Common FAQs

For instance, "14-50" means the size of the harmonic reducer is 14, and the ratio of the gear reduction is 1:50.

The CANopen protocol supports NMT, SYNC, SDO(Service Data Objects), PDO(Process Data Objects), EMCY; 

Download the latest Beckhoff TwinCAT3 software [                ]. Using the preconfigured XML file from Waybot named: <           >.xml, place the XML file inside the Beckhoff TwinCAT3 storage path: C:\...\TwinCAT\3.1\Config\Io\EtherCAT. Please refer to the EtherCAT user manual [   ] page [    ] for parameter configuration. 

There are five statuses, <Init>, <Pre-operational>, <Safe-Operational>, <Operational>, <Bootstap>. These statuses are abbrieviated as <I>, <P>, <S>, <O>, <B>. Please refer to the EtherCAT User Manual Page [    ] for further details.

In the Cyclic synchronous position mode, the master controller generate trajectory and transmit the target position to the joint module at each EtherCat/CAN communication cycle, and the joint Module performs position, velocity and torque control.

In the Cyclic Synchronous Velocity Mode, the master controller generates trajectory and transmits the target velocity to the slave at each EtherCAT/CAN cycle, and the slave performs velocity control and torque control. Optionally, a velocity offset and a torque offset may be provided by the control system in order to allow a second source for velocity and/a torque feed forward.