209 results about "EtherCAT" patented technology

The embodiment of the invention discloses a dual-network-port redundant EtherCAT master station data transmission method, device and equipment and a storage medium, which are used for an EtherCAT master station, and the EtherCAT master station is used for forming an EtherCAT master-slave station system with a plurality of EtherCAT slave stations. The method comprises the following steps: detecting a first network port state and a second network port state based on a first enable signal; when the first network port state and the second network port state are both connected states, controlling a first sending network port to send data to a first EtherCAT slave station, and receiving corresponding data through a first receiving network port or a second receiving network port; when the second receiving network port receives the data, forwarding the data to a second sending network port, sending the data to a second EtherCAT slave station through the second sending network port, and receiving the data through the first receiving network port; counting and comparing a first number of the data packets received by the first receiving network port and a second number of the data packets received by the second receiving network port; according to the comparison result, a redundancy transmission mode is determined and data is received and transmitted, the problem of high cost is solved, and the cost of the system is reduced.

The invention discloses an intelligent motion control system with a body, which comprises a system-on-chip, the system-on-chip is provided with a plurality of interfaces, the system-on-chip is integrated with a multi-core CPU and a graphics processor, the system-on-chip runs an NECRO real-time operating system, and the control system comprises a multi-mode acquisition unit for receiving environment information acquired by an external sensor; the large model processing unit is used for calculating a task instruction according to the environment information; the motion control unit is used for calculating the motion track and speed of each joint controller of the robot according to the task instruction, generating a motion instruction and issuing the motion instruction to the joint controllers of the robot, the CPU comprises a plurality of cores, each core is correspondingly connected with an EtherCAT network port, the EtherCAT network ports are used for being connected with the joint controllers of the robot, and the EtherCAT network ports are used for being connected with the joint controllers of the robot. And the CPU establishes a core of the CPU as a master station according to the external connection condition of the EtherCAT network port, and establishes a slave station at an interface of the joint controller. According to the control system, the plurality of master stations are adopted to control the joint controllers of the robot respectively, so that control is smoother.

The embodiment of the invention provides a processing method and device for an EtherCAT protocol message, a storage medium and a program product. The method comprises the following steps: receiving an EtherCAT protocol message to be detected; determining an anomaly detection score of the EtherCAT protocol message according to a message detection model, wherein the message detection model is used for detecting whether the EtherCAT protocol message is abnormal or not; when the anomaly detection score is smaller than or equal to a preset threshold value, key data in the EtherCAT protocol message is extracted; according to the slave station address, the command type and the data field value, judging whether an allowable transmission condition of the EtherCAT protocol message is met or not; according to the EtherCAT protocol message detection method and the EtherCAT protocol message detection device, transmission of the EtherCAT protocol message is blocked when the transmission permission condition is not met, the EtherCAT protocol message detection method and the EtherCAT protocol message detection device can adapt to continuously changing network environments and new attack means, the EtherCAT protocol message detection accuracy is improved, and the false alarm rate and the missing report rate of the EtherCAT protocol message are reduced.

The invention discloses a communication method, system and equipment based on an improved Ethercat protocol, and the method comprises the steps: carrying out the analysis of a message frame when the message frame is received, and obtaining the address information in the message frame; performing data positioning according to the address information, and determining a target sub-protocol data unit corresponding to the slave station; executing an instruction in the target sub-protocol data unit to obtain an operation result; and when the target sub-protocol data unit is the last sub-protocol data unit, storing the operation result to an operation result feedback field of the target sub-protocol data unit. In the application, through optimization of the WKC fields, the WKC fields included in the sub-protocol data unit are reduced, the space waste of the data frame is reduced, and the transmission efficiency is improved.

The invention discloses a laser marking control card and a laser processing system, and the control card comprises a kernel module and a bus interconnection module connected with the kernel module. The control card is also provided with an input power interface for receiving an external 24V direct-current power supply, an Ethernet interface for being connected with external EtherCAT equipment, an EtherCAT interface for being connected with an industrial personal computer and a serial port for debugging; the control card is also provided with a galvanometer control interface, a motion shaft control interface and a shaft limiting interface; wherein the galvanometer control interface is connected with a galvanometer, the motion axis control interface is connected with a motion platform, and the laser interface is connected with a laser for real-time synchronous linkage control. Aiming at the problems of an existing laser marking control card, high integration and real-time synchronous linkage of motion control, galvanometer control and laser control are achieved through the integrated control card, and the speed, precision and intelligent level of laser processing are remarkably improved.

