CN105334806A - Method and system for controlling motions of industrial robot based on EtherCAT bus - Google Patents
Method and system for controlling motions of industrial robot based on EtherCAT bus Download PDFInfo
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- CN105334806A CN105334806A CN201510813119.5A CN201510813119A CN105334806A CN 105334806 A CN105334806 A CN 105334806A CN 201510813119 A CN201510813119 A CN 201510813119A CN 105334806 A CN105334806 A CN 105334806A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
Abstract
The invention discloses a method and a system for controlling the motions of an industrial robot based on an EtherCAT bus. According to the invention, the synchronous transmission of data is performed by using the EtherCAT bus, and an additional motion control card is not required, so that the hardware design of the system is simplified; by taking encoder data received by a second buffer subunit at the last time as first encoder data and then sending the first encoder data to a data processing unit when a first buffer subunit does not receive the first encoder data, the motion continuity of the industrial robot can be improved; and by comparing a data processing cycle with a data communication cycle, when a register value is greater than a preset threshold number, the data communication cycle is prolonged, so that the effectiveness of data transmission in the motion process of the robot can be improved.
Description
Technical field
The present invention relates to the Multi-axis motion control method of industrial robot, be specifically related to a kind of industrial robot motion control method based on EtherCAT bus and system.
Background technology
Below background of related of the present invention is described, but these explanations might not form prior art of the present invention.
At present, the framework of the many employings of Multi-axis motion control method " computing machine+motion control card " of industrial robot.Computing machine carries out the computing of industrial robot kinematics algorithm, and motion control card resolves each number of axle certificate of industrial robot, sends to each axis servomotor of industrial robot by hardware timing mode simultaneously, controls each axle of industrial robot and moves simultaneously.This control mode needs to increase extra motion control card, and is not easy to carry out system extension.
Summary of the invention
The object of the invention is to propose a kind of industrial robot motion control method based on EtherCAT bus and system, synchronism and the continuity of the motion of industrial robot each axle are good, and the Hardware Design is simple, extensibility good.
According to an aspect of the present invention, provide a kind of industrial robot motion control method based on EtherCAT bus, comprising:
S1, judge to receive the first buffer sublayer unit of buffer cell and whether receive each axle of industrial robot that driver sent by EtherCAT bus the first encoder data in current location; If the first buffer sublayer unit receives the first encoder data, then the first scrambler number is sent to the data processing unit of EtherCAT master station; If the first buffer sublayer unit does not receive the first encoder data, then the encoder data that the second buffer sublayer unit receiving buffer cell receives for the last time is sent to described data processing unit as the first encoder data; Record current time t
1;
S2, according to user instruction determination Kinematic Algorithms, based on the first encoder data and each axle of described Kinematic Algorithms determination industrial robot the second encoder data at next movement position;
S3, by EtherCAT bus the second encoder data to be sent to the second buffer sublayer unit and to send buffer cell, and the second encoder data sent in buffer cell is sent to driver; Record current time t
2;
If S4 data processing cycle T
1be greater than data communication cycle T
2, register value is increased by 1; When register value is greater than default threshold number, extend data communication cycle T
2;
Wherein, described data processing cycle T
1refer to the time to the second encoder data sent in buffer cell is sent to driver from data processing unit receives the first encoder data, T
1=t
2-t
1; Described data communication cycle T
2that finger actuator sends the time interval of the first encoder data by EtherCAT bus.
Preferably, when the second encoder data is sent to the second buffer sublayer unit, cover the data in the second buffer sublayer unit with the second encoder data.
Preferably, step S4 comprises:
If T
1> T
2, register value is increased by 1, and obtains data processing cycle T
1with data communication cycle T
2periodic inequality;
According to the first mapping relations that the standard deviation inquiry of the described periodic inequality obtained when described register value and each increase register value is preset, determine the prolongation amount of data communication cycle;
According to the prolongation amount of described data communication cycle, extend data communication cycle T
2.
Preferably, industrial robot motion control method according to the present invention comprises further:
When EtherCAT Frame has detected outside axis servomotor or I/O module access EtherCAT network, reconfigure the protocol stack of EtherCAT network.
