机器人操作系统EtherCAT技术研究  

Research on EtherCAT Technology Based on Robot Operating System

作　　者：郝继锋[1] 叶宏[1] 吕广喆[1] HAO Ji-feng;YE Hong;LV Guang-zhe(Xi′an Aeronautics Computing Technique Research Institute,AVIC,Xi′an 710068,China)

机构地区：[1]航空工业西安航空计算技术研究所,陕西西安710068

出　　处：《航空计算技术》2020年第3期77-81,共5页Aeronautical Computing Technique

基　　金：国家重点研发计划项目资助(2017YFB1301104)。

摘　　要：标准以太网采用CSMA/CD方式,无法保证延迟时间和通信响应,导致其不能满足工业控制领域的实时性需求,为了提高工业机器人的运动精度,其通信系统通常采用EtherCAT实时以太网,介绍其帧结构、状态机、三层架构,调研典型的商业、开源EtherCAT主站软件,针对开源SOEM 1.3.3版本主站库,重点研究其层级架构、API接口、EtherCAT帧收发过程,并提出SOEM 1.3.3版本主站库在RTEMS实时操作系统上的移植方法。The standard ethernet adopts CSMA/CD mode,which can′t guarantee the delay time and communication response,resulting in its failure to meet real-time requirements of industrial control field.To improve the kinematics accuracy of an industrial robot,the communication system usually adopts EtherCAT real-time ethernet,and introduces the frame structure,the state machine,three layer architecture,and then give a survey of commercial,open-source EtherCAT master software,in the view of open-source SOEM 1.3.3,focuses on its hierarchical structure,API interface,EtherCAT frame sending and receiving process,and propose a scheme to port SOEM 1.3.3 on RTEMS real-time operating system.

关 键 词：标准以太网 CSMA/CD 实时性 工业机器人 ETHERCAT 实时以太网 SOEM RTEMS 

分 类 号：TP316.2[自动化与计算机技术—计算机软件与理论]