Aiming at the problem of uncertainty and non real-time data transmission in multi axis motion control network

a network communication scheme based on time slot partition is proposed

so that only one motion controller in every slot can transmit data in the network. An improved clock synchronization algorithm is used to complete the clock synchronization of nodes in the network

according to the time slot partitioning strategy

tasks are scheduled

threads are created for each task

and the execution of threads are triggered by time and events. A two axis following platform is built to test the performance of network communication

the results show that when the clock synchronization cycle is one second

the average value of the master slave clock deviation is 5. 79 μs

standard deviation is 7. 43 μs

and the stability is reliable; the two axis following effect is good

and the data transmission has good deterministic and real-time performance.