EtherCAT is the most high-speed real-time industrial Ethernet technology

and is gradually used in industrial control field. In order to meet the high integration requirements for complex motion control systems

1) a new slave scheme is designed for using a highly integrated EtherCAT slave chip LAN9252

2) For the multi-joint manipulator motion control

a control scheme of two-axis controlled by slave station is designed. In order to solve the problem of the increasing transmission data caused by the control of two-axis

the motion control protocol CiA402 is cut and transplanted at application layer

saves the cost and achieves a fast data refresh cycle. The design process of hardware and software are analyzed. A series of tests are carried out on the slave station through experiments. The experimental results show that the I/O communication of the slave station is normal and the synchronization performance is good. A slave station can operate normally and stably under the control of two-axis.