ICM8A0ICM8A0 EtherCAT 主站数控系统EtherCAT Master CNC System

核心能力Core capabilities

• 最小 DC 周期 125 µs，最大支持 128 个 EtherCAT 从站。125 µs minimum DC cycle, up to 128 EtherCAT slaves.
• 100 Mbps 工业以太网，RMII 接口接外部 PHY。100 Mbps industrial Ethernet via RMII to an external PHY.
• SPI 从机接口，最高 96 MHz，全双工 Mode 0。SPI slave interface up to 96 MHz, full-duplex Mode 0.
• 内建 CoE / FoE 邮箱协议，伺服状态机 CiA402 直接可用。Built-in CoE / FoE mailbox protocols and CiA402 state machine.
• 片上外设：16 GPIO、32 位 QEI 编码器接口、12-bit DAC、12-bit ADC（5.14 MSPS）、USB 2.0 固件升级。On-chip peripherals: 16 GPIO, 32-bit QEI, 12-bit DAC, 12-bit ADC (5.14 MSPS), USB 2.0 firmware update.
• 工业级 −40°C ~ +105°C，LQFP-64 7×7 mm 封装。Industrial −40°C ~ +105°C, LQFP-64 7×7 mm package.

为什么用硬件主站Why a hardware master

• 确定性 / 低抖动：报文发送由芯片负责，不受上位机 OS 调度抖动影响，适合高阶 CNC 与机器人。Determinism & low jitter: frame timing is handled by the chip, not the host OS, ideal for high-end CNC and robots.
• 卸载主控 MCU：EtherCAT 协议栈与错误处理交给 ECM-XF，STM32H743 只需专注插补、G 代码与 HMI 逻辑。Offloads the host MCU: ECM-XF handles the stack and error handling; STM32H743 focuses on interpolation, G-code and HMI logic.
• 无需 RTOS：芯片内建硬件 FIFO，非实时系统也能维持通讯周期稳定。No RTOS required: on-chip hardware FIFO keeps the cycle stable even with a non-real-time host.
• 故障隔离：即使上位机软件异常，硬件主站仍可维持 EtherCAT 周期通讯，降低机械失控风险。Fault isolation: even if host software fails, the hardware master can keep the EtherCAT cycle running.
• 降低 BOM：省去高性能 IPC 或实时扩展卡，主控用普通 MCU 即可。Lower BOM: no need for a high-performance IPC or real-time expansion card.

1. 应用控制层1. Application control layer

主控 MCU：STM32H743II（Cortex-M7 @ 480 MHz，2 MB Flash / 1 MB RAM）。运行艾克姆自研 CNC 系统软件，负责：Host MCU: STM32H743II (Cortex-M7 @ 480 MHz, 2 MB Flash / 1 MB RAM). Runs AICMAX's CNC software and handles:

• G 代码解析与运动轨迹插补（直线 / 圆弧 / 螺旋插补等）G-code parsing and motion interpolation (linear / arc / helical)
• 多轴联动、电子齿轮、电子凸轮、位置锁存Multi-axis coordination, electronic gearing/cam, position latch
• HMI 通讯、文件管理、报警与参数配置HMI communication, file management, alarms and parameter setup
• 通过 SPI 与 ECM-XF 交互，把 PDO 映射和运动指令下发给从站SPI communication with ECM-XF to send PDO mappings and motion commands to slaves

2. EtherCAT 通讯层2. EtherCAT communication layer

硬件主站：ECM-XF，通过 SPI 与 STM32H743 连接；通过 RMII 接外部百兆 PHY。它负责：Hardware master: ECM-XF connects to STM32H743 via SPI and to a 100 Mbps PHY via RMII. It handles:

• EtherCAT 帧的硬件级收发、DC 同步、分布式时钟管理Hardware-level EtherCAT frame TX/RX, DC sync and distributed-clock management
• CoE 邮箱读写、FoE 固件更新（≤256 KB 单次）CoE mailbox read/write, FoE firmware updates (≤256 KB per transfer)
• CiA402 伺服状态机，可直接驱动国内外主流 EtherCAT 伺服CiA402 servo state machine, directly driving mainstream EtherCAT servos
• 最多 128 个从站、125 µs 最小周期Up to 128 slaves and 125 µs minimum cycle

3. 工业接口与电源层3. Industrial interface & power layer

CNC4-A08 控制板为整机提供对外接口：The CNC4-A08 board provides external interfaces:

• 3 路 RJ45 以太网：1 路 EtherCAT + 2 路通用工业以太网（可用于 HMI/上位 PC / 工厂网络）3× RJ45 Ethernet: 1 EtherCAT + 2 general industrial Ethernet (for HMI, host PC or plant network)
• 多组绿色可插拔端子：隔离 DI/DO、模拟量输入、编码器接口、伺服脉冲/方向或 EtherCAT 伺服连接器Green pluggable terminals: isolated DI/DO, analog inputs, encoder interfaces, servo pulse/dir or EtherCAT servo connectors
• 24 V 工业电源输入、EMC 保护、隔离电源设计24 V industrial power input, EMC protection and isolated power design
• HMI 接口：连接 ICM8A0-104 CNC 10.4 寸触摸屏，显示加工状态、报警、参数与 G 代码HMI interface: connects to ICM8A0-104 CNC 10.4" touchscreen for machining status, alarms, parameters and G-code

4. 上位机 HMI4. Host HMI

ICM8A0-104 CNC 是配套 10.4 寸触摸屏上位机：ICM8A0-104 CNC is the matched 10.4" touchscreen HMI:

• 运行嵌入式系统，显示系统初始化、加工界面、手轮 / 自动 / MDI 模式Runs an embedded OS, shows system init, machining screen, handwheel/auto/MDI modes
• 通过以太网或专用接口与 CNC4-A08 通讯Communicates with CNC4-A08 over Ethernet or dedicated interface
• 支持程序编辑、刀具补偿、参数设定与实时状态监控Supports program editing, tool compensation, parameter setting and real-time status monitoring