摘要
Abstract
To enhance the configuration efficiency and flexibility of the EtherCAT bus in industrial robot systems,and to address the cumber-some operations associated with changes in the number of devices and connection order in traditional methods,a dynamic configuration meth-od based on the EtherCAT master stack IgH is proposed.Before system startup,the bus devices are automatically scanned,generating configu-ration files and description files for the slave devices.By reading these files,the PDO index addresses,parameter addresses,and parameter at-tributes of each slave device are dynamically configured,ultimately creating a mapping object table for all slave devices on the EtherCAT bus.This method successfully achieves automated bus initialization,eliminating the complexity of manual configuration.Through dynamic configu-ration,the system can flexibly adapt to changes in device quantity and connection order,significantly enhancing its adaptability.The proposed dynamic configuration method effectively improves both the configuration efficiency and flexibility of EtherCAT bus systems in industrial ro-bots,offering significant practical value.关键词
EtherCAT/IgH主站/工业机器人/从站自动配置/伺服电机驱动器Key words
EtherCAT/IgH master/industrial robot/slave automatic configuration/servo motor drives分类
计算机与自动化
