全數位軟體運動控制平台 2023/07/11

簡介 Introductions

EMP-S以EtherCAT通訊作為基礎，使用者透過乙太網路傳送資料封包至EtherCAT從站(例如：伺服驅動器、周邊I/O模組)進行資料交換，在通訊架構上為分散式時脈(DC)，提供一相容於 EtherCAT通訊協定的運動控制函式庫(MCCL)，可以讓驅動器及I/O模組的命令更新週期達到250 μs，保證各從站間同步誤差小於1 μs；有別於傳統運動控制系統，EMP-S不需額外的硬體，只需透過標準網路卡即具備多軸運動控制能力，並在配線上具有彈性及靈活等優勢。

The EMP-S is based on the Ethernet for Control Automation Technology (EtherCAT) communication protocol. The EtherCAT master motion control command library (MCCL) sends the command data as packets through the Ethernet network to the EtherCAT slaves (such as servo drives and IO modules), which respond with feedback data via the same network. Distributed Clocks (DC) are used in the communication layer, allowing the servo driver and the IO modules to reach 250 μs updating command cycles. For high-precision synchronization applications, it has been verified a synchronization delay of less than 1 μs. Unlike traditional motion control systems, the EMP-S neglects additional hardware, yet remains capable of running multi-axis motion control via a standardized network. One of the main advantages of the EMP-S is its wiring flexibility.

特色與創新 Characters and Innovations

• 支援EtherCAT通訊控制伺服驅動器、I/O模組。
• 支援多軸同動運動命令路徑規劃。
• 支援關節型機器手臂軌跡規劃。
• Supports EtherCAT control servo drive, and I/O module.
• Supports multi-axis simultaneous motion path planning.
• Supports articulated robot arm trajectory planning.

應用與效益 Applications and Benefits

• 全數位網路多軸精密伺服控制。
• 高響應及高效能的工業控制產業。
• Digital multi-axis high-precision servo control.
• High-response and high-efficiency in industrial control.

聯絡 contact

• 李峰吉 Feng-Chi Lee
• TEL:886-3-59193725
• FAX:886-3-5826594
• E-mail: lifengchi@itri.org.tw

更多資訊

全數位運動控制平台架構  EtherCAT Motion Control Platform-Softmotion (EMP-S) Structure

運動控制函式庫  Motion Control Command Library(MCCL)