基于EtherCAT总线的六维力传感器在线解耦技术

查浩,费少华,傅云,吕震,朱伟东

Online decoupling technology of six-dimensional force sensor based on EtherCAT bus

Hao ZHA,Shao-hua FEI,Yun FU,Zhen LV,Wei-dong ZHU

图 5 过程数据对象的分配与映射

Fig.5 Allocation and mapping of process data object