Multi-axis igenzurwa ryimikorere ya robo ishingiye kuri EtherCAT

Hamwe niterambere ryimikorere yinganda, robot zikoreshwa cyane mumirongo yumusaruro. Kugirango ugere ku kugenzura neza kandi neza, kugendagenda kwinshi kwa robo bigomba kuba bigera kubikorwa bikora, bishobora kunoza imikorere yimikorere ya robo kandi bigakorwa neza. Muri icyo gihe, iratanga kandi ishingiro ryumurimo wo gukorana no kugenzura imashini za robo, kugirango robot nyinshi zishobore guhuza icyerekezo icyarimwe kugirango zirangize imirimo ikomeye. Porotokole ya Ethernet nyayo-nyayo ishingiye kuri EtherCAT iduha igisubizo gishoboka.

EtherCAT ni imikorere-yohejuru, nyayo-nganda-nganda-itumanaho ya Ethernet itumanaho ituma amakuru yihuta kandi akanahuza ibikorwa byinshi. Muri sisitemu yo kugenzura ibintu byinshi bya robo, protocole ya EtherCAT irashobora gukoreshwa mugutahura ihererekanyabubasha ryamabwiriza nagaciro kerekana hagati yimikorere igenzura kandi ikemeza ko bihujwe nisaha imwe, bityo bigafasha sisitemu yo kugenzura ibyerekezo byinshi kugirango igere kumikorere. Uku guhuza ibintu bifite ibintu bibiri. Ubwa mbere, ihererekanyabubasha ryamabwiriza nindangagaciro hagati ya buri igenzura rigomba guhuzwa nisaha rusange; icya kabiri, ikorwa rya kugenzura algorithms nibikorwa byo gutanga ibitekerezo nabyo bigomba guhuzwa nisaha imwe. Uburyo bwa mbere bwo guhuza bwasobanuwe neza kandi bwabaye igice cyihariye cyabashinzwe kugenzura imiyoboro. Nyamara, uburyo bwa kabiri bwo guhuza uburyo bwirengagijwe kera kandi noneho biba icyuho cyo kugenzura imikorere.

By'umwihariko, EtherCAT ishingiye kuri robot nyinshi-axis ihuza uburyo bwo kugenzura uburyo bukubiyemo ibintu bibiri by'ingenzi byo guhuza: guhuza ihererekanyabubasha ry'amabwiriza n'indangagaciro, hamwe no guhuza ibikorwa byo kugenzura algorithm n'ibikorwa byo gutanga ibitekerezo.
Kubireba ihererekanyabubasha ryoguhuza amategeko nibisobanuro byagaciro, kugenzura imiyoboro yohereza amategeko hamwe nibisobanuro byagaciro binyuze mumurongo wa EtherCAT. Aya mabwiriza hamwe nibisobanuro byagaciro bigomba guhuzwa mugucunga isaha isanzwe kugirango buri node ikore igenzura mugihe kimwe intambwe. Porotokole ya EtherCAT itanga uburyo bwihuse bwo kohereza amakuru no guhuza uburyo bwo kwemeza ko ihererekanyabubasha ry’amabwiriza n’agaciro kerekana neza kandi igihe-nyacyo.
Muri icyo gihe kimwe, kubijyanye no guhuza ibikorwa byo kugenzura algorithms hamwe nigikorwa cyo gutanga ibitekerezo, buri node igenzura igomba gukora igenzura rya algorithm nigikorwa cyo gutanga ibitekerezo ukurikije isaha imwe. Ibi byemeza ko buri node ikora ibikorwa mugihe kimwe, bityo ikamenya kugenzura guhuza ibikorwa byinshi. Ihuzabikorwa rigomba gushyigikirwa kurwego rwibyuma na software kugirango tumenye neza ko irangizwa ryimikorere igenzurwa neza kandi mugihe nyacyo.

Muri make, uburyo bwa EtherCAT bushingiye kuri robot nyinshi-axis ihuza uburyo bwo kugenzura uburyo bwo kumenya uburyo bwo kohereza amakuru hamwe no kugereranya indangagaciro hamwe no guhuza ibikorwa byo kugenzura algorithms hamwe nibikorwa byo gutanga ibitekerezo binyuze mu gushyigikira protocole ya Ethernet. Ubu buryo butanga igisubizo cyizewe cyo kugenzura imikorere ya robo nyinshi kandi izana amahirwe mashya nimbogamizi mugutezimbere kwinganda.