口数 = 进线 + 分支输出"，芯片数直接向上取整除以 3。要扩端口就继续级联下一颗（SWAP 端口支持）。Each AX58101 packs 3 EtherCAT ports; cascading uses Port3 and costs no port. So total ports = IN + branch-OUT, and chips = ceil(total ÷ 3). Grow ports by chaining another chip (SWAP-ready).
| 分支器规格Junction spec | 总端口（进 + 出）Total ports (IN + OUT) | 所需 AX58101 颗数AX58101 chips needed |
|---|---|---|
| 8 口（本板）8-port (this board) | 1 进 + 7 出 = 81 IN + 7 OUT = 8 | ⌈8/3⌉ = 3 颗⌈8/3⌉ = 3 |
| 5 口5-port | 1 进 + 4 出 = 51 IN + 4 OUT = 5 | ⌈5/3⌉ = 2 颗⌈5/3⌉ = 2 |
| 11 口11-port | 1 进 + 10 出 = 111 IN + 10 OUT = 11 | ⌈11/3⌉ = 4 颗⌈11/3⌉ = 4 |
分支器的"大脑"是 AX58101；各身体部位的电机驱动、传感器与本地 MCU 为外设，按部位需求选配。具体型号与封装以原厂 datasheet 为准。The "brain" of the junction is AX58101; the motor drivers, sensors and local MCUs at each body part are peripherals, chosen per segment. Exact part numbers and packages per vendor datasheet.
EtherCAT 从站控制器，集成 2× 百兆 PHY、8 FMMU / 8 Sync Manager、64-bit 分布式时钟；内置 SPI Master(≤50MHz,≤8 设备)、3 路 PWM、编码器接口、I²C、最多 32 个 GPIO，80 脚 LQFP，工业级 -40~+105°C。EtherCAT slave with 2× FE PHY, 8 FMMU / 8 SyncMgr, 64-bit distributed clock; on-chip SPI Master (≤50MHz, ≤8 dev), 3× PWM, encoder I/F, I²C, up to 32 GPIO, 80-pin LQFP, -40~+105°C.
双 PHY 支持端口互换，既能做一线进一线出的标准从站，也能做分支 / 汇接拓扑，方便沿身体级联多个分支器。The dual PHY supports port swapping — both a straight in/out slave and a branch / junction topology, so multiple junctions can cascade along the body.
3 路 PWM、步进 / 方向、增量 / Hall 编码器、E-Stop、看门狗、I²C Master 一应俱全，可直接驱动或采集关节电机、编码器与传感器，省掉额外协处理器。3× PWM, step/dir, incremental / Hall encoder, E-Stop, watchdog and I²C Master onboard — drive or read joint motors, encoders and sensors directly, no extra coprocessor.
头部的视觉 / IMU、手臂与腿部的关节电机 + 编码器、躯干的电源与核心 IMU——各部位按功能挂接，AX58101 统一调度。Head vision / IMU, arm & leg joint motors + encoders, torso power & core IMU — each segment attaches by function, orchestrated by AX58101.
AX58101 把一条 EtherCAT 流拆成四个身体部位子链路，每个部位就近处理自己的运动与传感。AX58101 splits one EtherCAT stream into four body-part sub-links, each handling its own motion and sensing locally.
| 部位分支Branch | 承载数据Carries | 典型节点Typical nodes |
|---|---|---|
| 头部 HEADHead | 视觉帧、姿态、避障深度Vision frames, attitude, depth | 摄像头 / 视觉 SoC、IMU、ToFCamera / vision SoC, IMU, ToF |
| 双臂 ARMSArms | 关节力矩 / 位置指令、编码器反馈、触觉Torque / position cmd, encoder fb, touch | 关节电机 ×N、编码器 ×N、力矩 / 触觉传感器Joint motors ×N, encoders ×N, force / touch |
| 躯干 TORSOTorso | 脊柱运动、电源状态、核心姿态Spine motion, power state, core attitude | 脊柱电机、电源管理 BMS、核心 IMUSpine motor, BMS, core IMU |
| 双腿 LEGSLegs | 下肢力矩 / 位置、编码器反馈、足端压力Leg torque / position, encoder fb, foot pressure | 关节电机 ×N、编码器 ×N、足端触觉 / 压力Joint motors ×N, encoders ×N, foot force |
把分散的身体部位，收拢到一根确定性的 EtherCAT 线上。Collapse scattered body parts onto one deterministic EtherCAT line.
主站只看到少数几个从站，身体各部位就近接入，布线从"一团乱麻"变成"一条主干 + 分支"。The master sees only a few slaves; body parts plug in locally — wiring becomes "one trunk + branches" instead of a tangle.
AX58101 的 64-bit 分布式时钟让头 / 臂 / 躯干 / 腿的指令在亚微秒级对齐，多部位协同不"各跳各的"。AX58101's 64-bit distributed clock aligns head / arms / torso / legs commands in sub-microsecond — no drift between parts.
Port0↔Port2 互换支持沿身体继续串接下一个分支器，身高 / 关节数扩展不重构总线。Port0↔Port2 swap lets you chain another junction down the body — grow height / joint count without rebuilding the bus.
-40~+105°C 工业温度、单芯片集成从站 + 外设，振动、温漂、空间都更友好。-40~+105°C industrial range and a single slave + peripheral chip — friendlier to vibration, drift and tight space.
凡是"一个主站要管多个分散执行 / 传感单元"的场景，都吃这套分支架构。Any scene where one master must govern many scattered actuators / sensors fits this branch architecture.
头 / 臂 / 躯干 / 腿分部位接入，统一调度运动与感知。Head / arms / torso / legs on one bus, motion and sensing unified.
一拖多轴的低成本从站方案，节拍精准。Low-cost one-slave-many-axis design with tight timing.
髋 / 膝 / 踝多关节同步助力，按部位采集力矩。Hip / knee / ankle joints assisted in sync, per-part force capture.
把分散的传感与执行就近汇接到主站，减少线束。Gather scattered sensing and actuation near the master, fewer harnesses.
我们提供 AX58101 参考设计、EtherCAT 配置（ESI/XML）、部位级固件框架与打样支持，从方案评审到小批量落地。We provide the AX58101 reference design, EtherCAT config (ESI/XML), per-segment firmware framework and prototyping — from review to low-volume build.