Preferably, step S2 comprises:
If described user instruction is rectilinear motion or circular motion, described Kinematic Algorithms is defined as robot cartesian space Kinematic Algorithms;
According to the reduction gear ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location;
Carry out the computing of industrial robot normal solution, the joint space angle of described current location is converted into the cartesian space point coordinate of current location;
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, determined the spatial point coordinate of next movement position by interpolation operation;
Carry out the computing of industrial robot inverse solution, the spatial point coordinate transformation of next movement position is become the joint space angle of next movement position;
According to the reduction gear ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second encoder data.
Preferably, step S2 comprises:
If described user instruction is point-to-point motion, described Kinematic Algorithms is defined as robotic joint space Kinematic Algorithms;
According to the reduction gear ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location;
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, by interpolation operation determine next movement position joint space angle;
According to the reduction gear ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second encoder data.
According to another aspect of the present invention, provide a kind of industrial robot motion control system based on EtherCAT bus, comprising: control module, reception buffer cell, data processing unit, transmission buffer cell, register cell, data communication adjustment unit and data storage cell; Wherein,
Reception buffer cell comprises: first receives buffer sublayer unit and second receives buffer sublayer unit; First receives buffer sublayer unit for receiving each axle of industrial robot that sent by EtherCAT bus with memory driver the first encoder data in current location; The second encoder data that second reception buffer sublayer unit is sent by EtherCAT bus for receiving and store data processing unit;
Data processing unit is for judging whether the first buffer sublayer unit receives the first encoder data of driver transmission: if the first buffer sublayer unit receives the first encoder data, then obtain the first scrambler number by EtherCAT bus from the first buffer sublayer unit, if the first buffer sublayer unit does not receive the first encoder data, then the encoder data received for the last time using the second buffer sublayer unit is as the first encoder data and obtain the first encoder data by EtherCAT bus; Data processing unit is also for according to user instruction determination Kinematic Algorithms, based on the first encoder data and each axle of described Kinematic Algorithms determination industrial robot the second encoder data at next movement position, by EtherCAT bus, the second encoder data is sent to the second buffer sublayer unit and transmission buffer cell, and the second encoder data sent in buffer cell is sent to driver;
Data communication adjustment unit comprises: timer and register; Timer receives the moment t of the first encoder data for recording data processing unit
1, the second encoder data sent in buffer cell is sent to the moment t of driver
2;
Control module is for judging data processing cycle T
1whether be greater than data communication cycle T
2if: T
1> T
2, register value is increased by 1, when register value is greater than default threshold number, extends data communication cycle T
2;
Wherein, described data processing cycle T
1refer to the time to the second encoder data sent in buffer cell is sent to driver from data processing unit receives the first encoder data, T
1=t
2-t
1; Described data communication cycle T
2that finger actuator sends the time interval of the first encoder data by EtherCAT bus; Store the protocol stack of EtherCAT network in data storage cell, the protocol stack of described EtherCAT network comprises data communication cycle T
2.
Preferably, when the second encoder data is sent to the second buffer sublayer unit, cover the data in the second buffer sublayer unit with the second encoder data.
Preferably, described control module also for: if T
1> T
2, obtain data processing cycle T
1with data communication cycle T
2periodic inequality; Determine the standard deviation of the described periodic inequality obtained when at every turn increasing register value; Standard deviation according to described register value and described periodic inequality inquires about the first mapping relations preset, and determines the prolongation amount of data communication cycle; According to the prolongation amount of described data communication cycle, extend data communication cycle T
2;
The first mapping relations that the standard deviation inquiry storing register value and described periodic inequality in described data storage cell is preset.
Preferably, control module is further used for:
When EtherCAT Frame has detected outside axis servomotor or I/O module access EtherCAT network, reconfigure the protocol stack of EtherCAT network.
According to the industrial robot motion control method based on EtherCAT bus of the present invention, comprise: the second encoder data sent in buffer cell in the second encoder data of next movement position, and is sent to driver by the Kinematic Algorithms corresponding according to user instruction and each axle of the first encoder data determination industrial robot; If data processing cycle T
1be greater than data communication cycle T
2, register value is increased by 1; When register value is greater than default threshold number, extend data communication cycle T
2.The present invention carries out data synchronization transmissions by adopting EtherCAT bus, without the need to extra motion control card, simplifies the Hardware Design; By the encoder data that the second buffer sublayer unit receives for the last time being sent to data processing unit as the first encoder data when the first buffer sublayer unit does not receive the first encoder data, the continuity of industrial robot motion can be improved; By comparing data processing cycle and data communication cycle and when register value is greater than default threshold number, extending data communication cycle, the validity of data transmission in robot kinematics can be improved.
