Research Of Welding Robot Control System Based On EtherCAT Bus

With the rapid changes in the structure of chinese population,The proportion ofworking-age population began to decline gradually,resulting in a significant increase in laborcosts, The economic development of industrial structure need to abandon the backwarddevelopment ideas whick rely on demographic dividend labor-intensive. So more and moremanufacturing enterprises focus on welding automation technology which represented bywelding robot. Welding robots are industral robots which is used for welding, cutting andspraying. The definition of industrial robot According to the international organization forstandardization (ISO) is an automatically controlled, reprogrammable, multipurposemanipulator programmable in three or more axes, In order to achieve high accuracy, highspeed control, the study of industrial robot control system is undoubtedly the most important.And in order to further realize the automation level, it is necessary to study the softwaremodule which directly generate G code from CAD drawings, at the same time must provide asimple and easy-to-use but fully functional interface, these for improve the weldingautomation technology have an important significance.According to comprehensive research on the industrial robots’ situation and the marketdemand both at home and abroad, This topic put forward a kind of open control system basedon EtherCAT bus, further study of the EtherCAT master/slave station and the integrationsystem and application based on LinuxCNC system, aiming at G code automaticallygenerated in the application process were studied, finally gives a simple operation, strongextensibility, the user interface of the system.The main contents of this project are as follows.1、According to domestic and foreign research present situation and the market demand,analysis of commonly used industrial robot structure and control system, basic framework andthe control scheme, put forward the application of real-time industrial Ethernet EtherCAT busindustrial robot control system scheme, and the use of the key technologies.2、Studied the EtherCAT master/slave station system architecture based on Linux，designed the hardware abstraction layer configuration file used for the communications ofEtherCAT master station and LinuxCNC.3、A careful study of the current international and domestic general G code CNCprogramming language and the G code LinuxCNC parser, gives the G code automatically generated software design method, and making use of the G code design from2D CADdrawings directly generate G code modules.4、Based on LinuxCNC, python and PyQt graphics library, designed a set of systeminterface programs to run on the Linux environment, and provides a more simple and efficientdevelopment of the GTK interface program method.