Robot control method based on Ethercat

Abstract

The invention discloses a robot control method based on an Ethercat. According to the method, a master station and an FPGA (field programmable gate array) slave station are used, the master station is provided with a real-time linux system, the FPGA slave station comprises a soft-core NIOS II processor, two concurrent high-speed FIFIO registers and a control module, and the soft-core NIOS II processor is electrically connected with the control module through the FIFIO registers. Compared with an existing control interface, by the aid of 100M full duplex, the problem of low speed of a serial port is solved, differential transmission is realized, transmission distance is long, and the anti-jamming capability of the serial port is far higher than that of a USB (universal serial bus). By the aid of a dedicated chip, the best real-time performance is ensured by hardware, and 1ms real-time performance is achieved as the master station is provided with the real-time linux system.

Description

technical field [0001] The invention relates to the application field of industrial Ethernet, in particular to an Ethercat-based robot control method. Background technique [0002] Ethercat is short for real-time industrial Ethernet. With the continuous improvement of industrial automation, the use of robots is also becoming more and more widespread. However, the rapid development of robot technology also encounters many bottlenecks. One of the factors that has the greatest impact on the performance of robots is the robot's control interface. To understand the importance of the interface, it is first necessary to define the control structure of the robot. The reason why the robot can move according to our intention is because the control command is received. First, the controller writes the control command on the PC or industrial computer, and then sends it to the lower computer controller to control the movement of each joint. Feedback related information such as the rob...

AI Technical Summary

Problems solved by technology

[0004] Serial port 232 / 485, although the serial port has simple pins, it is only suitable for low-speed and simple occasions. Disadvantages: 1. Slow speed, not suitable for high-speed occasions; 2. Non-differential transmission, weak anti-interference; 3. Non-full duplex, poor real-time performance

[0005] USB interface 2.0 / 3.0, USB is suitable for bulk data transfer, not suitable for high-frequency data interaction. Disadvantages: 1. High data error rate; 2. Short transmission distance, not suitable for industrial occasions; 3. Non-full duplex, real-time poor sex

[0006] TCP / IP Ethernet, ordinary Ethernet, disadvantages: 1. Too redundant collision collision check, poor real-time performance, not suitable for industrial use; 2. Suitable for point-to-point transmission, poor scalability; 3. Although there are 100M bandwidth, the data efficiency is low , not suitable for use in control

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