How to accurately analyze humanoid robot motion data?

The global process of "machine replacement" is accelerating, and humanoid robots are expected to become the next important application scenario; EtherCAT-Analyzer can analyze the communication information between all joints and batteries of humanoid robots and the main station, and quickly grasp the node status!

Preface

With the development of the humanoid robot industry and the full implementation of "Made in China 2025", traditional pulse mode control has largely restricted the performance of robots. On the contrary, the high-speed field bus EtherCAT uses protocols to complete control, meeting the requirements of stability, large data volume, and low latency in engineering, and has become the main bus solution for the development of robots. It is also easy to network with other on-site equipment, providing a basis for realizing automated assembly lines and building factories.

As an EtherCAT slave, the humanoid robot joints can easily complete communication control through the master station. However, many problems such as communication frame loss, delay and disconnection often occur during the master-slave communication process, which seriously affect the debugging and control of the robot. At this time, professional analysis equipment is urgently needed to quickly locate the problem point and solve the problem.

ZHIYUAN EtherCAT Analyzer EtherCAT-Analyzer came into being. It has functions such as network frame statistics (traffic, forwarding delay, error frame, periodic jitter), network frame time analysis, network frame content analysis, GPIO event analysis and frame data storage. It can quickly analyze and evaluate the network status of humanoid robots and provide "good medicine" to quickly solve problems.

Wireshark protocol analysis

Locating master-slave communication problems

Connect to the EtherCAT analyzer, map the virtual network card with the software, and easily view the master-slave initialization interaction information, obtain the slave configuration parameters, understand the differences in protocols of various manufacturers, and solve adaptation problems; you can also use the real-time topology to determine whether there are problems such as "device frame loss", "device not processing data", "device disconnection", etc.

Parsing protocol

Locating master-slave communication problems

Comprehensive Statistics

Easy to diagnose

The host computer is connected to the EtherCAT analyzer, which supports viewing statistical information such as normal frames, error frames, frame intervals, frame jitter, forwarding delay, network delay, etc.

Support GPIO event capture

Meeting the needs of network synchronization analysis

The device supports GPIO event monitoring and captures slave interrupts to adjust the appropriate offset time.

<1ns forwarding delay

Accurately evaluate the master station cycle

The EtherCAT Analyzer supports frame forwarding time analysis of four ports. In a multi-node EtherCAT network, it does not affect the actual communication and accurately analyzes the actual PDO period and jitter of the master station.

Analyzing PDO cycles

Jitter Analysis

Intuitive numerical curve

Easily determine the execution efficiency of slave stations

The EtherCAT analyzer supports intra-frame numerical curve analysis, supports parsing numerical values ​​by frame offset and arbitrary extended protocol, and analysis of the following curves of the joints and of humanoid robots to find or algorithm performance bottlenecks.

Wireshark confirms PDO, and the host computer adds variables

Upper computer display curve

(The higher the fit between the master and slave output curves, the higher the slave execution efficiency)

Network load monitoring

Real-time monitoring of node frame traffic

The EtherCAT Analyzer supports network load analysis of specified data sources, and also supports setting filters, and can perform frame traffic analysis on a certain PDO.

Trigger Save

Data playback

The host computer configures the trigger conditions. When the corresponding conditions are met, the host computer automatically saves the relevant data to the relevant path; afterwards, the saved data can be replayed and analyzed through the host computer.

Trigger Save

Data playback

With ZWS cloud platform

Rapidly realize system intelligent upgrade

Based on the ZWS IoT cloud platform independently developed by ZHIYUAN Electronics, it can help your system achieve intelligent upgrades, supporting remote firmware upgrades, rapid log file recall, business data monitoring, configuration visualization, massive data analysis and other functions.