Apparatus for precise-adjustment of frame transmission time in the motion control system based on EtherCAT method thereof and computer recordable medium storing the method

摘要

The present invention relates to an apparatus for correcting a frame transmission time, a method therefor and a computer-readable recording medium on which the method is recorded. The present invention relates to a motion control task including a Publish Phase for transmitting a control command-containing frame to a motor drive And a free runtime executable file for collecting the measurement data, which is a parameter related to the motion control task execution time, on the road while the motion controller executes the motion control task with the road by way of the road through the communication unit via the road by way of the communication controller The data collection module that generates and transmits to the motion controller through the road and the road collected by the motion controller through the communication section through the road. The measurement data is received from the motion controller through the road, and the received measurement data is analyzed to transfer the frame to the road. The offset is the offset to delay the start point, the offset to the data analysis module to derive the range, the offset to determine the offset within the range, and the offset to be determined as the transmission step. And a transmission time reflecting module for transmitting the generated execution file to a motion controller, and a device for correcting a frame transmission time, a method therefor, and a computer readable recording medium storing the method Thereby providing a recording medium.;