Design of Industrial Robot Controller Based on EtherCAT

摘要

For the current controller's shortage in openness and real-time,this paper addresses an architecture of industrial robot controller which communicates by EtherCAT protocol.In order to meet the high-reliability and real-time requirements,the controller uses the embedded microprocessor Advanced RISC Machine(ARM) as the core hardware,and it uses hierarchical structure of component to design the software based on μC/OS-II,which can improve reusability.Test results show that the controller system has strong real-time performance and easy-expansibility.