泰科机械臂调试记录

最新推荐文章于 2024-08-12 20:02:36 发布

ze3000

最新推荐文章于 2024-08-12 20:02:36 发布

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分类专栏：机械臂文章标签： linux ethercat c++

本文链接：https://blog.csdn.net/ze3000/article/details/121605432

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调试力矩，在初始位置下

robotarm@robotarm:~$ ethercat slaves
0    0:0  PREOP  +  AEM-090-30
1    0:1  PREOP  +  AEM-090-30
2    0:2  PREOP  +  AEM-090-30
3    0:3  PREOP  +  AEM-090-30
4  255:0  PREOP  +  AEM-090-30
5  255:0  PREOP  +  AEM-090-30
6  255:0  PREOP  +  AEM-090-30
7  255:1  PREOP  +  F7ETHSLAVE_V4.1

robotarm@robotarm:~$ ethercat upload -a 0 -p 0 -t uint32 0x6076 0x00
0x00000320 800
robotarm@robotarm:~$ ethercat upload -a 0 -p 1 -t uint32 0x6076 0x00
0x00000320 800
robotarm@robotarm:~$ ethercat upload -a 0 -p 2 -t uint32 0x6076 0x00
0x000002c2 706
robotarm@robotarm:~$ ethercat upload -a 0 -p 3 -t uint32 0x6076 0x00
0x000002c2 706
robotarm@robotarm:~$ ethercat upload -a 255 -p 0 -t uint32 0x6076 0x00
0x000001a4 420
robotarm@robotarm:~$ ethercat upload -a 255 -p 1 -t uint32 0x6076 0x00
0x000001a4 420
robotarm@robotarm:~$ ethercat upload -a 255 -p 2 -t uint32 0x6076 0x00
0x000000d2 210

robotarm@robotarm:~$ ethercat upload -a 0 -p 0 -t uint16 0x6077 0x00
0xffed 65517
robotarm@robotarm:~$ ethercat upload -a 0 -p 1 -t uint16 0x6077 0x00
0xfff8 65528
robotarm@robotarm:~$ ethercat upload -a 0 -p 2 -t uint16 0x6077 0x00
0xfff8 65528
robotarm@robotarm:~$ ethercat upload -a 0 -p 3 -t uint16 0x6077 0x00
0x000c 12
robotarm@robotarm:~$ ethercat upload -a 255 -p 0 -t uint16 0x6077 0x00
0xfffc 65532
robotarm@robotarm:~$ ethercat upload -a 255 -p 1 -t uint16 0x6077 0x00
0x001c 28
robotarm@robotarm:~$ ethercat upload -a 255 -p 2 -t uint16 0x6077 0x00
0xffc9 65481

robotarm@robotarm:~$ ethercat upload -a 0 -p 2 -t uint8 0x60c2 0x00
0x02 2
robotarm@robotarm:~$ ethercat upload -a 0 -p 2 -t uint8 0x60c2 0x02
0xfd 253
robotarm@robotarm:~$ ethercat upload -a 0 -p 2 -t uint32 0x6502 0x00
0x000003ed 1005