Ç¥ÁØÈ­ Âü¿©¾È³»

TTAÀÇ Ç¥ÁØÇöȲ

Ȩ > Ç¥ÁØÈ­ °³¿ä > TTAÀÇ Ç¥ÁØÇöȲ

Ç¥ÁعøÈ£ [ÆóÁö] TTAS.KO-10.0225 ±¸Ç¥ÁعøÈ£
Á¦°³Á¤ÀÏ 2006-12-27 ÃÑÆäÀÌÁö 27
ÇѱÛÇ¥Áظí URC ·Îº¿À» À§ÇÑ CAN Identifier ¼³Á¤ ¹× CAN ÇÁ·¹ÀÓ Åë½Å ¹æ¹ý
¿µ¹®Ç¥Áظí Real-time Control Interface for Hardware Actuator Modules of URC client Robot
Çѱ۳»¿ë¿ä¾à º» Ç¥ÁØÀÇ ÁÖ¿ä ³»¿ëÀº ÇϳªÀÇ ·Îº¿À» ±¸¼ºÇÏ´Â ¿©·¯ °³ÀÇ ¼­º¸ ±¸µ¿±â(Servo Actuator)µé ¹× ¼¾¼­µé°ú ·Îº¿ÀÇ ¸ÞÀÎ Á¦¾î ¸ðµâ°£ÀÇ CAN Åë½ÅÀ» À§ÇÑ CAN Identifier ¼³Á¤°ú CAN ÇÁ·¹ÀÓ Åë½Å ¹æ¹ý¿¡ ´ëÇÑ Á¤ÀÇÀÌ´Ù. º» Ç¥ÁØ¿¡¼­ ±â¼úÇÏ´Â ±¸µ¿±â¿Í ¼¾¼­ÀÇ ¹üÀ§´Â CAN ÀÎÅÍÆäÀ̽º¸¦ °®Ãá ½º¸¶Æ® ±¸µ¿±â(Smart Actuator)¿Í ½º¸¶Æ® ¼¾¼­·Î ÇÑÁ¤ÇÏ¸ç ·Îº¿ÀÇ ¸ÞÀÎ Á¦¾î ¸ðµâÀº CAN ÀÎÅÍÆäÀ̽º¸¦ °®Ãá ¸ðµâ·Î ÇÑÁ¤ÇÑ´Ù. »ó±âÀÇ Á¶°ÇÀ» ¸¸Á·Çϸé, ¸ÖƼµå·Ó ¶Ç´Â µ¥ÀÌÁö üÀÎ ÇüÅÂÀÇ ¹ö½º ±¸¼ºÀÌ °¡´ÉÇϸç, °¢°¢ÀÇ ±¸µ¿±â¿Í ¼¾¼­¿¡ º°µµÀÇ IDºÎ¿©°¡ °¡´ÉÇÏ°í, ºÎ¿©µÈ ID¸¦ ±âÁØÀ¸·Î 1 ´ë 1, 1 ´ë ´Ù Åë½ÅÀÌ °¡´ÉÇÏ´Ù. º»¹®¿¡¼­´Â ±¸µ¿±â Á¦¾î¿Í ¼¾¼­ ÀÌ¿ë¿¡ ÇÊ¿äÇÑ ±âº» Åë½Å ¹æ¹ýµé¿¡ ´ëÇØ Á¤ÀÇÇÑ´Ù..
¿µ¹®³»¿ë¿ä¾à The main contents of this standard are methods of CAN identifier setting and CAN frame communication between main control module and servo actuators and sensors for URC robot. In this standard, we assume that the servo actuators are smart actuators having CAN interface and sensors are smart sensors having CAN interface and the main robot controller has CAN interface. This standard can support multi-drop or daisy-chain connection for servo actuator and 1:1, 1:N communication with independent IDs for each actuator and sensor. This standard defines basic communication methods for actuators and sensors.
±¹Á¦Ç¥ÁØ
°ü·ÃÆÄÀÏ TTAS_[1].KO-10.0225.zip

ÀÌÀü
Â÷¼¼´ëPC¿ë ÀúÀü·Â ½Ç½Ã°£ ¿î¿µÃ¼Á¦
´ÙÀ½
Â÷¼¼´ë PC¿ë ÄÄÆ÷³ÍÆ® ±â¹Ý °æ·® ¹Ìµé¿þ¾î ÇÁ·¹ÀÓ¿öÅ©