ER series industrial robot

parameter configuration
operation manual
 RCS2 V1.09 This document

complies with ISO requirements and will be

 updated as the IPD system changes

Document revision history

serial Version Revision Overview of revisions Revised
number number date
1 V1.0 2018.08.17 Create a new document Song
Yuanpu
2 V1.01 2018.11.08 1、 Merge the robot ontology axis Feng Riyue
parameters into Section 1.4 ;
2、 Added Section 1.5, Additional Axis
Parameter Configuration.
3 V1.02 2019.1.22 1. Added Section 1.6, Servo Pn/FN Zang
parameter configuration file Xiujuan
Description of ServoParam.ini .
4 V1.03 2019.4.19 1. Revise Section 1.4.3 to expand the Pan
configuration description of real and Tingting
virtual axis parameters; 2. Added
Section 1.7, customized five-axis robot
configuration instructions.
5 V1.04 2019.07.22 1、 Revised Section 1.2 to add a Feng Riyue
description column for file functions;
added a description of single-axis
parameter files;
2、 Added Section 1.8 , Single-axis
parameter configuration.
6 V1.05 2019.09.05 1、 Amend Section 1.2 to add several Feng Riyue
documents and their introductions:
ioCfg.ini
EAxisParam.ini / EAxisParam_Ceiling.ini
EConveyParam.ini
RobotParam.ini；
2、 Added Section 1.4, Robot
Installation Method Selection, Other
Chapters Extension;
3、 Due to the refactoring of the
parameter configuration file, the full
text is revised with pictures and
related content descriptions.
7 V1.06 2019.12.24 1. Add Section 1.7, Guide rail parameter Feng Riyue
setting, and extend subsequent chapters.
8 V1.07 2020.02.21 1. Add Section 1.9, Servo Type Parameter Zang
Settings, and extend subsequent Xiujuan
chapters.
9 V1.08 2020.07.13 1、 Amend Section 1.3 and add Feng Riyue
Subsection 1.3.2; Zang
2、 Modify the description of Xiujuan
bootfile files in full-text communications
support;
3、 Revised Section 1.11, revised the
chapter name and chapter summary,
changed the total number of single axes
supported by the system to 9, and added
Section 1.11.5.4 , Joint Type Settings.
10 V1.09 2020.10.21 1、 Section 1.6 has been revised to Paint
support a maximum of 10 additional holes
axes
2、 Added Section 1.8: Positioner
Parameter Settings
II

directory

1 Robot parameter configuration .................. 2

1.1 Runtime package file structure diagram ........................ 2
1.2 Configuration files involved in robot parameters ............ 2 1.3 Robot model
and cabinet settings .................. 3
1.3.1 Robot model settings ............ 3
1.3.2 Robot cabinet setup ............ 4
1.4 Robot installation method selection ............ 5 1.5 Robot Ontology Axis
Parameter Setting .................. 6
1.5.1 Member parameters and coupling ratio settings .................. 6
1.5.2 Joint type settings ........................ 8
1.5.3 Joint virtual axis setting ............ 8
1.5.4 Joint reduction ratio, resolution, and joint equivalent settings ..................
9
1.5.5 Joint orientation settings ............ 10
1.5.6 Joint soft limit settings ........................ 11 1.5.7 Joint maximum velocity and
acceleration settings .................. 11

1.6 Additional axis parameter settings ............ 12

1.6.1 Communication support............ 12
1.6.2 Model configuration.................. 12
1.6.3 Set the number of axes for additional axes ............ 13
1.6.4 New axis parameter area ............ 13
1.6.5 Axis parameter configuration for additional axes ............ 15 1.6.6 Multiple
additional axes ............ 16

1.7 Guide parameter settings ........................ 16

1.7.1 Axis Expansion Configuration ............ 16
1.7.2 Coordinate system conversion configuration .................. 17 1.7.3 Multiple
rails............................................................................................................................. .. 19

