{"id":503,"date":"2020-05-19T22:57:09","date_gmt":"2020-05-19T14:57:09","guid":{"rendered":"http:\/\/www.rtplc.com\/?p=503"},"modified":"2022-10-08T11:13:56","modified_gmt":"2022-10-08T03:13:56","slug":"pi-ecr60motion","status":"publish","type":"post","link":"http:\/\/www.rtplc.com\/index.php\/2020\/05\/19\/pi-ecr60motion\/","title":{"rendered":"Raspberry PI + Codesys + EtherCAT\u6b65\u8fdb\u9a71\u52a8ECR60 Motion\u529f\u80fd\u6d4b\u8bd5"},"content":{"rendered":"\n<p class=\"has-drop-cap\">\u8fd0\u52a8\u63a7\u5236\u529f\u80fd\u662fcodesys\u53caEtherCAT\u901a\u8baf\u7684\u91cd\u8981\u529f\u80fd\uff0c\u63a5\u4e0b\u6765\u5bf9\u6d4b\u8bd5EtherCAT\u7684\u8fd0\u52a8\u63a7\u5236\u90e8\u5206\uff0c\u7531\u4e8e\u5bf9\u8fd9\u4e00\u90e8\u5206\u529f\u80fd\u4e0d\u719f\u6089\uff0c\u6240\u4ee5\u6d4b\u8bd5\u7a0b\u5e8f\u91c7\u7528ST\u8bed\u8a00\uff0c\u91c7\u7528 case\u8bed\u53e5\uff0c\u65b9\u4fbf\u6d4b\u8bd5\u5404\u4e2a\u51fd\u6570\u7684\u8fd0\u884c\u529f\u80fd\u548c\u72b6\u6001\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">\u5de5\u5177\u51c6\u5907\uff1a<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>\u6811\u8393\u6d3e4B\uff0c\u5df2\u7ecf\u6309\u7167\u524d\u8ff0\u65b9\u6cd5\u8bbe\u7f6e\u597d\u3002<\/li><li><a href=\"http:\/\/www.szruitech.com\/Detail%20Page%20ECR60.html\" target=\"_blank\" rel=\"noreferrer noopener\">ECR60 \u6b65\u8fdb\u9a71\u52a8\u5668<\/a>\u4e00\u4e2a<\/li><li><a href=\"http:\/\/www.szruitech.com\/Detail%20Page%2057.html\" target=\"_blank\" rel=\"noreferrer noopener\">57A2\u6b65\u8fdb\u7535\u673a<\/a>\u4e00\u4e2a<\/li><li>CAT6\u7f51\u7ebf\u4e00\u6761<\/li><li>\u7535\u6e90\uff1aDC24V<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Step1 \u6811\u8393\u6d3e\u51c6\u5907<\/h2>\n\n\n\n<p>\u6811\u8393\u6d3e\u901a\u7535\uff0c\u6709\u663e\u793a\u5668\u7684\u5316\uff0c\u53ef\u4ee5\u770b\u5230wifi\u662f\u5426\u8fde\u63a5\u6210\u529f\uff0c\u8bb0\u5f55\u4e0b\u6b64\u65f6\u7684ip\u5730\u5740\uff0c\u7531\u4e8e\u540e\u7eedCodesys\u8fde\u63a5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Step2 \u7535\u673a\u53ca\u9a71\u52a8\u5668\u63a5\u7ebf<\/h2>\n\n\n\n<ul class=\"wp-block-list\"><li>\u5c0624V\u7535\u6e90\u8fde\u63a5\u81f3\u9a71\u52a8\u5668\u7684V+\u3001V-\u7aef\u5b50<\/li><li>\u5c06\u6b65\u8fdb\u7535\u673a\u7684A+\u3001A-\u3001B+\u3001B-\u8fde\u63a5\u81f3\u9a71\u52a8\u5668\u7535\u673a\u63a5\u7ebf\u7aef\u5b50\uff0c\u9510\u7279\u768457A2\u7535\u673a\u7ed5\u7ec4\u989c\u8272\u5b9a\u4e49\u4e3a\uff1a\u7ea2\u3001\u84dd\u3001\u7eff\u3001\u9ed1<\/li><li>\u7f51\u7ebf\u8fde\u63a5\uff1aCAT6\u7f51\u7ebf\u4e00\u7aef\u8fde\u63a5\u6811\u8393\u6d3e\u7684\u7f51\u53e3\uff0c\u53e6\u5916\u4e00\u7aef\u8fde\u63a5ECR60\u7684ECAT IN\u7aef\u53e3\u3002<\/li><li>\u5b8c\u6210\u4e0a\u8ff0\u6b65\u9aa4\u540e\uff0c\u53ef\u4ee5\u5f00\u901a24V\u7535\u6e90<\/li><\/ul>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"542\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60Connect-1024x542.jpg\" alt=\"\" class=\"wp-image-491\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60Connect-1024x542.jpg 