Present invention also offers a kind of industrial robot motion control system based on EtherCAT bus, this system has all beneficial effects of said method.
Accompanying drawing explanation
By the embodiment part provided referring to accompanying drawing, the features and advantages of the present invention will become easier to understand, in the accompanying drawings:
Fig. 1 illustrates the schematic diagram according to the industrial robot motion control system based on EtherCAT bus of the present invention.
Embodiment
With reference to the accompanying drawings illustrative embodiments of the present invention is described in detail.Be only for demonstration object to the description of illustrative embodiments, and be never the restriction to the present invention and application or usage.
In prior art, the framework of the many employings of industrial robot motion control method " computing machine+motion control card ", computing machine carries out the computing of industrial robot kinematics algorithm, motion control card, by resolving each number of axle of industrial robot according to sending to each axis servomotor of industrial robot by hardware timing mode simultaneously, controls each axle of industrial robot and moves simultaneously.This control mode needs to increase extra motion control card, and is not easy to carry out system extension.The present invention carries out data synchronization transmissions by adopting EtherCAT bus, without the need to extra motion control card, simplifies the Hardware Design.
In industrial robot motion control procedure, driver sends first encoder data of industrial robot in current location by EtherCAT bus to receiving buffer cell, data processing unit calculates industrial robot each axle in the second encoder data of next movement position according to the first encoder data and sends to driver, by driver control industrial robot motion to next movement position.In order to improve accuracy and the continuity of industrial robot motion track, the movement position of industrial robot on movement locus can be made as far as possible many.Definition data processing cycle T
1for the time receiving the first encoder data from data processing unit to the second encoder data is sent to driver, data communication cycle T
2for driver to send the time interval of the first encoder data by EtherCAT bus.The quantity of industrial robot motion position, often by the impact of data communication cycle, such as, works as T
1< T
2time, when industrial robot motion control procedure just starts, industrial robot is positioned at the first movement position, first encoder data of the first movement position is sent to after in the first buffer sublayer unit by driver, data processing unit can obtain the first encoder data and the first encoder data be changed into after the second encoder data sends to driver, industrial robot can move to second movement position under the driving of driver, due to T
1< T
2, driver can not send first encoder data of industrial robot at second movement position by EtherCAT bus at once again, only have when this data communication cycle terminates and enters next data communication cycle, driver just can send first encoder data of industrial robot at second movement position again, all likely there is above-mentioned situation in any one the movement position place after second movement position, thus cause the effective exercise number of positions of industrial robot on movement locus less, reduce the accuracy of industrial robot motion TRAJECTORY CONTROL.
In order to address this problem, according to the industrial robot motion control method based on EtherCAT bus of the present invention, first judge to receive the first buffer sublayer unit of buffer cell in step sl and whether receive each axle of industrial robot that driver sent by EtherCAT bus the first encoder data in current location; If the first buffer sublayer unit receives the first encoder data, then the first scrambler number is sent to the data processing unit of EtherCAT master station; If the first buffer sublayer unit does not receive the first encoder data, then the encoder data that the second buffer sublayer unit receiving buffer cell receives for the last time is sent to described data processing unit as the first encoder data.Can ensure in this way to work as T by adopting
1< T
2time, data processing unit constantly obtains the first encoder data, thus increases the effective exercise number of positions of industrial robot on movement locus, improves the accuracy of industrial robot motion TRAJECTORY CONTROL.
The first encoder data in the present invention can comprise: the status word of the driver corresponding with each axle of industrial robot, current location, present speed and current torque.
The moment that data processing unit receives the first encoder data is designated as t
1.
S2, according to user instruction determination Kinematic Algorithms, based on the first encoder data and each axle of described Kinematic Algorithms determination industrial robot the second encoder data at next movement position.The second coded message in the present invention can comprise: the control word of driver, next movement position, next movement velocity and next motive torque.
According to a preferred embodiment of the present invention, step S2 comprises:
If user instruction is rectilinear motion or circular motion, Kinematic Algorithms is defined as robot cartesian space Kinematic Algorithms;
According to the reduction gear ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location;
Carry out the computing of industrial robot normal solution, the joint space angle of current location is converted into the cartesian space point coordinate of current location;
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, determined the spatial point coordinate of next movement position by interpolation operation;
Carry out the computing of industrial robot inverse solution, the spatial point coordinate transformation of next movement position is become the joint space angle of next movement position;
According to the reduction gear ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second encoder data.
