• DocumentCode
    3660288
  • Title

    EtherCAT based robot modular joint controller

  • Author

    Zhaoming Liu;Nailong Liu;Tao Zhang;Long Cui;Hongyi Li

  • Author_Institution
    State Key Laboratory of Robotics, Shenyang Institute of Automation (SIA), Chinese Academy of Sciences (CAS), Liaoning Province, China
  • fYear
    2015
  • Firstpage
    1708
  • Lastpage
    1713
  • Abstract
    EtherCAT technology is originally developed by Beckhoff. EtherCAT is by and large the fastest industrial Ethernet technology, and it also synchronizes with nanosecond accuracy. EtherCAT sets new standards for real-time performance and topology flexibility. In this paper, the development of EtherCAT based robot modular joint controller is introduced. This paper describes the hardware and software design, such as PDI design, Slave Stack Code, CiA402 Driver Profile, device description file design and so on. At last, experiments are implemented to test the controller.
  • Keywords
    "Joints","Hardware","Robot sensing systems","Service robots","Synchronization","Protocols"
  • Publisher
    ieee
  • Conference_Titel
    Information and Automation, 2015 IEEE International Conference on
  • Type

    conf

  • DOI
    10.1109/ICInfA.2015.7279562
  • Filename
    7279562
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3660288