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60Connect-300x159.jpg 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60Connect-768x407.jpg 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60Connect-1536x814.jpg 1536w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60Connect-2048x1085.jpg 2048w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6b64\u65f6\u53ef\u89c1ECR60\u7684PWR\u7684\u7eff\u8272\u6307\u793a\u706f\u4eae\u8d77\uff0c\u8868\u793a\u9a71\u52a8\u5668\u4f9b\u7535\u6b63\u5e38\uff1bECAT IN\u7f51\u53e3\u7684\u9ec4\u8272LED\u706f\u4eae\u8d77\uff0c\u8868\u793a\u7f51\u7ebf\u8fde\u63a5\u6b63\u5e38\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Step3 Codesys\u9879\u76ee\u8bbe\u7f6e<\/h2>\n\n\n\n<p>\u6253\u5f00Codesys\u5f00\u53d1\u73af\u5883\uff0c\u65b0\u5efa\u4e00\u4e2a\u6807\u51c6\u9879\u76ee\uff0c\u5e76\u9009\u62e9\u76ee\u6807\u677f\u4e3a\u201cCodesys Control for Raspberry PI MC SL\u201d<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"536\" height=\"300\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup0.png\" alt=\"\" class=\"wp-image-505\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup0.png 536w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup0-300x168.png 300w\" sizes=\"auto, (max-width: 536px) 100vw, 536px\" \/><figcaption>\u9009\u62e9 MCSL<\/figcaption><\/figure>\n\n\n\n<p>\u626b\u63cf\u5e76\u9009\u62e9\u6811\u8393<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"749\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup1-1024x749.png\" alt=\"\" class=\"wp-image-506\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup1-1024x749.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup1-300x219.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup1-768x562.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup1.png 1246w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption>\u626b\u63cf\u6811\u8393\u6d3e<\/figcaption><\/figure>\n\n\n\n<p>\u6dfb\u52a0EhterCAT master\u4e3b\u7ad9<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"705\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_Addmaster-1024x705.png\" alt=\"\" class=\"wp-image-507\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_Addmaster-1024x705.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_Addmaster-300x207.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_Addmaster-768x529.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_Addmaster.png 1079w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption>\u6dfb\u52a0EtherCAT Master<\/figcaption><\/figure>\n\n\n\n<p>\u8bbe\u5b9aEtherCAT master \u7684\u7f51\u53e3\u5c5e\u6027\uff0c\u5982\u4e0b\u56fe\uff0c\u9009\u62e9\u201ceth0\u201d<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"555\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1-1024x555.png\" alt=\"\" class=\"wp-image-406\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1-1024x555.