According to another preferred embodiment of the present invention, step S2 comprises:
If user instruction is point-to-point motion, Kinematic Algorithms is defined as robotic joint space Kinematic Algorithms;
According to the reduction gear ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location;
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, by interpolation operation determine next movement position joint space angle;
According to the reduction gear ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second encoder data.
S3, by EtherCAT bus the second encoder data to be sent to the second buffer sublayer unit and to send buffer cell, and the second encoder data sent in buffer cell is sent to driver.When second encoder data is sent to the second buffer sublayer unit, the second encoder data can directly be stored in the second buffer sublayer unit, and the second encoder data also can be made to cover data in the second buffer sublayer unit.The moment that the second encoder data sent in buffer cell is sent to driver is designated as t
2, then data processing cycle T
1=t
2-t
1.
Work as T
1> T
2time, data processing unit obtains the first encoder data, the first encoder data is converted into the second encoder data and sends to the frequency of driver to be less than driver sends frequency from the first encoder data to reception buffer cell, the quantity of the second encoder data of now driver reception is less than the quantity of the first encoder data that it sends, the quantity of the effective exercise position of industrial robot is reduced, is unfavorable for the accuracy improving industrial robot motion TRAJECTORY CONTROL.
In order to prevent the generation of this situation, industrial robot motion control method of the present invention also comprises step S4 after step s 3: if data processing cycle T
1be greater than data communication cycle T
2, register value is increased by 1; When register value is greater than default threshold number, extend data communication cycle T
2.Preferably, step S4 comprises:
If T
1> T
2, register value is increased by 1, and obtains data processing cycle T
1with data communication cycle T
2periodic inequality;
According to the first mapping relations that the standard deviation inquiry of the periodic inequality obtained when register value and each increase register value is preset, determine the prolongation amount of data communication cycle;
According to the prolongation amount of data communication cycle, extend data communication cycle T
2.
In actual application, sometimes need to access outside axis servomotor or I/O module in EtherCAT network.In addition, because industrial robot motion control method of the present invention is without the need to extra motion control card, therefore the Hardware Design is simple, is more conducive to the expansion of industrial robot motion control system.In order to improve the reaction velocity of outside axis servomotor or I/O module and improve the efficiency that industrial robot motion controls, industrial robot motion control method of the present invention can further include:
When EtherCAT Frame has detected outside axis servomotor or I/O module access EtherCAT network, reconfigure the protocol stack of EtherCAT network, avoid in prior art owing to reconfiguring the impact of protocol stack on industrial robot motion control efficiency after power-off.
Based on the industrial robot motion control system of industrial robot motion control method of the present invention, comprising: control module (not shown), reception buffer cell 20, data processing unit 10, transmission buffer cell 40, register cell (not shown), data communication adjustment unit (not shown) and data storage cell (not shown); Wherein,
Receive buffer cell 20 to comprise: first receives buffer sublayer unit 21 and second receives buffer sublayer unit 22; First receives buffer sublayer unit 21 for receiving each axle of industrial robot that sent by EtherCAT bus with memory driver 30 the first encoder data in current location; Second receives buffer sublayer unit 22 for receiving and store the second encoder data that data processing unit is sent by EtherCAT bus;
Data processing unit is for judging whether the first buffer sublayer unit 21 receives the first encoder data of driver 30 transmission: if the first buffer sublayer unit 21 receives the first encoder data, then obtain the first scrambler number by EtherCAT bus from the first buffer sublayer unit 21, if the first buffer sublayer unit 21 does not receive the first encoder data, then the encoder data received for the last time using the second buffer sublayer unit 22 is as the first encoder data and obtain the first encoder data by EtherCAT bus; Data processing unit is also for according to user instruction determination Kinematic Algorithms, based on the first encoder data and each axle of Kinematic Algorithms determination industrial robot the second encoder data at next movement position, by EtherCAT bus, the second encoder data is sent to the second buffer sublayer unit 22 and transmission buffer cell 40, and the second encoder data sent in buffer cell 40 is sent to driver 30;
Data communication adjustment unit comprises: timer and register; Timer receives the moment t of the first encoder data for recording data processing unit
1, the second encoder data sent in buffer cell 40 is sent to the moment t of driver 30
2;
Control module is for judging data processing cycle T
1whether be greater than data communication cycle T
2if: T
1> T
2, register value is increased by 1, when register value is greater than default threshold number, extends data communication cycle T
2;
Wherein, data processing cycle T
1refer to the time to the second encoder data sent in buffer cell 40 is sent to driver from data processing unit receives the first encoder data, T
1=t
2-t
1; Data communication cycle T
2that finger actuator sends the time interval of the first encoder data by EtherCAT bus; Store the protocol stack of EtherCAT network in data storage cell, the protocol stack of EtherCAT network comprises data communication cycle T
2.
