Abstract
An auto-configuration method of a real-time network for a distributed controller has been developed in order to reduce user workload in setting identification data (ID) of each slave module included in the controller. This paper presents a tree-topology network via point-to-point connections that is designed to increase the flexibility of the network configuration when applied to high-performance robotic systems. Also presented is an auto-configuration method for ID setting that uses routing data in the tree-topology network. This auto-configuration method has been implemented in field programmable gate array (FPGA) devices of our controller hardware, i.e., master modules and slave modules, in order to realize the auto-configuration function in real systems.