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1-300x163.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1-768x416.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1-1536x832.png 1536w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1-1200x650.png 1200w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Master-Set1.png 1920w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63a5\u4e0b\u6765\u6dfb\u52a0ECR60\u6b65\u8fdb\u9a71\u52a8\u5668\uff0c\u6211\u624b\u4e0a\u7684\u662f\u6700\u65b0\u7684V202\u7248\u672c\uff0c\u76f4\u63a5\u6dfb\u52a0\u5373\u53ef\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"858\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddECR60-1024x858.png\" alt=\"\" class=\"wp-image-508\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddECR60-1024x858.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddECR60-300x251.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddECR60-768x643.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddECR60.png 1077w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><figcaption>\u6dfb\u52a0ECR60<\/figcaption><\/figure>\n\n\n\n<p>\u63a5\u4e0b\u6765\u6dfb\u52a0\u4e00\u4e2a\u8fd0\u52a8\u63a7\u5236\u8f74\uff0c\u5173\u8054\u5230ECR60\u9a71\u52a8\u5668\uff0c\u5982\u4e0b\u56fe\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"654\" height=\"733\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddSoftMotion.png\" alt=\"\" class=\"wp-image-509\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddSoftMotion.png 654w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Setup2_AddSoftMotion-268x300.png 268w\" sizes=\"auto, (max-width: 654px) 100vw, 654px\" \/><\/figure>\n\n\n\n<p>\u53f3\u952e\u201cProperties\u201d\uff0c\u5c06\u8f74\u7684\u540d\u5b57\u6539\u4e3aAxis1\uff0c\u5982\u4e0b\u56fe\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"812\" height=\"484\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Name.png\" alt=\"\" class=\"wp-image-510\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Name.png 812w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Name-300x179.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Name-768x458.png 768w\" sizes=\"auto, (max-width: 812px) 100vw, 812px\" \/><\/figure>\n\n\n\n<p>\u63a5\u4e0b\u6765\u8bbe\u5b9a\u8f74\u7684\u53c2\u6570\u3002\u9996\u5148\u8bbe\u5b9a\u7535\u673a\u8fd0\u884c\u7684\u5f53\u91cf\uff0cECR60\u9ed8\u8ba4\u4f7f\u752810000\u8109\u51b2\/\u8f6c\uff0c\u5bf9\u5e94\u8f74\u7684\u8bbe\u7f6e\u5982\u4e0b\u56fe\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"992\" height=\"359\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Microstep.png\" alt=\"\" class=\"wp-image-511\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Microstep.png 992w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Microstep-300x109.