1.8 Positioner parameter settings ............ 19

1.8.1 Axis Expansion Configuration ............ 19 1.8.2 Multiple positioners
........................ 20

1.9 PN/FN parameter settings ............ 20

1.10 Servo type parameter settings ........................ 22 1.11 Custom five-axis
robot parameter settings .................. 23
1.11.1 Communication Support ............ 23
1.11.2 Model configuration .................. 24
1.11.3 General settings for axis parameters ............ 24
1.11.4 New parameter settings .................. 25

1.12 Single Axis Parameter Setting .................. 25

1.10.1 Communication support............ 26
1.10.2 Enable single-axis functionality ............ 26
1.10.3 Set the number of axes for a single axis ........................ 26
1.10.4 Axis parameter area............ 27
1.10.5 Single-axis axis parameter configuration ............ 28
1.10.6 Multiple single axes............ 30
II
Overvie
w of
the
preface
This brochure is for the control system RCS2 V1.21.00 and describes how to
configure the parameters of the Eston ER series robots.

Reader object
This manual is intended for use by technical support personnel related to
Eston Robotics only.

Notes
⚫ When installing and commissioning these components, operators must
strictly follow the instructions and explanations in this document.
⚫ The person responsible must ensure that the application or use of said
product meets all safety requirements, including relevant laws,
regulations, guidelines and standards.
⚫ Although this document has been carefully compiled, because the products
described therein are still in constant development, we may not check
after each update that the product performance data, standards, or other
features described in the document always match the actual product.
⚫ Technical or editorial errors may occur in this document, and we reserve
the right to make changes to the information in this document at any time
without notice. For products that have changed, we will not specifically
declare that the data, graphics and text descriptions in this document
have not been modified.
⚫ No one may modify the hardware and software configuration other than
those specified in the text file, and ESTUN shall not be liable for all
consequences arising therefrom.
⚫ When the units shown in this document are not otherwise noted, the
default units are millimeters mm.

Safety instructions
Risk of injury
Failure to comply with the safety instructions
related to this sign will endanger the life
and health of individuals.

1
 Hazardous to the environment and equipment
Failure to comply with the relevant safety
instructions of this sign may significantly
endanger the environment and equipment safety.
Instructions or tips
This flag indicates that this information will
help you better understand the safety
instructions.

1 Robot parameter configuration

1.1 Runtime package file structure diagram

A standard runtime package is required before configuration . The runtime

package is a folder, as shown below when opened. Identify the parameters that

need to be configured. Commonly used configuration parameters are: member

parameters, coupling ratio, acceleration, reduction ratio, limit position, etc.

1.2 Configuration files involved in robot parameters

sequence File name File features The path where it is located

number

2
 Model
1 robotCfg.ini C:\runtime\sysConfig\
settings
IO parameter
2 ioCfg.ini C:\runtime\sysConfig\
configuration
3 RobotParam.ini Mechanical
C:\runtime\configFiles\config_***\
class of robot
Where: is the model name.
body axis and
For example: config_ER16_A6.
additional

axis
If there is no corresponding robot
Parameter model configuration folder,
settings
contact the developer.

4 Motion C:\runtime\configFiles\config_***\
parameter Where: is the name of the
EAxisParam.ini/
settings for model, same as above.
EAxisParam_Ceili robot body
axes and
ng.ini additional
axes
5 ServoParam.ini Servo Pn/Fn C:\runtime\configFiles\config_***\
parameters Where: is the name of the
model, same as above.
Set up

6 SgAxisParam.ini Single-axis C:\runtime\configFiles\config_***\

parameter
Where: is the name of the model,
settings
same as above. The template for

that file is located in the folder

C:\runtime\configFiles\config_ER16_A6\

, the configuration method is the

same for other models.
Conveyor
7 EConveyParam.ini parameter Ditto.
configuration
The following is an example to configure the parameters of the ER16_A6 robot.

3
1.3 Robot model and cabinet settings

1.3.1 Robot model settings

Open the robotCfg .ini in C:\runtime\sysConfig\ and configure the ER16_A6

robot type as shown below.

RobotType: A robot model that supports a maximum length of 20 characters.

RobotTypeList: Provides a choice of robot models.