Preferably, when the second encoder data is sent to the second buffer sublayer unit 22, cover the data in the second buffer sublayer unit 22 with the second encoder data.
Preferably, control module also for: if T
1> T
2, obtain data processing cycle T
1with data communication cycle T
2periodic inequality; Determine the standard deviation of the periodic inequality obtained when at every turn increasing register value; Standard deviation according to register value and described periodic inequality inquires about the first mapping relations preset, and determines the prolongation amount of data communication cycle; According to the prolongation amount of data communication cycle, extend data communication cycle T
2;
The first mapping relations that the standard deviation inquiry storing register value and periodic inequality in data storage cell is preset.
Preferably, control module is further used for:
When EtherCAT Frame has detected outside axis servomotor or I/O module access EtherCAT network, reconfigure the protocol stack of EtherCAT network.
The present invention carries out data synchronization transmissions by adopting EtherCAT bus, without the need to extra motion control card, simplifies the Hardware Design; By the encoder data that the second buffer sublayer unit receives for the last time being sent to data processing unit as the first encoder data when the first buffer sublayer unit does not receive the first encoder data, the continuity of industrial robot motion can be improved; By comparing data processing cycle and data communication cycle and when register value is greater than default threshold number, extending data communication cycle, the validity of data transmission in robot kinematics can be improved.
Although with reference to illustrative embodiments, invention has been described, but be to be understood that, the present invention is not limited in literary composition the embodiment described in detail and illustrate, when not departing from claims limited range, those skilled in the art can make various change to described illustrative embodiments.
Claims (10)
1., based on an industrial robot motion control method for EtherCAT bus, comprising:
S1, judge to receive the first buffer sublayer unit of buffer cell and whether receive each axle of industrial robot that driver sent by EtherCAT bus the first encoder data in current location; If the first buffer sublayer unit receives the first encoder data, then the first scrambler number is sent to the data processing unit of EtherCAT master station; If the first buffer sublayer unit does not receive the first encoder data, then the encoder data that the second buffer sublayer unit receiving buffer cell receives for the last time is sent to described data processing unit as the first encoder data; Record current time t
1;
S2, according to user instruction determination Kinematic Algorithms, based on the first encoder data and each axle of described Kinematic Algorithms determination industrial robot the second encoder data at next movement position;
S3, by EtherCAT bus the second encoder data to be sent to the second buffer sublayer unit and to send buffer cell, and the second encoder data sent in buffer cell is sent to driver; Record current time t
2;
If S4 data processing cycle T
1be greater than data communication cycle T
2, register value is increased by 1; When register value is greater than default threshold number, extend data communication cycle T
2;
Wherein, described data processing cycle T
1refer to the time to the second encoder data sent in buffer cell is sent to driver from data processing unit receives the first encoder data, T
1=t
2-t
1; Described data communication cycle T
2that finger actuator sends the time interval of the first encoder data by EtherCAT bus.
2. industrial robot motion control method as claimed in claim 1, wherein, when the second encoder data is sent to the second buffer sublayer unit, covers the data in the second buffer sublayer unit with the second encoder data.
3. industrial robot motion control method as claimed in claim 1, wherein, step S4 comprises:
If T
1> T
2, register value is increased by 1, and obtains data processing cycle T
1with data communication cycle T
2periodic inequality;
According to the first mapping relations that the standard deviation inquiry of the described periodic inequality obtained when described register value and each increase register value is preset, determine the prolongation amount of data communication cycle;
According to the prolongation amount of described data communication cycle, extend data communication cycle T
2.
4. industrial robot motion control method as claimed in claim 1, comprises further:
When EtherCAT Frame has detected outside axis servomotor or I/O module access EtherCAT network, reconfigure the protocol stack of EtherCAT network.