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/AxisSetup1_Microstep-768x278.png 768w\" sizes=\"auto, (max-width: 992px) 100vw, 992px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Step4 \u7a0b\u5e8f\u7f16\u5199<\/h2>\n\n\n\n<p>\u81f3\u6b64\uff0c\u6574\u4e2a\u7cfb\u7edf\u7684\u8bbe\u7f6e\u5df2\u7ecf\u5b8c\u6210\uff0c\u63a5\u4e0b\u6765\u7f16\u5199\u7a0b\u5e8f\u5b9e\u73b0\u6b65\u8fdb\u7535\u673a\u7684\u63a7\u5236\u3002\u9ed8\u8ba4\u5728\u65b0\u5efa\u9879\u76ee\u65f6\uff0c\u8bbe\u5b9a\u4e86\u4e00\u4e2a\u7a0b\u5e8f\u201cPLC_PRG\u201d\u7684\u7f16\u5199\u65b9\u5f0f\u4e3aST\u8bed\u8a00\u3002\u9996\u5148\u8bbe\u5b9a\u8fd0\u52a8\u76f8\u5173\u7684\u53d8\u91cf\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>PROGRAM PLC_PRG\nVAR\n\tmcp: MC_Power; \/\/\u4f7f\u80fd\u51fd\u6570\n\tmcmv: MC_Jog;  \/\/\u70b9\u52a8\u51fd\u6570\n\tmcmabs: MC_MoveAbsolute;\t\/\/ \u7edd\u5bf9\u503c\u5b9a\u4f4d\u8fd0\u52a8\n\tmcminc: MC_MoveRelative;\t\/\/ \u589e\u91cf\u5f0f\u8fd0\u52a8\n\tMVStop: MC_Stop;\t\t\t\/\/ \u7535\u673a\u505c\u6b62\n\tAxis1Home: MC_Home;\t\t\t\/\/ \u7535\u673a\u56de\u96f6\n\tAxis1Reset: MC_Reset;\t\t\/\/ \u7535\u673a\u6545\u969c\u590d\u4f4d\n\tMotionstate: INT;\t\t\t\/\/ \u6d4b\u8bd5\u7528\uff0c\u63a7\u5236\u6d4b\u8bd5\u529f\u80fd\n\tCnt:INT;\t\t\t\t\t\/\/ \u4ec5\u4ec5\u7528\u4e8e\u6d4b\u8bd5\n\n\tJog_Pos: BOOL ;\t\t\t\t\/\/ \u70b9\u52a8\u6b63 \u4f7f\u80fd\n\tJog_Neg: BOOL;\t\t\t\t\/\/ \u70b9\u52a8\u8d1f \u4f7f\u80fd\n\t\n\tMovEnable: BOOL;\t\t\t\/\/ \u5b9a\u4f4d\u8fd0\u884c\u3001\u56de\u96f6\u53ca\u505c\u6b62\u65f6\u7684\u51fd\u6570\u6a21\u5757\u4f7f\u80fd\n\tMovIncDistance: LREAL;\t\t\/\/ \u589e\u91cf\u8fd0\u52a8\u8ddd\u79bb\u8bbe\u5b9a\n\tMV_Speed: LREAL;\t\t\t\/\/ \u8fd0\u884c\u901f\u5ea6\u8bbe\u5b9a\n\tMV_Acc: LREAL;\t\t\t\t\/\/ \u8fd0\u884c\u52a0\u901f\u5ea6\u8bbe\u5b9a\n\tMV_Dec: LREAL;\t\t\t\t\/\/ \u8fd0\u884c\u51cf\u901f\u5ea6\u8bbe\u5b9a\n\tMV_Jerk: LREAL;\t\t\t\t\/\/ \u8fd0\u884c\u52a0\u52a0\u901f\u5ea6\u8bbe\u5b9a\n\t\n\tMovAbsDistance: LREAL;\t\t\/\/ \u7edd\u5bf9\u5b9a\u4f4d\u65f6\u7684\u76ee\u6807\u4f4d\u7f6e\nEND_VAR<\/code><\/pre>\n\n\n\n<p>\u8bbe\u8ba1\u4e00\u4e2a\u7a0b\u5e8f\uff0c\u901a\u8fc7\u72b6\u6001\u8df3\u8f6c\uff0c\u5b9e\u73b0\u5bf9\u5404\u4e2a\u51fd\u6570\u7684\u6d4b\u8bd5\uff0c\u76f8\u5173\u7a0b\u5e8f\u5982\u4e0b\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>\nCASE Motionstate OF\n0:\n\tCnt := Cnt+1;\n\tMV_Speed:= 10000;\n\tMV_Acc:= 1000000;\n\tMV_Dec:= 1000000;\n\tMV_Jerk:= 100000000;\n\tJog_Pos:= TRUE;\n1: \/\/Enable motor,Power on\nmcp(\n    Axis:= Axis1 , \n    Enable:= TRUE , \n\tbRegulatorOn:= TRUE,\n\tbDriveStart:= TRUE,\n    Status=&gt; , \n    Busy=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n\n2:\/\/ Disable motor,Power off\nmcp(\n    Axis:=Axis1 , \n    Enable:= TRUE , \n\tbRegulatorOn:= FALSE,\n\tbDriveStart:= TRUE,\n    Status=&gt; , \n    