Research On Open Industrial Robot Control System Based On EtherCAT

Industrial robot is a multi-DOF and multi-joint robot, which is used in industrial field to replace traditional production,and it is widely used.Industrial robot technology now has become an important representative of the level of a country’s industrial. Because of China’s industrial upgrading demand and lack of core technology and components,It is of significance to develop robot industry by seizing the opportunity.This paper upgrade the design on the basis of previous studies.With EtherCAT bus and "PC + control card" architecture,we design an open control system for industrial robot which include an 8-axis servo control card, ESC communication module and sensor control card.The design satisfy the robot’s requirement of high accuracy, high real-time and open architectureIn the hardware design,we design two EtherCAT slaves platform with latest EtherCAT slave controller.One is “ESC+MCU” which use LAN9252 as ESC to access to bus and Cortex-M7 controller to process data. Anther is XMC4800,with ESC integrated in chip,build slave directly and handle bus communication and data processing. Base on communication card,we design an 8-axis motion control card.On PC,we design a HAL driver to manage field-bus and provide data base on EtherCAT Master.Also,we design slave software,including transplant slave stack code(SSC) into Cortex-M7 and XMC4800, and application software. Beside,we design an transmission mechanism which is compatible with absolute and incremental data.We divide data-acquire task into control period aim to no interrupt system rhythm.Finally,we test hardware signal integrity with oscilloscope. The communication function of the system is tested in the IgH Master and the TWINCAT master station.use TWINCAT to test slave system’s network connectivity.The correctness of the absolute value transmission mechanism is verified by using the data from multiple groups. The test results meet the design expectation.