The invention discloses an EtherCAT master station distributed clock synchronization method based on an ARM and an FPGA, and relates to the technical field of industrial control, the method comprises the following steps: S1, using an FPGA chip integrated with the ARM and programmable logic resources to construct an EtherCAT master station distributed clock module, the ARM and the programmable logic resources interacting through an internal AXI interconnection bus; s2, the programmable logic resource obtains an enable signal sent by the ARM end, and if the enable signal is 1, the master station performs topology scanning, delay calculation, clock compensation and dynamic drift compensation operations on the slave station to obtain a delay compensation value and a local clock compensation value of the slave station; s3, after compensation is completed, the state machine of the master station automatically jumps to a synchronous signal generation module, SYNC parameters are obtained from the ARM end, and SYNC signal starting time of the slave station is calculated according to the SYNC parameters; s4, respectively converting the delay compensation value, the local clock compensation value and the starting time of the slave station into message information, sending the message information to the slave station, adding 1 to the address of the slave station, and returning to the step S1 until the distributed clock configuration of all the slave stations is completed; the EtherCAT master station distributed clock synchronization method solves the problem that a synchronization (SYNC) signal generated after a distributed clock algorithm is started is unstable, and shows potential and value in the field of higher-frequency slave station synchronization.

The invention relates to the technical field of clock synchronization, in particular to a clock synchronization method of a master station system based on EtherCAT, which comprises the following steps: when a master station periodically sends time synchronization frames to all slave stations, collecting slave station feedback time data, respectively calculating a clock offset value between master time and slave time, and simultaneously, calculating a clock offset value between the master time and the slave time; constructing a master-slave offset time feature matrix according to the collected multi-periodic data, extracting initial static offset, an offset fluctuation trend and offset collaboration features among multiple slave stations from the constructed master-slave offset time feature matrix, and determining an initial estimation set according to the extracted features; constructing a master-slave offset prediction set based on the initial estimation set, and performing master-slave clock offset adaptive compensation correction based on the determined master-slave offset prediction set; according to the method, the initial offset estimation set is constructed, the offset trend estimation function is introduced, secondary fitting of the offset sequence of each slave station node is achieved, and it is ensured that the prediction precision is remarkably improved through an error comparison mechanism.

The invention relates to a double-shaft servo drive motor control device and method based on EtherCat communication, and the device comprises an EtherCat master station which is connected with a network transformer through a network port, and the output end of the network transformer is connected with the input end of a microcontroller. The first output end of the microcontroller is connected with the input end of the first IPM module, the output end of the first IPM module is connected with the first servo motor, the output end of the first servo motor is connected with the first encoder, the output end of the first encoder is connected with the input end of the microcontroller, and the second output end of the microcontroller is connected with the input end of the second IPM module. The output end of the second IPM module is connected with the second servo motor, the output end of the second servo motor is connected with the second encoder, the output end of the second encoder is connected with the input end of the microcontroller, and the state feedback output end of the microcontroller is connected with the EtherCat master station through a network port. According to the invention, the operation stability of the double-shaft servo motor under complex working conditions is realized.

The invention discloses a laser processing controller, a processing system and a processing control method.The laser processing controller comprises a digital processing module, an EtherNET interface, an EtherCAT IN interface and an EtherCAT OUT interface, the EtherNET interface is connected with the digital processing module, the EtherCAT IN interface and the EtherCAT OUT interface are connected with the digital processing module, the EtherCAT IN interface is used for receiving state data of slave station equipment in an EtherCAT network, and the EtherCAT OUT interface is used for receiving the state data of the slave station equipment in the EtherCAT network; the EtherCAT OUT interface is used for transmitting a control instruction of the digital processing module to the EtherCAT slave station equipment; the galvanometer interface is connected with the digital processing module, and the galvanometer interface is used for converting the control instruction of the digital processing module into galvanometer parameters conforming to a galvanometer standard protocol and transmitting the galvanometer parameters to a galvanometer; and the laser device interface is connected with the digital processing module, and the laser device interface is used for converting the control instruction of the digital processing module into laser parameters and transmitting the laser parameters to a laser device. The synchronous precision and compatibility of multiple devices are improved, the machining precision and efficiency are improved, the limitation of a traditional system is solved, and the high-precision machining requirement is met.