Busy=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n\n3: \/\/ JOG+ and JOG-\nmcmv(\n    Axis:=Axis1 , \n    JogForward:=Jog_Pos , \n    JogBackward:=Jog_Neg , \n\n    Velocity:= MV_Speed, \n    Acceleration:= MV_Acc, \n    Deceleration:= MV_Dec, \n    Jerk:= MV_Jerk, \n    Busy=&gt; , \n    CommandAborted=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n\n4: \/\/ Move relative POS and Neg\nmcminc(\n    Axis:=Axis1 , \n\tExecute:= MovEnable,\n\tDistance:= MovIncDistance,\n    Velocity:= MV_Speed, \n    Acceleration:= MV_Acc, \n    Deceleration:= MV_Dec, \n    Jerk:= MV_Jerk, \n\tDone=&gt; ,\n    Busy=&gt; , \n    CommandAborted=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n\n5: \/\/ Move Abs\nmcmabs(\n    Axis:=Axis1 , \n\tExecute:= MovEnable,\n\tPosition:= MovAbsDistance,\n    Velocity:= MV_Speed, \n    Acceleration:= MV_Acc, \n    Deceleration:= MV_Dec, \n    Jerk:= MV_Jerk, \n\tDone=&gt; ,\n    Busy=&gt; , \n    CommandAborted=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n\n\n6: \/\/ Stop motor\nMVStop(\n    Axis:=Axis1 , \n\tExecute:= MovEnable,\n    Jerk:= MV_Jerk, \n\tDone=&gt; ,\n    Busy=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n\n\t\n7: \/\/ Home\nAxis1Home(\n    Axis:=Axis1 , \n\tExecute:= MovEnable,\n\n\tDone=&gt; ,\n    Busy=&gt; , \n\tCommandAborted=&gt; , \n    Error=&gt; , \n    ErrorID=&gt; );\n8:\nAxis1Reset(\n    Axis:=Axis1 , \n\tExecute:= TRUE,\n);\t\n\nEND_CASE;\n<\/code><\/pre>\n\n\n\n<p>\u5c06\u201cPLC_PRG\u201d\u6dfb\u52a0\u5230EtherCAT_Task\u4efb\u52a1\u4e2d<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"677\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MotionSetup-1024x677.png\" alt=\"\" class=\"wp-image-512\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MotionSetup-1024x677.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MotionSetup-300x198.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MotionSetup-768x508.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MotionSetup.png 1087w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u81f3\u6b64\uff0c\u7a0b\u5e8f\u7f16\u5199\u5b8c\u6210\uff0c\u4efb\u52a1\u8bbe\u7f6e\u5b8c\u6210\uff0c\u53ef\u4ee5\u8fdb\u884c\u4e0b\u8f7d\u7a0b\u5e8f\u6d4b\u8bd5\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Step5 \u8fd0\u884c\u53ca\u6d4b\u8bd5<\/h2>\n\n\n\n<p>\u5728Codesys\u73af\u5883\u4e2d\uff0c\u201cOnline\u201d &#8212;&gt; \u201cLogin\u201d\uff0c\u4e0b\u8f7d\u7a0b\u5e8f\u8fdb\u5165\u5230\u6811\u8393\u6d3e\uff0c\u7136\u540e\u70b9\u51fb\u201cDebug\u201d &#8212;&gt; \u201cStart\u201d\u3002\u5982\u679c\u4e4b\u524d\u90fd\u662f\u987a\u5229\u7684\u5316\uff0c\u6b64\u65f6\u6b65\u8fdb\u9a71\u52a8\u5668\u7684EtherCAT\u7684RUN\u7eff\u8272\u6307\u793a\u706f\u5e38\u4eae\uff0cECAT