An EtherCAT Based Delta Robot Synchronous Control Application

The delta robot synchronous control based on the Ethernet Control Automation Technology (EtherCAT) protocol for painting application is proposed in this paper. Personal Computer (PC) is used as master and the delta robot motor drivers are used as slaves in this work. The Master sends command to slave base on the motion control profile CAN in Automation 402(CiA402). Subsequently, the program in C# perform the user's interface and EtherCAT communication. And the system is not only for easy use, but also for quickly high-precision. A complex painting application is proposed to show this system workable.(c) 2022 The Author. Published by Sugisaka Masanori at ALife Robotics Corporation Ltd This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).