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Industrial robot control system and method based on ethercat bus

An industrial robot and control system technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve the problems of poor reliability, difficult integration, high price, etc., to improve scalability and stability, ensure real-time performance and reliability , The effect of reducing the cost of control

Active Publication Date: 2021-10-08
深圳市智能机器人研究院
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In this conventional control system, the robot control system can only be used as a slave station, and an additional PLC controller is required as the master station, that is, the robot control system only controls the working state of the servo motor. Signal input, such as switch information, needs to use input and output ports at this time, and PLC controller for control
Therefore, the cost of the integrated system is increased through the control signal of the automation equipment peripheral to the additional PLC controller, and such a system has complex wiring, poor reliability, closed technology, poor expandability, expensive price, and is not easy to integrate with other equipment in the factory. in a control system

Method used

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  • Industrial robot control system and method based on ethercat bus
  • Industrial robot control system and method based on ethercat bus

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Experimental program
Comparison scheme
Effect test

Embodiment 2

[0064] Industrial robots based on EtherCAT bus, including the following steps:

[0065] B1, after the bus IO module acquires the switching information of the user input, send the switch information to the CodeSys control module.

[0066] B2, the CODESYS control module receives the switching information, and then calls the preset function from the dynamic link library according to the preset execution information, and obtains the motion parameters to the bus servo drive by EtherCAT bus according to the function of the robot. ;

[0067] B3, the bus servo driver rotates according to the motion parameter control servo motor.

[0068] The user inputs the switch information by the automated control device, the switch information transmits to the integrated controller through the EtherCAT bus, and the CodeSys control module in the integrated controller selects the corresponding mode of operation, and activates the robot. During the CodeSys control module control, implement the function o...

Embodiment 3

[0070] like figure 2 As shown, an industrial robot control method based on the EtherCAT bus, including the following steps:

[0071] A1, after the teaching device obtains the control information input by the user, send the control information to the compiler.

[0072] A2, the compiler acquires the execution information after encoding the control information, and issues the execution information to the CodeSys control module. The control information includes at least one of a linear motion instruction, a point-to-point motion command, an arc motion command, a conditional selection instruction, a program call, a welding instruction, and a palletizing instruction.

[0073] A3, after the bus IO module acquires the switch information of the user input, send the switch information to the CodeSys control module.

[0074] A4, the CODESYS control module receives the switch information, and then calls the preset function from the dynamic link library according to the preset execution inform...

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Abstract

The invention discloses an industrial robot control system and method based on an EtherCAT bus, wherein the system includes an integrated controller, an EtherCAT bus, a bus IO module and several motion modules, and each of the motion modules includes a servo motor and is used to drive a servo The bus-type servo driver of the motor, the integrated controller includes a CoDeSys control module and a dynamic link library, the CoDeSys control module is connected to the bus-type servo driver and the bus IO module through the EtherCAT bus, and the CoDeSys control module and the dynamic link library connection. By using the integrated controller as the master station, the invention enables the motion module and the bus IO module to share the EtherCAT bus, without adding an additional PLC controller as the master station, reduces the control cost, and can be widely used in the field of robot control.

Description

Technical field [0001] The present invention relates to the field of robotics, and more particularly to an industrial robot control system and method based on EtherCAT bus. Background technique [0002] At present, most of the industrial robots at home and abroad use DSP and FPGA-based multi-axis motion control cards, whose controllers typically have a PCI interface, integrated into the PC's PCI slot. In this conventional control system, the robot control system can only be used as a slave, requiring additional PLC controllers as the main station, that is, the robot's control system is only a single control servo motor operating state, and there is a periphery on the robot Signal input, such as switching information, you need to use the input / output port, and the PLC controller. Therefore, the cost of the integrated system is increased by the control signal of the automated device periphery peripheral, and such system wiring is complex, the reliability is poor, and the technolo...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1664
Inventor 谭靖喜张启毅席宁
Owner 深圳市智能机器人研究院
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