The invention relates to a real-time hybrid test control and test system and method based on a Linux-RT system and application, and belongs to the technical field of real-time hybrid tests of structural engineering. Comprising the following steps of: realizing deterministic conversion of states by adopting a real-time system manager of a singleton mode and an atomic state variable; according to the real-time executor based on the SCHEDFIFO scheduling strategy, affinity binding of a high-priority thread and a CPU is set, and periodic task scheduling of microsecond-level precision is achieved; a lambda functional programming data processing pipeline is adopted, and efficient data transmission of a filter chain is achieved through a zero copy mechanism; multi-protocol communication interfaces of UDP (User Datagram Protocol), EtherCAT (Ethernet Control Automation Technology) and WebSocket are supported, and a uniform abstraction layer is provided to realize low-delay data exchange between a numerical value and a physical substructure; and a real-time performance monitoring module adopting an exponential moving average algorithm provides accurate statistics of execution time and jitter.

The application discloses an EtherCAT master station clock synchronization method and system. The method comprises the following steps: determining whether the current master station clock drift value is less than the clock drift threshold value; in response to the current master station clock drift value being not less than the clock drift threshold value, adjusting the master station clock according to the master station clock drift value until the master station clock drift value is less than the clock drift threshold value; in response to the current master station clock drift value being less than the clock drift threshold value, sending multiple periodic data frames by the master station and calculating the drift values of the multiple periodic data frames; obtaining the predicted periodic data frame drift value based on the drift values of the multiple periodic data frames; and adjusting the period of the master station clock for sending the periodic data frame based on the predicted periodic data frame drift value. By using the scheme, the clock drift between the master station and the slave station can be reduced, and the clock synchronization accuracy can be improved.

The invention discloses a multi-robot control system, which comprises a master robot control system and at least one slave robot control system, and each of the master robot control system and the slave robot control system comprises a demonstrator, a multi-robot control module, a communication module, a servo control module and a robot control module; the demonstrator is used for carrying out man-machine interaction, and parameter setting and operation are carried out on the robot through the robot remote teaching device; the multi-robot control module is used for performing forward and inverse solution operation calculation according to the robot feedback information acquired by the robot control module and generating a control instruction for the robot; the communication module comprises a field bus Ethercat, a master station and a slave station and is used for being responsible for real-time field bus management; the servo control module is used for controlling the action of each servo motor based on the position instruction of the robot control module; the robot control module is used for acquiring feedback information of the robot from the servo control module and executing a robot control instruction, and the control instruction comprises a robot position instruction and a system variable instruction; the invention further discloses a multi-robot control method, a computer readable storage medium and electronic equipment. The multi-robot control method does not need an additional upper computer or PLC assistance.

The invention provides a laser parameter conversion system based on an Ethercat protocol and an application method thereof, and the system comprises a laser Ethercat data conversion module which comprises an Ethercat communication conversion board used for data conversion and communication state monitoring; the laser module is provided with a data unit capable of uploading control parameter rs422 protocol data; the upper computer and the laser Ethercat data conversion module are respectively connected with the laser module; the upper computer sends a laser parameter instruction to the laser Ethercat data conversion module so as to control the laser module; and the laser module communicates with the upper computer through the laser Ethercat data conversion module. Parameter acquisition of the laser module and control of the laser module by the upper computer are realized, and meanwhile, an original communication protocol of the laser module is compatible, so that the integration complexity and cost of the system are reduced, and the laser module, namely laser host equipment, is easier to integrate and communicate.

The invention discloses a fault processing method and device and a storage medium, and relates to the technical field of digital information transmission, and the method comprises the steps: when a communication link between a first EtherCAT slave station and a previous EtherCAT station is detected to be interrupted, when a message frame in a preset format is received, sending the message frame to a first EtherCAT slave station; judging whether a message index corresponding to the message frame is written into a message initial index register of the first EtherCAT slave station or not; if yes, modifying a circular flag bit field in the message frame from 0 to 1 to obtain a modified circular flag bit field; and the modified message frame is sent to a second EtherCAT slave station, so that the second EtherCAT slave station carries out discarding operation on the message frame based on the modified circular flag bit field, and the second EtherCAT slave station is an EtherCAT slave station which is located at the downstream of the first EtherCAT slave station and has the smallest distance from the first EtherCAT slave station. The technical problem that when link interruption occurs between slave stations in an EtherCAT protocol scene, the message continuously oscillates in a disconnected loop is solved, so that continuous oscillation of the message is prevented, and the stability and reliability of a system are improved.

