Research And Design Of Open Architecture Motion Control System Of Industrial Robot Based On EtherCAT

The kernel technic of industrial robot control is motion control system, affects the performance of the industrial robot as well as the integrated control, effective operation and upgrade in entire industry system. Traditional industrial robot motion control system can not satisfy the needs of the network and open properties of modern motion control. It is a trend that implement of open automation system into the robot motion control platform and using ultra high-speed industrial Ethernet communications in high-speed multi-axis movement.This paper focuses on the study of open motion control system based on realtime Ethercat bus. This paper introduces the applications of industrial robot in modern manufacture, the technical background of the industrial robot and the properties of Ethercat bus. In order to meet to multi-axis, control distance, work space, control algorithm and real-time and other requirements for the control of industrial robot, we design and develop a set of standardized, modular multi-axis motion control system based on Linux CNC. The program module of Ethercat and motion control are realized in host computer, the microcipe processer is basically responsible for the logic and signal processes, they are communicate with Ethercat bus.Linux CNC is installed on RTAILinux real time system which is mainly responsible for the robot system management, interpolation, kinematics and dynamics calculation, logic control tasks and provide human-computer interaction interface, NC program edit and management, error diagnosis, servo control and other functions. The Ether CAT master station module realizes decoding the protocol of Co E(CANOpen over Ether CAT),dispatching the real-time task and providing access interface for Linux network equipment and application module.To realize the network and open properties of the motion control system,we design servo motor control module,also,the ET1100 chip produced by Beckhoff taken as the data link layer of Ether CAT. It is used to design network interface of hypogynous machine. The STM32 micro chip is used to build the servo control system to realize the control of industrial robot joint motor.Finally, we produced the hardware and software platform for the systerm, and made the experiment platform for the entire system. We also tested the reliability, security, real-time performance for this system, it shows the agreement.