Study On The Key Technology Of The Robot Controller Real-time Monitoring System

With the robot controller industry boom and the superior performance of ARM technology in the field of robot controller,a growing number of research institutions began to use ARM microcontroller to develop robot controller. Micro-controller based on ARM architecture has become the mainstream. As a number of high performance robot controller enter the market more and more problems are exposed: First, at the stage of the development of robot controller using single chip,it is difficult to debug and locate the errors,;Secondly, for controllers requiring for higher reliability there is still no monitoring program system similar to the maturity of the configuration software. This Paer imposed a new kind of Real-time monitoring system for robot controller using Ethernet interface to communicate with upper software,monitoring lower machine operating status information,and help locating fault position to ensure safe and reliable operation of the controller.The main work are as follwing:1) Proposed a new kind of architecture of real-time monitoring system for robot controller which is based on assembly compiler and Ethernet. By compiling the compiler output instruction address correspondence to determine the currently executing instruction,using Ethernet for real-time operational status of lower computer information data via WPF UI framework eventually displayed to the user.2) Completed the development of controller prototype system monitoring running parameters and test the feasibility of the robot controller.3) Completed the design of real time monitoring system of the robot controller including project management, network daemons, real-time monitoring module, history data manage modules and controllers-related information query module. According to slave transfer status information of the different specific configuration for a monitoring system,so that it can be applied to a different slave.4) Completed the design of Assembly compiler. Engineer C assembly instructions format specified in the integrated development environment designed for CortexM3 processor assembler compiler.,which translate assembly language into machine code and output the directive and address correspondence files called by real time monitoring system to locate currently executed instruction via the value of PC.Through basic test, the real-time monitoring system for robot controller is working properly and provides better support for subsequent development.