IN\u7684\u7eff\u8272\u6570\u636e\u706f\u4e00\u76f4\u95ea\u70c1\uff0c\u8f74Axis1\u7684\u56fe\u6807\u4e3a\u6a59\u8272\u53cc\u7bad\u5934\uff0c\u8bf4\u660e\u8f74\u5df2\u7ecf\u51c6\u5907\u5c31\u7eea\uff0c\u6a59\u8272\u662f\u56e0\u4e3a\u6811\u8393\u6d3e\u6ca1\u6709\u6b63\u5f0f\u7684\u6388\u6743\u8fd0\u884ccodesys\uff0c\u5904\u4e8edemo\u72b6\u6001\u3002codesys\u7684\u9879\u76ee\u754c\u9762\u5982\u4e0b\u56fe\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"767\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/PLCRun-1024x767.png\" alt=\"\" class=\"wp-image-513\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/PLCRun-1024x767.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/PLCRun-300x225.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/PLCRun-768x575.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/PLCRun.png 1207w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u6d4b\u8bd5\u7a0b\u5e8f\u72b6\u6001\u53d8\u91cf\u201cMotionState\u201d\u4e3a0\uff0cCnt\u4e00\u76f4\u589e\u52a0\uff0c\u7a0b\u5e8f\u521d\u59cb\u5316\u8bbe\u7f6e\u8fd0\u884c\u7684\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u7b49\u53d8\u91cf\u3002\u3002\u9700\u8981\u6ce8\u610f\u7684\u662fECR60\u9ed8\u8ba4\u7535\u6d41\u4e3a3000mA\uff0c\u5982\u679c\u4f60\u7684\u7535\u673a\u989d\u5b9a\u7535\u6d41\u8fdc\u5c0f\u4e8e\u8be5\u503c\uff0c\u9700\u8981\u9996\u5148\u4fee\u6539\u7535\u6d41\u503c\u300257A2\u989d\u5b9a\u7535\u6d41\u4e3a4000mA\uff0c\u6240\u4ee5\u53ef\u4ee5\u76f4\u63a5\u6d4b\u8bd5\u3002\u6b64\u65f6\u6b65\u8fdb\u7535\u673a\u4e0d\u9501\u8f74\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u9996\u5148\u4f7f\u80fd\u7535\u673a\uff0c\u5c06\u201cMotionState\u201d\u503c\u6539\u4e3a1\uff0c<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"734\" height=\"283\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Enable.png\" alt=\"\" class=\"wp-image-514\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Enable.png 734w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Enable-300x116.png 300w\" sizes=\"auto, (max-width: 734px) 100vw, 734px\" \/><\/figure>\n\n\n\n<p>\u63a5\u4e0b\u6765\u6211\u4eec\u8fdb\u884c\u70b9\u52a8\u6d4b\u8bd5\uff0c\u6309\u7167\u4e0a\u8ff0\u65b9\u6cd5\uff0c\u5c06\u201cMotionState\u201d\u8bbe\u7f6e\u4e3a3\uff0c\u201cCtrl + F7\u201d\u5199\u5165\u503c\uff0c\u6b64\u65f6\u7535\u673a\u5c06\u4ee51\u8f6c\/\u79d2\u7684\u901f\u5ea6\u9006\u65f6\u9488\u8fd0\u8f6c\u3002\u63a5\u4e0b\u6765\u5c06Jog_Pos\u8bbe\u7f6e\u4e3aFALSE\uff0cJog_Neg\u8bbe\u7f6e\u4e3aTRUE\uff0c\u201cCtrl + F7\u201d\u5199\u5165\u503c\uff0c\u6b64\u65f6\u7535\u673a\u7acb\u523b\u6539\u4e3a\u987a\u65f6\u9488\u8fd0\u884c\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"791\" height=\"355\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/JOG.png\" alt=\"\" class=\"wp-image-516\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/JOG.png 791w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/JOG-300x135.