伯朗特机器人股份有限公司
BORUNTEROBOTCO.,LTD.
Contents
1Preparation-1-
2Componentconnection-1-
2.1ConnectionofRS485communicationanalogmodule,CANencoderandotherstohostCANport-1-
2.2DoublefollowCANencoderconnection-2-
2.3Industrialcameracommunicationwireinterface-2-
3Followparametersettingandinstructionsteps-2-
3.1CANSettings-2-
3.2Descriptionoffollowparameters-3-
3.2.1Descriptionofencoderparameters-3-
3.2.2Descriptionoffollowparameters-4-
Linearfollowcalibrationsetting-4-
LinearfollowstartoffsetandfollowcommandP0,P1,P2calibrationdiagram-5-
Rotaryfollowcalibrationsetting-7-
RotaryfollowstartoffsetandfollowcommandP0,P1,P2calibrationdiagram-7-
3.3Mrelaymeaning-10-
3.4Addressintroduction-10-
3.5Follow+signalsinglefollowsettingandinstructionsteps-11-
3.5.1Createanewmodulenumber-11-
3.5.2Encodersetting-11-
3.5.3Logtarget-11-
3.5.4Followcommandandtrackinstruction-12-
3.6Follow+signaldoublefollowsettingandinstructionsteps-12-
3.6.1Createanewmodulenumber-12-
3.6.2Encodersetting-13-
SetencoderID1：-13-
SetencoderID2：-13-
3.6.3Logtarget-13-
3.6.4Followcommandandtrackinstruction-13-
3.7Follow+visionsettingandtakephotocommand-13-
3.7