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Alternative TitleModular robot driver based on EtherCAT and control method
张涛; 刘钊铭; 李涛; 张峰; 袁顺宁; 赵亮; 李伟; 崔龙; 李洪谊
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Other AbstractThe invention relates to a modular joint driver using the EtherCAT bus communication technology. The modular robot driver comprises a core controller, a motor driving unit, a HALL encoder circuit, an NRZ code disc circuit, a band-type brake circuit, a torque sensor bridge circuit, an RS232 communication circuit, an EtherCAT communication circuit, a power source, a state display circuit, an STO and I/O circuit and an application layer program. A control method includes the steps that the core controller executes the program, operates an algorithm and drives a motor to finish three closed loops and realize communication with a mainframe; an ESC control chip and a PHY chip are used for realizing communication of a data link layer and a physical layer of an EtherCAT protocol; the program is written on the core controller to realize the functions of an application layer. The modular robot joint driving control method and device using an EtherCAT bus are high in practicability, reliability, communication speed and integration degree, low in cost and small in size.
PCT Attributes
Application Date2014-11-26
Date Available2016-08-17
Application NumberCN201410699089.5
Open (Notice) NumberCN104589367B
Contribution Rank1
Document Type专利
Recommended Citation
GB/T 7714
张涛,刘钊铭,李涛,等. 基于EtherCAT的模块化机器人驱动器和控制方法[P]. 2015-05-06.
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