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/JOG-768x345.png 768w\" sizes=\"auto, (max-width: 791px) 100vw, 791px\" \/><\/figure>\n\n\n\n<p>\u5c06Jog_Pos\u548cJog_Neg\u4e00\u8d77\u90fd\u8bbe\u7f6e\u4e3aFALSE\uff0c\u6b64\u65f6\u7535\u673a\u505c\u6b62\u8fd0\u884c\u3002\u63a5\u4e0b\u6765\u6211\u4eec\u6d4b\u8bd5\u76f8\u5bf9\u8fd0\u52a8\u3002\u8bbe\u7f6e\u201cMovIncDistance\u201d\u53d8\u91cf\u4e3a10000\uff0c\u6211\u4eec\u6bcf\u6b21\u8ba9\u7535\u673a\u8fd0\u884c1\u8f6c\u7684\u8ddd\u79bb\uff0c\u5e76\u5c06\u201cMotionState\u201d\u8bbe\u7f6e\u4e3a4\uff0c\u201cCtrl + F7\u201d\u5199\u5165\u503c\uff0c\u6b64\u65f6\u7535\u673a\u5e76\u6ca1\u6709\u8fd0\u884c\u3002\u9700\u8981\u5c06\u201cMovEnable\u201d\u8bbe\u7f6e\u4e3a\u201cTRUE\u201d\uff0c\u5e76\u5199\u5165\u65f6\uff0c\u7535\u673a\u5c06\u8fd0\u884c\u4ee51\u8f6c\/\u79d2\u7684\u901f\u5ea6\u9006\u65f6\u9488\u8fd0\u884c1\u8f6c\uff0c\u7136\u540e\u505c\u6b62\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"697\" height=\"476\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MVINC.png\" alt=\"\" class=\"wp-image-517\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MVINC.png 697w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/MVINC-300x205.png 300w\" sizes=\"auto, (max-width: 697px) 100vw, 697px\" \/><\/figure>\n\n\n\n<p>\u5982\u679c\u8981\u518d\u6b21\u8fd0\u884c\u8be5\u6a21\u5757\uff0c\u5219\u9700\u8981\u5148\u5c06\u201cMovEnable\u201d\u8bbe\u7f6e\u4e3aFALSE\uff0c\u7136\u540e\u518d\u8bbe\u7f6e\u4e3a\u201cTRUE\u201d\uff0c\u7535\u673a\u624d\u4f1a\u7ee7\u7eed\u8fd0\u884c1\u8f6c\u3002\u90a3\u4e48\u5982\u679c\u8981\u8ba9\u7535\u673a\u53cd\u8f6c1\u8f6c\uff0c\u5219\u53ea\u9700\u8981\u5c06\u201cMovIncDistance\u201d\u8bbe\u7f6e\u4e3a\u201c-10000\u201d\uff0c\u91cd\u590d\u4e0a\u8ff0\u52a8\u4f5c\u5373\u53ef\u3002<\/p>\n\n\n\n<p>\u7ecf\u8fc7\u521a\u521a\u7684\u5404\u79cd\u6d4b\u8bd5\uff0c\u6b64\u65f6\u7535\u673a\u7684\u4f4d\u7f6e\u5df2\u7ecf\u5230\u4e86\u4e00\u4e2a\u968f\u673a\u7684\u4f4d\u7f6e\uff0c\u5982\u4e0b\u56fe\u67e5\u770b\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"463\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Positionread-1024x463.png\" alt=\"\" class=\"wp-image-518\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Positionread-1024x463.png 1024w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Positionread-300x136.png 300w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Positionread-768x347.png 768w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/Positionread.png 1261w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>\u63a5\u4e0b\u6765\u6211\u4eec\u8fdb\u884c\u7edd\u5bf9\u503c\u5b9a\u4f4d\uff0c\u8ba9\u7535\u673a\u56de\u5230\u201c0\u201d\u7684\u4f4d\u7f6e\u3002\u5c06\u201cMotionState\u201d\u8bbe\u7f6e\u4e3a5\uff0c\u201cMovEnable\u201d\u8bbe\u7f6e\u4e3a\u201cTRUE\u201d\uff0c\u5199\u5165\uff0c\u6b64\u65f6\u7535\u673a\u671d\u77400\u7684\u4f4d\u7f6e\u8fd0\u884c\uff0c\u7ecf\u8fc7\u4e00\u6bb5\u65f6\u95f4\u540e\uff0c\u7535\u673a\u56de\u52300\u4f4d\u7f6e\u5e76\u505c\u6b62\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"691\" height=\"458\" src=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/GoTo0.png\" alt=\"\" class=\"wp-image-519\" srcset=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/GoTo0.png 