Using the ER6-600-SR to implement a standard handling project, the gripper has two suction cups, allowing the robot to pick up two items at once from the pickup location and place them sequentially at the same drop-off location, stacking them on top of each other. After stacking five times, a signal is given to indicate … Read more
CANopen is a high-level protocol based on the CAN (Controller Area Network) serial bus system and CAL (CAN Application Layer). CANopen assumes that connected devices have hardware with a CAN transceiver and a CAN controller that comply with the ISO 11898 standard. The CANopen communication protocol CiA DS-301 includes periodic and event-driven communication, which not … Read more
1.Device Control This section mainly describes how the master controls the driver through the CANopen bus, such as turning the servo ON or clearing alarms. (1)Control State Machine The master controls the driver through the control word, and by reading the driver’s status word, it can know the current state of the driver. This section … Read more