5. the industrial robot motion control method as described in as arbitrary in claim 1-4, wherein, step S2 comprises:
If described user instruction is rectilinear motion or circular motion, described Kinematic Algorithms is defined as robot cartesian space Kinematic Algorithms;
According to the reduction gear ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location;
Carry out the computing of industrial robot normal solution, the joint space angle of described current location is converted into the cartesian space point coordinate of current location;
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, determined the spatial point coordinate of next movement position by interpolation operation;
Carry out the computing of industrial robot inverse solution, the spatial point coordinate transformation of next movement position is become the joint space angle of next movement position;
According to the reduction gear ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second encoder data.
6. the industrial robot motion control method as described in as arbitrary in claim 1-4, wherein, step S2 comprises:
If described user instruction is point-to-point motion, described Kinematic Algorithms is defined as robotic joint space Kinematic Algorithms;
According to the reduction gear ratio of each axle of industrial robot, the first encoder data is converted into the joint space angle of current location;
Judge that industrial robot is in acceleration section, at the uniform velocity section or braking section according to the kinematic parameter of industrial robot, by interpolation operation determine next movement position joint space angle;
According to the reduction gear ratio of each axle of industrial robot, the joint space angle of next movement position is converted into the second encoder data.
7. based on an industrial robot motion control system for EtherCAT bus, it is characterized in that comprising: control module, reception buffer cell, data processing unit, transmission buffer cell, register cell, data communication adjustment unit and data storage cell; Wherein,
Reception buffer cell comprises: first receives buffer sublayer unit and second receives buffer sublayer unit; First receives buffer sublayer unit for receiving each axle of industrial robot that sent by EtherCAT bus with memory driver the first encoder data in current location; The second encoder data that second reception buffer sublayer unit is sent by EtherCAT bus for receiving and store data processing unit;
Data processing unit is for judging whether the first buffer sublayer unit receives the first encoder data of driver transmission: if the first buffer sublayer unit receives the first encoder data, then obtain the first scrambler number by EtherCAT bus from the first buffer sublayer unit, if the first buffer sublayer unit does not receive the first encoder data, then the encoder data received for the last time using the second buffer sublayer unit is as the first encoder data and obtain the first encoder data by EtherCAT bus; Data processing unit is also for according to user instruction determination Kinematic Algorithms, based on the first encoder data and each axle of described Kinematic Algorithms determination industrial robot the second encoder data at next movement position, by EtherCAT bus, the second encoder data is sent to the second buffer sublayer unit and transmission buffer cell, and the second encoder data sent in buffer cell is sent to driver;
Data communication adjustment unit comprises: timer and register; Timer receives the moment t of the first encoder data for recording data processing unit
1, the second encoder data sent in buffer cell is sent to the moment t of driver
2;
Control module is for judging data processing cycle T
1whether be greater than data communication cycle T
2if: T
1> T
2, register value is increased by 1, when register value is greater than default threshold number, extends data communication cycle T
2;
Wherein, described data processing cycle T
1refer to the time to the second encoder data sent in buffer cell is sent to driver from data processing unit receives the first encoder data, T
1=t
2-t
1; Described data communication cycle T
2that finger actuator sends the time interval of the first encoder data by EtherCAT bus; Store the protocol stack of EtherCAT network in data storage cell, the protocol stack of described EtherCAT network comprises data communication cycle T
2.
8. industrial robot motion control system as claimed in claim 7, wherein, when the second encoder data is sent to the second buffer sublayer unit, covers the data in the second buffer sublayer unit with the second encoder data.
9. industrial robot motion control system as claimed in claim 7, wherein,
Described control module also for: if T
1> T
2, obtain data processing cycle T
1with data communication cycle T
2periodic inequality; Determine the standard deviation of the described periodic inequality obtained when at every turn increasing register value; Standard deviation according to described register value and described periodic inequality inquires about the first mapping relations preset, and determines the prolongation amount of data communication cycle; According to the prolongation amount of described data communication cycle, extend data communication cycle T
2;
The first mapping relations that the standard deviation inquiry storing register value and described periodic inequality in described data storage cell is preset.
10. industrial robot motion control system as claimed in claim 7, wherein, control module is further used for:
When EtherCAT Frame has detected outside axis servomotor or I/O module access EtherCAT network, reconfigure the protocol stack of EtherCAT network.
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| CN106650031A (en) * | 2016-11-29 | 2017-05-10 | 南京熊猫电子股份有限公司 | Method for automatically setting tool parameters of industrial robot |
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