The invention relates to the technical field of data processing, in particular to an industrial data batch processing method and system, and the method comprises the steps: determining a command type value in a command type field in a unique protocol data unit according to a command type adopted by batch access; the command type value is used for indicating each target slave station to determine a read-write data type of batch access and providing a calculation mode of the target slave station; determining a first value and a second value respectively corresponding to a first address field and a second address field in the protocol data unit according to the target slave station segment to be accessed in batches and the command type value; the first value and the second value are used for each slave station to confirm whether the slave station is a target slave station according to the own address after determining the calculation mode; based on the unique protocol data unit, the batch processing messages are generated and sent to the target slave stations, and the problem that when an existing Ethercat protocol is applied to an industrial scene, the data processing efficiency is low can be solved.

The invention discloses a CT scanning bed control method and system based on EtherCAT motion control, and the method comprises the steps: selecting a scanning mode according to a scanning demand, and calculating a motion parameter corresponding to the scanning mode; receiving the scanning mode and the motion parameter information, and converting the scanning mode and the motion parameter information into a motion mode instruction of the scanning bed through TCP protocol processing; receiving the motion mode instruction, and converting the motion mode instruction into an EtherCAT protocol format; and receiving the motion mode instruction in the EtherCAT protocol format, and controlling the scanning bed to act through the servo driver based on the motion mode instruction in the EtherCAT protocol format so as to complete a scanning task. EtherCAT full duplex communication is adopted, so that data transmission is more timely and accurate, and high-speed and stable information interaction is realized; a sine line planning model is introduced, the motion trail of the scanning bed can be accurately planned according to different scanning modes, motion errors and jitter are reduced, and the CT scanning precision is improved.

The invention discloses an EtherCAT master station synchronous control method and system based on a microkernel operating system, and belongs to the technical field of industrial automation field bus control. According to the system, a microkernel architecture is adopted, an EtherCAT protocol stack and a universal network protocol stack are deployed as two independent user mode processes, and data interaction is carried out through an inter-process communication and shared memory mechanism provided by a microkernel. According to the method, through a bidirectional dynamic clock compensation mechanism, static compensation in an initialization stage and dynamic compensation in an operation stage of a system are combined; a dynamic task scheduling strategy based on load awareness is adopted, and the task execution sequence is dynamically adjusted according to the CPU utilization rate and the task priority monitored in real time; a hardware redundancy design of double clock sources and double communication links is introduced, and a progressive synchronous recovery strategy is adopted during switching. According to the invention, nanosecond-level synchronization precision and microsecond-level fault switching can be realized, and the method is suitable for industrial control scenes with extremely high requirements on real-time performance and reliability.

The invention relates to a flexible magnetic suspension conveying method and device based on edge calculation, equipment and a medium. The method comprises the steps that preliminary motion planning data issued by a main controller to a distributed driver are acquired through a standard EtherCAT bus; a distributed driver edge calculation unit executes kinematics decomposition on the data to generate detailed trajectory planning data of each axis, and a position closed-loop control signal is generated in combination with motor current and position encoder data; establishing a synchronous link between drivers by using a VoE technology, and calculating a phase difference and a speed difference compensation value of adjacent shafts; the compensation value is input into an edge calculation unit to correct trajectory data, and a control signal is updated; finally, the magnetic suspension conveying system is driven according to the updated signal, high-precision, high-reliability and high-flexibility multi-axis flexible synchronous movement is achieved, and the strict requirement of modern industry for material conveying is met.

The invention provides a dynamic redundancy transmission method and system based on EtherCAT to Profinet, and a storage medium, and the method comprises the steps: analyzing a data frame through an EtherCAT protocol controller, and determining an operation priority according to an operation instruction; according to the operation priority, storing the operation instruction in a corresponding interrupt storage area or polling storage area; extracting a second instruction based on the priority according to a preset instruction extraction mechanism, and mapping and converting the second instruction into a corresponding Profinet protocol data frame; based on the link state of the feedback instruction of the Profinet protocol data frame, if it is judged that the link is abnormal, starting a redundant transmission port; according to the method, key instructions are processed preferentially through instruction double-area storage, and the instruction real-time requirement is met; and double bottlenecks of industrial network bandwidth and reliability are solved through a protocol mapping table.

