Implementation of network based control module for smart actuator with multi degree of freedom used in robot

PURPOSE: A control module based on a network for smart actuator of multiple freedom of degree for a robot is provided to perform an integral control of various controllers. CONSTITUTION: A EthernetCAT slave assigns a memory to 0x100000-0x10FFFF area of a main controller. The EtherCAT slave is connected through a RJ45 port to an Ethernet. An EtherCAT communication module communicates through a RJ45 port with an EtherCAT master or an EtherCAT slave. The EtherCAT communication module determines a communication method through an EEPROM having necessary various information upon initialization of an ET1100 of a PDI Control, PDI configuration, pulse length syncsignals, extended PDI sonfiguration, and configured station alias.