This design contains the EtherCAT fieldbus system and the PLCopen technology. The control system can not only achieve the motion target but also simulate the Computer Numerial System effectively. Hardware is constituted by embedded IPC, SanyoDenki servo drive and motor system, EtherCAT communication module and I/O module. The PLC program run under the Windows XP system, which install Codesys RTE, so that the whole control system improve the real-time character. Paper focuses on the structure of the control system and the design of the PLC program. The experiments and program results have proved that the control system working well,reaching the pre-set target.
This paper elaborate a design of a new small simple 6-axis robot arm. The design not only can verify the 6-axis motion algorithm, but also have a better property of the economy and the easy-handing. In the mechanical aspect, using the connection method of the single aluminum plate reduce the load effectively. In the control aspect, using stepper motor driven system reduce the cost. This design has a high application value in the process of mechanical arm development.
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