Ngokuthuthukiswa kwe-automation yezimboni, amarobhothi aya ngokuya asetshenziswa emigqeni yokukhiqiza. Ukuze kuzuzwe ukulawula ukunyakaza okusebenzayo nokunembayo, ukunyakaza kwamarobhothi okunama-axis amaningi kufanele kukwazi ukufeza ukusebenza okuvumelanayo, okungathuthukisa ukunemba kokunyakaza nokuzinza kwamarobhothi futhi kuzuze ukusebenza kahle komugqa wokukhiqiza. Ngesikhathi esifanayo, iphinde inikeze isisekelo somsebenzi wokubambisana nokulawulwa ngokubambisana kwamarobhothi, ukuze amarobhothi amaningi akwazi ukuxhumanisa ukunyakaza ngesikhathi esisodwa ukuze aqedele imisebenzi eyinkimbinkimbi. Iphrothokholi ye-Ethernet yesikhathi sangempela esekelwe ku-EtherCAT isinikeza isisombululo esingaba khona.
I-EtherCAT iyiphrothokholi yokuxhumana ye-Ethernet yezimboni esebenza kahle kakhulu, yesikhathi sangempela eyenza ukudluliswa kwedatha okusheshayo nokusebenza okuvumelanayo phakathi kwamanodi amaningi. Kuhlelo lokulawula ukunyakaza kwe-multi-axis lwamarobhothi, iphrothokholi ye-EtherCAT ingasetshenziswa ukuqaphela ukudluliswa kwemiyalo namanani ereferensi phakathi kwama-node okulawula nokuqinisekisa ukuthi avunyelaniswa newashi elivamile, ngaleyo ndlela enze uhlelo lokulawula ukunyakaza lwe-multi-axis lufinyelele ukusebenza okuvumelanayo. Lokhu kuvumelanisa kunezici ezimbili. Okokuqala, ukudluliswa kwemiyalo namanani ereferensi phakathi kwendawo ngayinye yokulawula kufanele kuhambisane newashi elivamile; okwesibili, ukwenziwa kwama-algorithms okulawula kanye nemisebenzi yempendulo kufanele futhi ivunyelaniswe newashi elifanayo. Indlela yokuqala yokuvumelanisa iqondwe kahle futhi isiyingxenye yemvelo yezilawuli zenethiwekhi. Nokho, indlela yesibili yokuvumelanisa ibizitshwa esikhathini esidlule futhi manje isiba ibhodlela ekusebenzeni kokulawula ukunyakaza.
Ngokuqondile, i-EtherCAT-based robot multi-axis synchronous yokulawula ukunyakaza kwendlela yokuvumelanisa ihlanganisa izici ezimbili ezibalulekile zokuvumelanisa: ukuvumelanisa ukudluliselwa kwemiyalo namanani okubhekisela, nokuvumelanisa kokwenziwa kokulawula ama-algorithms nemisebenzi yempendulo.
Ngokuvumelana nokuvumelanisa kokudluliswa kwemiyalo namanani ereferensi, ama-node okulawula adlulisa imiyalo namanani ereferensi ngenethiwekhi ye-EtherCAT. Le miyalo namanani ereferensi adinga ukuvumelanisa ngaphansi kokulawulwa kwewashi elivamile ukuze kuqinisekiswe ukuthi inodi ngayinye yenza ukulawula ukunyakaza ngesikhathi esifanayo. Iphrothokholi ye-EtherCAT ihlinzeka ngendlela yokudlulisa idatha ngesivinini esiphezulu kanye nendlela yokuvumelanisa ukuze kuqinisekiswe ukuthi ukudluliswa kwemiyalo namanani ereferensi kunembe kakhulu nangesikhathi sangempela.
Ngesikhathi esifanayo, mayelana nokuvumelanisa kokwenziwa kwama-algorithms okulawula kanye nemisebenzi yempendulo, indawo yokulawula ngayinye idinga ukusebenzisa i-algorithm yokulawula nomsebenzi wempendulo ngokuya ngewashi elifanayo. Lokhu kuqinisekisa ukuthi i-node ngayinye yenza imisebenzi ngesikhathi esifanayo, ngaleyo ndlela ibona ukulawula okuhambisanayo kokunyakaza kwama-axis amaningi. Lokhu kuvumelanisa kudinga ukusekelwa kumazinga wehadiwe nesoftware ukuze kuqinisekiswe ukuthi ukwenziwa kwamanodi okulawula kunembe kakhulu futhi kusesikhathini sangempela.
Kafushane, indlela yokulawula ukunyakaza ehambisana ne-EtherCAT esekelwe ku-EtherCAT ibona ukuvumelanisa ukudluliselwa kwemiyalo namanani ereferensi kanye nokuvumelanisa kokwenziwa kwama-algorithms okulawula nemisebenzi yempendulo ngokusekelwa kwephrothokholi ye-Ethernet yesikhathi sangempela. Le ndlela inikeza isisombululo esinokwethenjelwa sokulawulwa kokunyakaza kwe-multi-axis kwamarobhothi futhi iletha amathuba amasha nezinselele ekuthuthukisweni kokuzenzakalelayo kwezimboni.
Isikhathi sokuthumela: Feb-20-2025
