基于EtherCAT总线的涂胶机器人控制系统设计

Design of Coating Robot Control System Based on EtherCAT Bus

针对塑料产品由于涂胶不均匀导致成品粘合不牢固、不平整的质量问题,提出了基于EtherCAT总线的涂胶机器人控制系统。基于倍福公司EtherCAT技术设计了涂胶可控通信涂胶机器人的控制系统,采用EtherCAT总线实现实时通信;提出了基于LinuxCNC开发的硬件抽象层的主站部分软件体系;从站部分采用倍福公司的通信芯片ET1100和三星公司的从站控制芯片S3C2440A。应用结果表明:该设计可方便进行设备升级,提高了系统的实时性。该系统大幅度提高了设备生产的良品率。

Aiming at the shortcomings of the bonding of the finished plastic products due to the uneven adhesion of the finished product,the adhesive control system based on the Ether CAT bus was proposed. The control system of the gluecontrollable communication glue robot was designed by using the EtherCAT technology of Beckhoff, and the communication principle of using EtherCAT to improve real-time was introduced. The software system of the master part of the hardware abstraction layer based on LINUXCNC was proposed. Slave section details Beckhoff ET1100 chip communication control chip and Samsung S3 C2440 A slave role and designed principles of this system. Application results show that this design not only facilitates the upgrading of equipment,but also improves the real-time system,which can greatly improve the yield of equipment production.