Method for communication between upper controller for controlling movement of robot arm and main controller for driving many articulations of robot arm

摘要

PURPOSE: A communication method between the main controllers is provided to effectively control a plurality of shafts in a multi-joint robot by executing data packet communication which comprises a control command field, a termination field, a mode filed, and a starting field. CONSTITUTION: A host controller(101) connects to a communication module(102). The host controller transmits data packets to the communication module according to a predetermined communication protocol thorough an interface. A main controller(103) monitors state information of a multi-joint robot. The main controller loads the state information of the multi-joint robot to a data packet. The main controller transmits the data packet to the host controller through the communication module according to the predetermined communication protocol. [Reference numerals] (101) PC etherCAT Main & GUI; (102) EtherCAT/CAN communication module; (AA,CC) Internal clock:150MHz; (BB) SPI communication