The invention relates to the technical field of industrial internet, in particular to an SDN (Software Defined Network) multi-access interconnection architecture system for a complex industrial scene. Comprising a multi-access field layer module, a multi-access service flow control layer module, an SDN (Software Defined Network) exchange layer module and a unified management and control platform, an extensible protocol rule base is arranged in the multi-protocol analysis interconnection terminal, dynamic analysis and fusion of 10 + industrial protocols such as Modbus, Profinet and EtherCAT are supported, protocol islands are eliminated, hot plug updating of protocol description files is supported, and newly-added protocols do not need to be upgraded in a shutdown mode; the semantic mapping engine converts original data into standardized semantic information through a knowledge graph to realize cross-protocol data intercommunication; compared with a traditional gateway which needs to deploy independent equipment for each type of protocols, the method can process multiple protocols, the hardware cost is reduced by 60%, and the deployment efficiency is improved by three times.

The invention provides an EtherCAT protocol fault injection test system and method. Comprising a management control module used for generating a fault injection configuration and control instruction; the simulation slave station module is used for establishing a register and interface model of a slave station controller, generating a virtual slave station topology according to a network configuration file and communicating with the master station; the multi-level fault injection engine is used for implementing injection in a link layer and an application layer according to fault injection configuration; a trigger control unit for determining a trigger condition according to a communication state transition, an initialization command, a specific mailbox transaction, a frame count, or a time window; the injection execution unit is used for presetting hanging points of message generation and analysis, storage mapping and synchronous management processing and object dictionary access and file transmission processing; and the test arrangement and judgment module is used for judging the receipt record and the state of the master station according to a preset rule and outputting a judgment result. According to the invention, multi-level accurate fault injection, automatic replayable testing and unified observation determination can be realized.

The invention discloses a virtual servo full-closed-loop control system and method based on EtherCAT. An EtherCAT master station module sends a control instruction to a virtual servo full-closed-loop control module based on a standard EtherCAT protocol; the virtual servo driver can realize local execution of full-closed-loop control, and the corresponding control process comprises the following steps: obtaining a control instruction, and analyzing to obtain an instruction position; decoding is carried out according to the motion signal transmitted by the displacement feedback device to obtain an actual position, a compensation control quantity is obtained according to the actual position and the instruction position, a correction instruction is obtained according to the instruction position and the compensation control quantity, and the correction instruction is transmitted to the servo driver only supporting semi-closed-loop control; and the servo driver only supporting semi-closed-loop control completes full-closed-loop motion control on the servo driving working module according to the correction instruction. According to the invention, the problems of protocol fragmentation, incomplete functions, insufficient control performance and high upgrading cost in the prior art are fundamentally solved.

The invention provides an EtherCAT message processing method and device, equipment, a medium and a product. Relates to the industrial communication field. The method comprises the following steps: receiving an Ethernet control automation technology EtherCAT message sent by master station equipment, wherein the EtherCAT message comprises at least one destination address; determining a target virtual slave station corresponding to at least one destination address in the plurality of virtual slave stations; and processing the EtherCAT message through the target virtual slave station. According to the method provided by the invention, a process of processing the data by the virtual slave station based on the EtherCAT protocol is provided, a unified message data processing framework is used, redundant development of the virtual slave station on the data processing process is reduced, and the maintainability and expansibility of the system are improved.

The invention relates to the technical field of communication, discloses an EtherCAT communication system and method based on a dual-kernel architecture and a robot control system, and aims to solve the problems of dispersed task scheduling and poor real-time performance of an existing scheme, and the scheme mainly comprises an NRT-APP, an RT-APP, a Linux kernel, a Xenomai kernel, an EtherCAT-APP-Manage module, an EtherCAT-Master module and an EtherCAT network card driving module. The NRT-APP runs in a Linux kernel and is used for receiving a non-real-time task, and the RT-APP runs in a Xenomai kernel and is used for receiving a real-time task; the EtherCAT-APP-Manage module runs in a Xenomai kernel and is used for receiving a non-real-time task and a real-time task through an NRT interface and an RT interface respectively, managing and configuring slave station equipment according to the non-real-time task, creating an RT-Task thread with the highest priority according to the real-time task and performing data interaction of the real-time task with the slave station equipment; the EtherCAT-Master module runs in a Xenomai kernel, the EtherCAT network card driving module runs in the Xenomai kernel and is isolated from a Linux kernel, and the EtherCAT-Master module is used for calling the EtherCAT network card driving module according to an RT-Task thread and carrying out real-time task data interaction with slave station equipment.

