基于EtherCAT总线的工业机器人控制系统设计

摘要

为了简化工业机器人控制系统结构,降低工业机器人运动控制器硬件成本,提出了一种基于x86平台和EtherCAT总线的实时工业机器人运动控制器设计.借助Windows可扩展内核的特性,使用RTX64作为控制系统的实时内核,并使用Kingstar Motion作为EtherCAT主站,搭建了一个工业机器人的实时控制系统.使用共享内存实现实时系统和Windows内核的数据交换,实现了在Windows内核中对实时内核程序的指令下达和状态查看,在RTX内核中使用多线程方式实现了对驱动器多种不同类型数据的处理.实验表明,该控制系统具有良好的实时响应性能,能够满足工业机器人的控制要求.%In order to simplify the structure of industrial robot control systems and cut down the hardware cost of the robot controller, the design of a real-time industrial robot controller is proposed based on x86 platform and EtherCAT. Thanks to the extensible kernel of Windows, the RTX64 real-time kernel is used as the extended kernel of the control system, and Kingstar Motion is then installed on the real time kernel as the EtherCAT master. The robot control system is then established on the system. It uses shared memory to ex-change data with Windows, which enables the control and status feedback in the Windows kernel. Different types of data is dealt with in the RTX kernel using a multi-thread technology. Experiments show that this control system has a good real time response quality, which satisfies the requirement of the industrial robot.