简介本文介绍 Trio 运动控制器与 Kossi 伺服驱动器基于 EtherCAT 工业实时总线的适配方案完成主从站配置、总线初始化、周期通讯与运动指令交互实现多轴同步运动控制。EtherCAT communication process for Trio motion controller adapting Kossi servo drives: Complete master-slave configuration, bus synchronization and real-time cyclic communication to realize high-precision multi-axis coordinated motion control.配置好的代码链接:https://download.csdn.net/download/guimotion/93371894一.操作流程1.新键配置文件2.导入驱动器配置文件到控制器3.正式配置控制器通讯4.切换到高级模式手动配置5.方便查看更改驱动器适配名称6.修改从站链接的信息7.检查一下ESC信息默认即可重点Size大小不可太小一般128/2568.修改 控制器输出常用配置:控制字控制位置控制探针命令9.修改 控制器输入常用配置:状态字,位置反馈扭矩反馈探针状态反馈探针抓取位置外部输入IN10.添加额外的驱动器参数上电初始化驱动器需要的配置的额外参数在这里添加一般默认即可不需要额外配置11.最终控制器生成的通讯代码EtherCAT Version1.0.0/Version RxPdos RxPdo Index0/Index NameRXPDO_PROFILE_KOSSI_N23/Name Entry NameCTRL_WORD/Name Length2/Length Flags0/Flags /Entry Entry NameTARGET_POS/Name Length4/Length Flags0/Flags /Entry Entry NameTOUCH_PROBE_FUNCTION/Name Length2/Length Flags0/Flags /Entry Entry NameNULL/Name Length0/Length Flags0/Flags /Entry /RxPdo /RxPdos TxPdos TxPdo Index0/Index NameTXPDO_PROFILE_KOSSI_N23/Name Entry NameSTATUS_WORD/Name Length2/Length Flags0/Flags /Entry Entry NameACTUAL_POS/Name Length4/Length Flags0/Flags /Entry Entry NameACTUAL_TORQUE/Name Length2/Length Flags0/Flags /Entry Entry NameTOUCH_PROBE_STATUS/Name Length2/Length Flags0/Flags /Entry Entry NameTOUCH_PROBE1_POS1/Name Length4/Length Flags0/Flags /Entry Entry NameDIN/Name Length4/Length Flags0/Flags /Entry Entry NameNULL/Name Length0/Length Flags0/Flags /Entry /TxPdo /TxPdos SdoInitCmds SdoInitCmd Index0/Index NameSDO_KOSSI_N2_N3_INIT/Name Entry Index0x1C13/Index SubIndex0/SubIndex Length1/Length Data0/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1C12/Index SubIndex0/SubIndex Length1/Length Data0/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex0/SubIndex Length1/Length Data0/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1600/Index SubIndex0/SubIndex Length1/Length Data0/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex1/SubIndex Length4/Length Data0x60410010/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex2/SubIndex Length4/Length Data0x60640020/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex3/SubIndex Length4/Length Data0x60770010/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex4/SubIndex Length4/Length Data0x60B90010/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex5/SubIndex Length4/Length Data0x60BA0020/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex6/SubIndex Length4/Length Data0x60FD0020/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1A00/Index SubIndex0/SubIndex Length1/Length Data0x06/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1C13/Index SubIndex1/SubIndex Length2/Length Data0x1A00/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1C13/Index SubIndex0/SubIndex Length1/Length Data0x01/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1600/Index SubIndex1/SubIndex Length4/Length Data0x60400010/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1600/Index SubIndex2/SubIndex Length4/Length Data0x607A0020/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1600/Index SubIndex3/SubIndex Length4/Length Data0x60B80010/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1600/Index SubIndex0/SubIndex Length1/Length Data0x03/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1C12/Index SubIndex1/SubIndex Length2/Length Data0x1600/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x1C12/Index SubIndex0/SubIndex Length1/Length Data0x01/Data FlagsNONE/Flags Transition2/Transition /Entry Entry Index0x6060/Index SubIndex0/SubIndex Length1/Length Data8/Data FlagsNONE/Flags Transition2/Transition /Entry /SdoInitCmd /SdoInitCmds EscCfgs EscCfg Index0/Index Sm Index0/Index Startaddress0x1800/Startaddress Size256/Size Controlbyte0x26/Controlbyte Enable1/Enable FunctionMBOXOUT/Function /Sm Sm Index1/Index Startaddress0x1C00/Startaddress Size256/Size Controlbyte0x22/Controlbyte Enable1/Enable FunctionMBOXIN/Function /Sm Sm Index2/Index Startaddress0x1200/Startaddress Size / Controlbyte0x64/Controlbyte Enable1/Enable FunctionOUTPUTS/Function /Sm Sm Index3/Index Startaddress0x1400/Startaddress Size / Controlbyte0x00/Controlbyte Enable1/Enable FunctionINPUTS/Function /Sm /EscCfg /EscCfgs SlvCfgs SlvCfg Index0/Index SlaveTypeSERVO/SlaveType Axes1/Axes Din8/Din Dout0/Dout Ain0/Ain Aout0/Aout CycData AtypePOSITION/Atype CtrlModeCSP/CtrlMode UseLrdLwrFALSE/UseLrdLwr CmdLRW/Cmd StateDEVICE_STATE_SAFEOP, DEVICE_STATE_OP/State /CycData Dc Mode0x0300/Mode /Dc MbxStartupProtocolCoE/MbxStartupProtocol MbxProtocolsCoE/MbxProtocols MbxRate100/MbxRate TxPdoIndexTXPDO_PROFILE_KOSSI_N23/TxPdoIndex RxPdoIndexRXPDO_PROFILE_KOSSI_N23/RxPdoIndex SdoInitCmdIndexSDO_KOSSI_N2_N3_INIT/SdoInitCmdIndex EscCfgIndex0/EscCfgIndex /SlvCfg /SlvCfgs Profiles Profile Index0/Index Vid0x0000002F/Vid Pid0x00020000/Pid Rev0x00010000/Rev ProfileIndex0/ProfileIndex AtypePOSITION/Atype NameKOSSI_N23_POS/Name SlvCfgIndex0/SlvCfgIndex /Profile /Profiles Vendors Vendor Vid0x0000002F/Vid NameKossi Intelligent Technology/Name /Vendor /Vendors /EtherCAT谢谢大家多多关注博客需要更多的驱动器适配请在评论区留言关注