EtherCAT-integrated Processing Machine with Full Local Task Redundancy

A numerically controlled processing machine, integrated over EtherCAT with full local redundancy in the axes- to task-space mapping has been designed and built in a laboratory. The redundancy arises from a set of slow, long-ranging base axes manipulating a set of fast, short-ranging tool axes, which again holds and manipulates the tool. The principle of the machine is time-efficient in manufacturing applications with high task detail and where the tool process is faster than the long-ranging axes. This paper will give an overview of construction of the machine and experimental trajectory planning.