The invention relates to the technical field of data communication, in particular to a gateway configuration method and system of a wind power programmable controller. The method comprises the steps that a PLC configuration tool judges whether a current to-be-configured EtherCAT slave station is a gateway slave station or not according to a gateway configuration file; if the slave station is not the gateway slave station, gateway configuration is not carried out; if the slave station is a gateway slave station, an ES node of the slave station is created, an EAG child node is created under the node, the communication protocol type of a downstream protocol is determined through the EAG child node, and node information of the ES node and the communication protocol type are stored. And performing engineering compiling on the node information of the ES node and the configuration information of the downstream protocol to generate a binary engineering file, and downloading the binary engineering file to the PLC. And the PLC analyzes the file, obtains the configuration information of the EtherCAT bus equipment, starts the EtherCAT master station according to the information, reads the state machine transfer state when the master station is started, and finally completes the gateway configuration of the EtherCAT slave station.

The invention belongs to the field of EtherCAT bus control, and discloses a cross coupling multi-axis synchronous control method based on EtherCAT, which directly reduces the contour error through a cross coupling method, and also can calculate the deviation between the expected feeding speed and the actual speed of each axis so as to improve the accuracy of the cross coupling multi-axis synchronous control. And finally, calculating the total speed deviation of each shaft as an input signal to be input into each slave station so as to improve the synchronization performance of each shaft of the system.

The invention relates to the technical field of Ethernet, and relates to a pluggable EtherCAT device and a bus expansion system. The pluggable EtherCAT device comprises an EtherCAT coupler and an IO module group, the IO module group comprises at least one IO module, the EtherCAT coupler is used for being electrically connected with a master station module through a first bus, a signal output interface of the EtherCAT coupler is connected with a signal input interface of a first IO module of the IO module group in a pluggable mode, when the IO module group comprises at least two IO modules, all the IO modules are arranged in a cascade mode, and the IO modules are connected with the signal input interface of the first IO module of the IO module group in a pluggable mode. The signal output interface of the previous IO module is in pluggable connection with the signal input interface of the next IO module, and the EtherCAT coupler is used for sequentially transmitting data frames through the cascaded IO modules. The IO module can be flexibly configured according to the requirements of an industrial site, and the expansibility is high.

The charging system comprises a charging terminal and a charging host. The charging terminal comprises a charging circuit which is used for charging the electric vehicle; the IO module is connected with a sensor, and the sensor is used for collecting monitoring information of the charging terminal where the sensor is located. The charging host comprises a programmable logic controller (PLC) control module, and the PLC control module is used for obtaining the monitoring information of the charging terminal and adjusting the output current or power of the charging terminal according to the monitoring information. The charging terminal and the charging host are in communication connection through an industrial Ethernet EtherCAT. According to the charging system provided by the embodiment of the invention, the integration level and the control efficiency can be improved, the maintenance and upgrading operation is simplified, and the overall performance and adaptability are improved.

The application provides a numerical control EtherCAT master station bandwidth adaptive scheduling and link fault bypass control system and method, belongs to the numerical control system industrial Ethernet bus control technical field, and the system comprises a heterogeneous multi-core processor, a field programmable gate array, a local bus, a gigabit Ethernet physical layer unit and a storage unit; the heterogeneous multi-core processor contains a high-performance computing core and a low-power control core, is interconnected with the field programmable gate array through the local bus, and executes physically isolated task scheduling; the field programmable gate array solidifies message preprocessing filtering, message hardware shunting, bandwidth clipping and a multi-channel hardware bypass switch array module, each module is cascaded in cooperation according to a data flow direction, message hardware unloading, bandwidth dynamic adjustment and fault bypass topology reconstruction are realized. The application reduces bus cycle jitter, improves bandwidth utilization efficiency and link fault tolerance capability, and is suitable for high-end numerical control machine tool multi-axis linkage control scenes.

This invention discloses an EtherCAT wired-to-wireless robotic arm control system, comprising a management center PLC, a robotic arm wireless communication management center, multiple robotic arm wireless communication terminals, and multiple communication terminal lower-level PLCs. The management center PLC is connected to the robotic arm wireless communication management center via an EtherCAT bus. The robotic arm wireless communication management center is connected to the multiple robotic arm wireless communication terminals via frequency hopping wireless communication technology (FHSS). Data transmission between the robotic arm wireless communication terminals and the robotic arm wireless communication management center is performed using an encryption algorithm. Each of the multiple robotic arm wireless communication terminals is connected to one of the multiple communication terminal lower-level PLCs via an EtherCAT bus. This invention employs FHSS frequency hopping technology, effectively avoiding the influence of operating conditions and electromagnetic interference signals, thus effectively ensuring work efficiency.