Ngophuhliso lwe-automation ye-industrial, iirobhothi zisetyenziswa ngakumbi kwimigca yokuvelisa. Ukuze ufezekise ukulawulwa kwentshukumo echanekileyo kunye nechanekileyo, ukunyakaza kweerobhothi ezininzi ze-axis kufuneka kukwazi ukufezekisa ukusebenza okuhambelanayo, okunokuphucula ukuchaneka kwentshukumo kunye nokuzinza kweerobhothi kunye nokufezekisa ukusebenza kakuhle komgca wokuvelisa. Ngexesha elifanayo, likwabonelela ngesiseko somsebenzi wentsebenziswano kunye nokulawulwa ngokubambisana kweerobhothi, ukwenzela ukuba iirobhothi ezininzi zikwazi ukulungelelanisa ukunyakaza ngexesha elifanayo ukugqiba imisebenzi enzima ngakumbi. Iprotocol ye-Ethernet ye-real-time deterministic esekelwe kwi-EtherCAT isinika isisombululo esinokubakho.
I-EtherCAT yinkqubo ephezulu yokusebenza, ixesha langempela lonxibelelwano lwe-Ethernet yezoshishino eyenza ukuhanjiswa kwedatha ngokukhawuleza kunye nokusebenza ngokubambisana phakathi kwee-nodes ezininzi. Kwi-multi-axis inkqubo yokulawula intshukumo yeerobhothi, i-protocol ye-EtherCAT ingasetyenziselwa ukuqonda ukuhanjiswa kwemiyalelo kunye namaxabiso ereferensi phakathi kweendawo zokulawula kunye nokuqinisekisa ukuba ziyadityaniswa newotshi eqhelekileyo, ngaloo ndlela ivumela inkqubo yolawulo lwentshukumo ye-multi-axis ukufezekisa umsebenzi ohambelanayo. Olu ngqamaniso lunemiba emibini. Okokuqala, ukuhanjiswa kwemiyalelo kunye namaxabiso ereferensi phakathi kwendawo nganye yolawulo kufuneka idityaniswe newotshi eqhelekileyo; okwesibini, ukuphunyezwa kolawulo algorithms kunye nemisebenzi ingxelo kufuneka kwakhona ingqamaniso kunye iwotshi efanayo. Indlela yokuqala yongqamaniso iqondwe kakuhle kwaye ibe yinxalenye yendalo yabalawuli benethiwekhi. Nangona kunjalo, indlela yesibini yongqamaniso ayizange ihoywe kwixesha elidlulileyo kwaye ngoku iba ngumqobo wokusebenza kokulawula ukunyakaza.
Ngokukodwa, i-robot ye-EtherCAT esekelwe kwi-multi-axis indlela yokulawula i-synchronous motion control ibandakanya iinkalo ezimbini eziphambili zokuvumelanisa: ukulungelelaniswa kokuhanjiswa kwemiyalelo kunye namaxabiso okubhekisela, kunye nokulungelelaniswa kokusetyenziswa kwe-algorithms yokulawula kunye nemisebenzi yempendulo.
Ngokubhekiselele kwi-synchronization yothunyelo lwemiyalelo kunye nemilinganiselo yereferensi, ii-nodes zokulawula zihambisa imiyalelo kunye nemilinganiselo yereferensi ngokusebenzisa inethiwekhi ye-EtherCAT. Le miyalelo kunye nemilinganiselo yereferensi kufuneka idityaniswe phantsi kolawulo lwewotshi eqhelekileyo ukuqinisekisa ukuba indawo nganye yenza ulawulo lwentshukumo ngexesha elinye. Iprotocol ye-EtherCAT ibonelela ngesantya esiphezulu sokuhanjiswa kwedatha kunye nendlela yokuvumelanisa ukuqinisekisa ukuba ukuhanjiswa kwemiyalelo kunye nexabiso lereferensi ichanekile kwaye lixesha lokwenyani.
Kwangaxeshanye, ngokwemigaqo yokwenziwa kongqamaniso lwe-algorithms yolawulo kunye nemisebenzi yeempendulo, i-node yolawulo nganye kufuneka iqhube i-algorithm yokulawula kunye nomsebenzi weempendulo ngokwewotshi efanayo. Oku kuqinisekisa ukuba i-node nganye yenza imisebenzi ngexesha elifanayo, ngaloo ndlela iqonda ulawulo lwe-synchronous lwe-multi-axis motion. Olu ngqamaniso lufuna ukuxhaswa kumanqanaba e-hardware kunye nesoftware ukuqinisekisa ukuba ukwenziwa kweenodi zolawulo kuchanekile kakhulu kwaye lixesha langempela.
Isishwankathelo, i-robot ye-EtherCAT esekwe kwi-multi-axis yolawulo lwe-synchronous yokulawula intshukumo iqonda ukuhanjiswa kwemiyalelo kunye namaxabiso ereferensi kunye nokwenza ungqamaniso lwe-algorithms yolawulo kunye nemisebenzi yengxelo ngenkxaso ye-real-time deterministic Ethernet protocol. Le ndlela ibonelela ngesisombululo esithembekileyo sokulawulwa kwentshukumo ye-multi-axis yeerobhothi kwaye izisa amathuba amatsha kunye nemingeni ekuphuhlisweni kwe-automation ye-industrial.
Ixesha lokuposa: Feb-20-2025
