基于软PLC和EtherCAT总线的DELTA2机器人控制系统设计与实现  

Design and Implementation of DELTA2 Robot Control System Based on Soft-PLC and EtherCAT

作　　者：陈健[1,2] 杨亚威[2] 郑天江[2] 宋孙浩[2] 

机构地区：[1]浙江省特种设备检验研究院,浙江杭州310016 [2]中国科学院宁波材料技术与工程研究所,浙江宁波315201

出　　处：《机床与液压》2015年第21期42-45,共4页Machine Tool & Hydraulics

基　　金：宁波市科技计划项目(2014D10008)

摘　　要：由于传统PLC需要依赖于特定的软硬件,其硬件、软件系统封闭,系统开放性和扩展性不足,并且现场数据传输实时性不高。针对这些问题,提出了一种利用实时以太网EtherCAT协议通讯,基于PC的软PLC运动控制方案。该方案通讯总线采用分布式时钟技术,使用标准以太网协议,无需专用网卡,便能够实现多轴精确同步控制,适合高速机器人的高精度伺服控制。通过在DELTA2高速并联机器人上的测试分析,结果表明:该控制方案使机器人的运动控制性能得到了很大的提升。Most of traditional PLC rely on special hardware or software,their software and hardware system are unique and closed,with insufficient openess and expansibility,and field data has low real time transmission ratio. Aimed at these problems,a soft-programmable logical controller( PLC) motion control scheme was presented based on industrial personal computer( IPC) which utilized EtherCAT fieldbus protocol communication. The communication bus of scheme had functions of distributed clock technology,with using of standard ethernet protocols,without special network card,which was able to implement synchro-control of multiple-spindle with high accuracy,suitable for high speed robot in need of high precision servo control. Experimental analysis was carried out on the high speed parallel robot DETLA2 by using this scheme. The result shows that the control scheme makes the motion control performance of robot a great improvement.

关 键 词：软PLC ETHERCAT DELTA2 电子凸轮 

分 类 号：TP39[自动化与计算机技术—计算机应用技术] TP241[自动化与计算机技术—计算机科学与技术]