Electric six-axis robot control system and control method based on TherCAT

Abstract

The invention discloses an electric six-axis robot control system based on EtherCAT, and the system is characterized in that the system comprises a PC and a PLC master control system, the PC and the PLC system carry out data interaction through an ADS protocol, the PLC master control system comprises a PLC master station and a plurality of PLC slave stations, the PLC master station and the plurality of PLC slave stations carry out data interaction through the EtherCAT, and the PLC master station and the plurality of PLC slave stations are connected with the PLC master station. The PLC master station and the PLC slave station perform data interaction with the PC based on an ADS protocol; and the PLC slave station comprises a motion controller and a logic controller which respectively correspond to the joints of the six-axis robot. Data transmission between the PLC master station and the PLC slave station is realized by adopting an EtherCAT communication mode, and the data compatibility is good. A six-axis robot joint injection variable error analysis algorithm provides data reference for installation and debugging of robot joints and opening of a control algorithm. And the TwinCAT is used as a main control core, and a distributed clock technology is adopted to ensure clock synchronization among the EtherCAT slave station modules.

Description

technical field [0001] The invention relates to the field of industrial automation control, in particular to a TherCAT-based electric six-axis robot control system and control method. Background technique [0002] With the increasing scale of the State Grid, the concept of safety has become the core part of the corporate culture of the power grid. Personal, power grid, and equipment safety are the premise and foundation of all work. However, at present, there are still practical problems such as misoperation by operators, high risk factor of climbing operations, and foreign objects hanging on transmission lines are not easy to clean. With the improvement of industrial automation level, industrial robots are used in more fields to replace manual work, but the control of robots Higher and higher requirements are put forward for speed and precision. In order to ensure that industrial robots can accurately complete actions and operations, the corresponding control system is part...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to overcome the problem that the action accuracy and corresponding speed of industrial robots in the prior art are affected by traditional communication methods and control methods, and provide a TherCAT-based electric six-axis robot control system and control method with high precision and fast response

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