EtherCAT bus-based eight-shaft robot control system

A control system and robot technology, applied in the direction of digital control, electrical program control, etc., can solve problems such as unfavorable compatibility and integration of existing systems, failure to meet 8-axis robot control, and affect system performance, so as to improve data transmission speed and real-time Enhanced performance, improved accuracy and stability

Active Publication Date: 2015-08-05
SOUTH CHINA UNIV OF TECH
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Problems solved by technology

In the traditional method of using PC-driven control cards, the communication affects the improvement of system performance, which cannot meet the control of 8-axis robots.
Using a server that supports the EtherCAT bus protocol can solve the communication problem, but this solution is expensive and has a long lead time, which is not conducive to the compatibility and integration of existing systems, and is difficult for low-end applications

Method used

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  • EtherCAT bus-based eight-shaft robot control system

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Embodiment Construction

[0027] The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0028] Such as figure 1 As shown, an 8-axis robot control system based on the EtherCAT bus includes a PC Linux master station, a 6-axis manipulator control card, a 2-axis motion platform control card, and a robot teaching box. Each part is controlled by its corresponding EtherCAT slave station. The controller is connected to the PC Linux master station, and communicates through the EtherCAT bus protocol on the physical link of the RJ45 network cable. The interface between the EtherCAT slave station controller Ⅰ and the Ethernet card is MII, and the EtherCAT slave station controller Ⅰ and the EtherCAT slave station The interface mode used by controller II and EtherCAT slave controller II and EtherCAT slave controller III is EBUS, and both interface modes are established o...

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Abstract

The invention discloses an EtherCAT bus-based eight-shaft robot control system. The EtherCAT bus-based eight-shaft robot control system comprises a PC machine Linux master station, a six-shaft mechanical arm control card, a two-shaft motion platform control card and a robot demonstration box, and further comprises an EtherCAT slave station controller, wherein the six-shaft mechanical arm control card, the two-shaft motion platform control card and the robot demonstration box are respectively connected with the PC machine Linux master station through the EtherCAT slave station controller. According to the invention, the control system can effectively ensure the real-time performance and the stability of an eight-shaft robot, and has the advantages of low cost and good expandability.

Description

technical field [0001] The invention relates to the field of industrial automation control, in particular to an 8-axis robot control system based on the EtherCAT bus. Background technique [0002] With the improvement of industrial automation level, more robots are put into the production line, and the functions of robots are becoming more and more perfect and powerful. The 8-axis robot has attracted people's attention, which includes 2-axis plane motion and 6-axis mechanical arm motion. The control of the robot puts forward higher and higher requirements for speed and precision, and puts forward high requirements for the transmission speed of the field bus used for servo motion control and the real-time performance of the bus interface. In order to ensure that the robot accurately completes actions and operations, its corresponding control system is particularly important. [0003] The EtherCAT bus is a real-time Ethernet technology that supports a variety of device connec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/414
CPCG05B19/414
Inventor 史步海刘志鑫包智郭宇
Owner SOUTH CHINA UNIV OF TECH
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