{"id":21518,"date":"2026-08-26T13:54:50","date_gmt":"2026-08-26T05:54:50","guid":{"rendered":"https:\/\/icop-shop.com\/?p=21518"},"modified":"2026-08-26T13:55:52","modified_gmt":"2026-08-26T05:55:52","slug":"icop-validates-ros-2-based-control-of-the-oriental-motor-scara-robot-using-the-qec-ethercat-mdevice-platform","status":"publish","type":"post","link":"https:\/\/icop-shop.com\/zh\/product-highlights\/icop-validates-ros-2-based-control-of-the-oriental-motor-scara-robot-using-the-qec-ethercat-mdevice-platform\/","title":{"rendered":"ICOP Validates ROS 2-Based Control of the Oriental Motor SCARA Robot Using the QEC EtherCAT MDevice Platform"},"content":{"rendered":"
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As intelligent robotics applications grow rapidly, ROS 2 and AI developers are often unfamiliar with EtherCAT and servo control, while automation engineers are not necessarily familiar with ROS 2, MoveIt, or AI applications. System integrators and OEMs have long faced an integration gap between “intelligent software” and “industrial machines.”<\/p>\n

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ROS 2 \u00d7 EtherCAT Robot Control: Architecture & Workflow
\nAccelerating Intelligent Arm Development for SIs and OEMs<\/h2>\n<\/div>\n

ICOP Technology has recently completed a validation of\u00a0ROS 2-based control of the Oriental Motor SCARA robot<\/b>\u00a0\u4f7f\u7528\u00a0QEC EtherCAT MDevice<\/b>\u00a0platform: motion plans generated by MoveIt 2 are passed through ros2_control and micro-ROS to the QEC, converted in real time into EtherCAT CiA402 position commands, and executed with synchronized precision by Oriental Motor AZ mini EtherCAT drivers and the SCARA robot. Pick-and-place task workflows have also been implemented with the MoveIt Task Constructor (MTC). This validation demonstrates a\u00a0deployment-ready ROS 2 \u00d7 EtherCAT robot control and development architecture<\/b>, serving as a technical reference for system integrators and OEMs performing secondary development and project integration.<\/p>\n

\"QEC_SCARA\"
QEC \u00d7 Oriental Motor SCARA ROS 2 solution architecture: ROS 2 \/ MoveIt 2 \u2192 ros2_control
\n\u2192 QEC (micro-ROS + EtherCAT MDevice) \u2192 CiA402 \u2192 AZ mini drivers and SCARA robot<\/figcaption><\/figure>\n
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A ROS 2 \u00d7 EtherCAT Control Architecture for SCARA Robots<\/h2>\n

In the validated system, the QEC acts as the real-time bridge between ROS 2 and EtherCAT: the host PC handles high-level planning, vision, and AI decision-making, while the QEC handles real-time EtherCAT control and physical machine execution. Key system components include:<\/p>\n<\/div>\n<\/div>\n

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High-Level Planning: ROS 2 \/ MoveIt 2<\/h2>\n

Inverse kinematics (IK), point-to-point path planning, collision checking, and trajectory simulation, with pick-and-place task workflows built on the MoveIt Task Constructor. Vision recognition and AI applications can be further integrated. Perception, decision-making, and planning run primarily on the host PC \u2014 the ROS 2 layer.<\/p>\n<\/div>\n

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Control Core: QEC EtherCAT MDevice (micro-ROS + EtherCAT MDevice Controller)<\/h2>\n

Through the 86Duino micro-ROS environment, the QEC receives trajectory commands from ros2_control and converts them in real time into CiA402 (Position Mode) commands, executing multi-axis synchronized motion over fixed-cycle EtherCAT communication.<\/p>\n<\/div>\n

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Drives & Mechanism: Oriental Motor AZ mini EtherCAT Driver \u00d7 SCARA<\/h2>\n

The existing Oriental Motor drivers and SCARA mechanism are retained \u2014 no hardware replacement is required. What changes is the control chain: the host gains trajectory control and parameter access.<\/p>\n<\/div>\n

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\"RViz
RViz digital model and forward-kinematics operation<\/figcaption><\/figure>\n
\"MoveIt
MoveIt 2 motion planning and collision checking<\/figcaption><\/figure>\n<\/div>\n
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Development Workflow: From FK \/ IK Validation to Motion Execution and Path Reuse<\/h2>\n

On the software side, ICOP combines ROS 2 \/ MoveIt 2 with the\u00a086Duino IDE<\/a>\u00a0(open-source, C\/C++ architecture) to establish a reusable SCARA control development workflow:<\/p>\n

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  1. \u6b63\u5411\uff0f\u9006\u5411\u904b\u52d5\u5b78 (FK \/ IK) \u9a57\u8b49<\/b>\u2014 the robot kinematic model is validated at the system level with the URDF digital model, TF tree, and RViz, ensuring accurate coordinate transformation and joint angle calculation.<\/li>\n
  2. MoveIt 2 Motion Planning<\/b>\u2014 IK, point-to-point path planning, collision checking, and trajectory simulation; multi-step pick-and-place tasks built with MTC.<\/li>\n
  3. micro-ROS Bridging and EtherCAT Motion Integration<\/b>\u2014 planning results are passed through ros2_control and micro-ROS to the QEC, and joint commands are synchronously distributed to all axes via EtherCAT, ensuring consistent multi-axis coordinated motion.<\/li>\n
  4. Motion Recording, Tuning, and Replay (Record \/ Tune \/ Save \/ Play)<\/b>\u2014 beyond streaming position commands from ROS 2 in real time, the paths and kinematics computed by ROS 2 can also be\u00a0recorded and stored on the QEC<\/b>\u00a0for stable, repeatable playback, and users can further optimize the paths themselves.<\/li>\n<\/ol>\n<\/div>\n<\/div>\n
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    The QEC is more than an execution endpoint.<\/strong>\u00a0Combined with the 86Duino software, the QEC can itself\u00a0edit motion paths and behavior sequences<\/strong>: trajectories planned in ROS 2 can be downloaded to the QEC and run standalone with full stability \u2014 no resident host PC required \u2014 while operators can adjust, save, and replay motion sequences directly on the QEC. This combines development flexibility with the stability required for production deployment.<\/p>\n<\/div>\n<\/div>\n

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    \u7cfb\u7d71\u6574\u5408\u5546\u8207\u539f\u59cb\u8a2d\u5099\u88fd\u9020\u5546\uff08OEM\uff09\u7684\u6280\u8853\u50f9\u503c<\/h2>\n

    Compared with typical open-source IPC approaches, the 86Duino \/ QEC platform comes pre-integrated with an EtherCAT Master, CiA402 motion control, industrial I\/O, and common industrial interfaces such as Modbus RTU\/TCP, Serial, and CAN, along with an Arduino-style C\/C++ development environment, comprehensive libraries, and HMI design capability. Developers do not need to separately integrate an EtherCAT stack, servo drivers, sensors, PLCs, serial devices, or other field equipment \u2014 motion control, device communication, and application logic can all be completed within a single 86Duino development architecture, significantly shortening the path from proof of concept (PoC) to machine deployment.<\/p>\n