691w, http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/GoTo0-300x199.png 300w\" sizes=\"auto, (max-width: 691px) 100vw, 691px\" \/><\/figure>\n\n\n\n<p>\u81f3\u6b64\uff0c\u7535\u673a\u5df2\u7ecf\u80fd\u591f\u5b8c\u6210\u5404\u79cd\u52a8\u4f5c\uff0c\u63a5\u7740\u6d4b\u8bd5\u7535\u673a\u7684\u56de\u96f6\u529f\u80fd\u3002\u5c06\u201cMotionState\u201d\u8bbe\u7f6e\u4e3a7\uff0c\u201cMovEnable\u201d\u8bbe\u7f6e\u4e3a\u201cTRUE\u201d\uff0c\u5199\u5165\u5373\u53ef\u89e6\u53d1\u7535\u673a\u56de\u96f6\u3002\u9ed8\u8ba4ECR60\u91c7\u7528CIA40\u7684\u56de\u96f6\u6a21\u5f0f17\u3002\u7535\u673a\u6b64\u65f6\u4ee5\u9ed8\u8ba4\u7684\u56de\u96f6\u901f\u5ea6\u5bfb\u627e\u8d1f\u9650\u4f4d\uff0c\u5c06COM+\u8fde\u63a524V\u6b63\u6781\uff0cIN4\u7aef\u5b50\u8fde\u63a524V\u8d1f\u6781\uff0c\u6b64\u65f6\u7535\u673a\u505c\u6b62\u7136\u540e\u53cd\u5411\u4f4e\u901f\u53cd\u8f6c\uff0c\u6b64\u65f6\u53bb\u9664IN4\u7684\u8fde\u63a5\uff0c\u5219\u7535\u673a\u56de\u96f6\u5b8c\u6210\u3002\u672c\u6b21\u6d4b\u8bd5\u7684\u9879\u76ee\u5982\u4e0b\uff1a<\/p>\n\n\n\n<div class=\"wp-block-file\"><a href=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60MotionTest.zip\">ECR60MotionTest<\/a><a href=\"http:\/\/www.rtplc.com\/wp-content\/uploads\/2020\/05\/ECR60MotionTest.zip\" class=\"wp-block-file__button\" download>\u4e0b\u8f7d<\/a><\/div>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u8fd0\u52a8\u63a7\u5236\u529f\u80fd\u662fcodesys\u53caEtherCAT\u901a\u8baf\u7684\u91cd\u8981\u529f\u80fd\uff0c\u63a5\u4e0b\u6765\u5bf9\u6d4b\u8bd5EtherCAT\u7684\u8fd0\u52a8\u63a7\u5236\u90e8\u5206\uff0c\u7531\u4e8e [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":491,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[3,14,15,16],"tags":[33,40,85,100],"class_list":["post-503","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-ethercat","category-14","category-steppermotor","category-steppermotordriver","tag-codesys","tag-ethercat","tag-raspberrypi","tag-100"],"_links":{"self":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts\/503","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/comments?post=503"}],"version-history":[{"count":6,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts\/503\/revisions"}],"predecessor-version":[{"id":661,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/posts\/503\/revisions\/661"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/media\/491"}],"wp:attachment":[{"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/media?parent=503"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/categories?post=503"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.rtplc.com\/index.php\/wp-json\/wp\/v2\/tags?post=503"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}