Research And Design Of Industrial Robot Controller Based On Ethercat

In order to meet a variety of manufacturing process, the openness requirement of industrialrobot controller system have become increasingly. Controller system is required to supportvarious types of input and output, different configurations, and a variety of control tasks; allowsthe increase or decrease of functional modules, making it easier to integrate and extend. Theother hand, most industrial robots used in arc welding, assembly, cutting, contour trackingaccuracy and algorithms repetitive demanding field, controller system needs to have strongreal-time. Some complex tasks only by a single robot has been difficult to accomplish, you needa multi-robot system to a certain degree of coordination and cooperation to complete together,sodistributed control is the development direction of the industrial robot controller system.For the current controller’s shortage in openness, real-time and distributed,it uses theadvantages of real-time Industrial Ethernet fieldbus EtherCAT and addresses a architecture of industrialrobot controller based on EtherCAT. To make the controller with higher reliability and stability,the system uses the embedded microprocessor ARM (advanced RISC machines) as the corehardware, and the system’s software is based on the strong real-time kernel: μC/OS-II,dividedthe robot operation to multi tasks and complete by priority scheduling.The system useshierarchical structure and modular design concept,communicate with EtherCAT protocol, tocomplete an basic industrial robot communication platform.This controller system have completed a communication performance test based on a6-axiswelding robot body, which can simultaneously control6axis simultaneous movement,communication servo cycle within2ms, the EtherCAT synchronization between the slavesaccuracy of256ns, between master and slave using simple synchronization algorithm, frame lossrate is less than1/100000, it has met the basic requirements of the industrial robotcommunication, the latter will gradually improve its performance and implementation of upperlayer application software, and strive to achieve practical application level.