Robot Program Porting
Add Library
Click Tools -- Library Storage -- Install -- Select a library to add
Add Library Manager
Click Library Manager -- Add Library
Configure Robot Program
Download the robot project -- Open the robot control program Robot0_Program_Framework
Add the robot control screen program, click the Web -- Robot interface, click the screen and then add corresponding variables in the Properties bar →Reference
Add Task Configuration Program
Place the corresponding control program under the specified task as shown in the following diagram
It should be noted that the cycle time of the corresponding RobotEtherCAT task cannot be too short. Otherwise, axis group calls may result in errors. You can monitor the maximum cycle time in the task cycle and set it accordingly. Generally, it is recommended to set it to 5ms.
1. If a real axis is configured, RobotEtherCAT and TrendRecordingTask must be placed in the Core 1 to guarantee synchronization.
2. Check the priority order of the task group.
3. Ensure the bus task and the axis group planning task within the axis group configuration are in the same core.
4. If the robot cannot be enabled after configuration, check whether RobotEtherCAT is placed correctly.
Add Axis Group
Select the axis group—choose to replace the kinematic model—then configure it as your own model
If an axis group error occurs, you can try deleting the axis group and adding it again
The group name must match the axis group name in the project. If there is an axis group with a different name, reconfigure and call the axis group
Open the RobotEtherCAT program, and then enter the new axis group in ADR() again.
The names of the axes in the axis group need to be configured in the input pins of the Robot function block. As shown in the figure below, the four axis names of the Scara robot should be filled into Axis1, Axis2, Axis3, and Axis4 respectively, while the arm lengths of the robot should be filled into L1 and L2.
It must be noted that when naming global variables, you must avoid naming conflicts with the GVL_AxisGroup used in the library. Otherwise, library calls will fail.
Check Symbol Configuration
Robot0API symbol configuration needs to be checked.
Version Consistency
The template version must be kept consistent with the project version.
Motor Configuration
Motor configuration mainly includes the settings for speed, acceleration, and jerk. It only needs to be consistent with the actual hardware.
After configuration, the maximum motor speed needs to be set in the corresponding program
For example, the maximum motor speed configured in the above diagram is 30,000, as shown in the following configuration