Control of 6DOF articulated robot with the direct-teaching function using EtherCAT

All of industrial robots need the fixed-time control property commonly. The EtherCAT is a highly flexible network protocol that is developing at a rapid rate. It is extention of conventional ethernet with a high speed communication and simple wiring characteristic. With the ethercat, the implementation of the industrial robot is more easier. Here, the implementation of the industrial robot with the function of the direct teaching is described.