Realtime embedded EtherCAT master robot controller
Robot Controller | STEP
'STEP' comes with NRMKPlatform SDK, a software framework for development of realtime control applications on Linux/Xenomai environment which is the hard realtime OS. Development environment running on MS Windows® is also provided in order for engineers unfamiliar with Linux environment to develop embedded control applications.
'STEP' is integrated with EtherLab, which has been proven open-source EtherCAT master stack for many systems, for multi-axes synchronized high-speed realtime distributed control. Development of standard EtherCAT based realtime cotrol applications is supported by CoE (CANopen-over-EtherCAT) protocol based programming interface. Software tools are provided for automatic generation of basic CoE based application codes. Legacy devices with RS485 or CAN interfaces can be connected for standard ports. In order to facilitate CAN based applications NRMKPlatform SDK has RT CAN and CanFestival (open-source CANOpen framework software) installed.
'STEP2' is the default controller responsible for realtime control of Indy lineup, and runs 4kHz model-based impedance control algorithms. 'STEP3', a performance model intended for advanced research and development, is integrated with a high-performance GPU card and NIVIDIA TensorRT library which facilitates development of a variety of algorithms based on high-speed deep learning inference computation.