Research of robot control bus scheme based on EtherCAT

摘要

In view of the higher demand of communication bandwidth,response speed,real time and other aspects in current robot network control,a robot control bus solution based on EtherCAT is proposed.In the analysis of the robot control requirements and the characteristics of EtherCAT,a research platform is built using a linear topological structure.In the slave STM32 and COMX module are used to design servo controller,while in the master Linux system and RTAI module to are used construct supporting platform,and EtherCAT protocol stack SOEM is transplanted,then combined with the network control model,the distributed control of the robot servo nodes is realized.Through the experiment the feasibility of this system is verified,and the composition of bus delay is analyzed.