An EtherCAT Based Delta Robot Synchronous Control Application

Abstract

The delta robot synchronous control based on the Ethernet Control Automation Technology (EtherCAT) protocol is proposed in this paper. Personal Computer (PC) is used as master and the delta robot motor drivers are used as slaves in this work. The Master sends command to slave base on the motion control profile CAN in Automation 402(CiA402). Subsequently, the program in C# perform the user's interface and EtherCAT communication. And the system is not only easy use, but also quickly high-precision. A complex painting application is proposed to show this system workable.