Note: If you configure models that are not supported by the release version, you
can name RobotType in the following format:
Robot series Name format note
SCARA robot SCARA** Start with the
SCARA character
Palletizing robots Pallet** Start with the Pallet
character
Universal six-joint **_A6 Ends with a _A6
robot character
1.3.2 Robot cabinet settings

According to the robot cabinet, the corresponding robot body axis parameter
file and communication profile are set.

4
1.3.2.1 The corresponding body axis parameter file of the electric
cabinet

Taking SCARA600S as an example, when the same model but different

electrical cabinets, you need to select the corresponding robot body axis
parameter text
as follows:
When selecting Thunder Cabinet, first, place
C:\runtime\configFiles\config_SCARA600S\ under the folder
EAxisParam.ini, RobotParam.ini, ServoParam.ini three files are deleted; after that,
open
C:\runtime\configFiles\config_SCARA600S\5_J1J2J3J4(EM3A)_ThunderS1&4\, use the files
in this folder (EAxisParam.ini, RobotParam.ini, ServoParam .ini) is copied to the
C:\runtime\configFiles\config_SCARA600S\ path.

1.3.2.2 Communication profile corresponding to the electrical

cabinet

Taking SCARA600S as an example, when the same model but different cabinets,
you need to select the corresponding communication profile
As follows:
When selecting a Thunder cabinet, first, set eni.xml and EtherCAT_cfg.ini under
the C:\runtime\rtk\ folder
After the two files are deleted, copy the eni_Thunder1&4_ThunderIO.xml files under
the C:\runtime\rtk\0_rtkConfigDemo\3_eni\folder to C:\runtime\rtk\folder, rename to
eni.xml; then copy the EtherCAT_cfg_ThunderIO.ini files under the
C:\runtime\rtk\0_rtkConfigDemo\4_EtherCAT_cfg\ folder to C:\runtime\rtk\ folder and
rename it to EtherCAT_cfg.ini. Description:
1. The files contained under the C:\runtime\rtk\ 0_rtkConfigDemo\ 3_eni\ folder are as
follows:

5
 2. The files contained under the C:\runtime\rtk\0_rtkConfigDemo\4_EtherCAT_cfg\ folder
are as follows:

1.4 Robot installation method selection

The robot installation method can be selected through the teach pendant, as
shown in the following figure:

Most models default to "ground" installation, and some models support

"hoisting".

6
 EAxisParam.ini in the C:\runtime\configFiles\config_**** folder is valid when the
robot is loaded

When the robot is hoisted, EAxisParam_Ceiling.ini under the

C:\runtime\configFiles\config_** folder

Priority is valid, without this file, EAxisParam.ini is valid.

Hereinafter, EAxisParam*.ini means EAxisParam.ini or EAxisParam_Ceiling.ini, one
of the two

Yes, as described in this section.

1.5 Robot body axis parameter setting

Set the robot body axis parameters according to the model, as follows:

Open the RobotParam.ini file in C:\runtime\configFiles\config_ER16_A6\

or

Open the EAxisParam*.ini file in C:\runtime\configFiles\config_ER16_A6\.

1.5.1 Member parameters and coupling ratio settings

1.5.1.1 Set member parameters

Configure ER16_A6 robot member parameters as shown in the figure below.

7
 Parameters L1 -L7 are robot member parameters (mm), and the
schematic diagram of each parameter is shown in the figure
above.

The following table describes the parameters as follows:

parameter meaning
2 Axis axis offset parameter from coordinate
L1
origin in Z direction
2 Axis axis offset parameter from coordinate
L2
origin in the X direction
The distance between the 2-axis axis and the 3-axis axis
L3
in the Z direction
Distance parameter between 3-axis and 5-axis spindles in
L4
the Z direction
Distance parameter between 3-axis and 5-axis spindles
L5
in the X direction
Distance parameter between 5-axis and 6-axis spindles
L6
in the X direction
The offset of the 2-axis spindle from the 3-axis
L7
spindle in the Y direction
1.5.1.2 Set the coupling ratio

configuration ER16_A6 The

8
 robot coupling ratio is shown in the

figure below.

enCoupling: Whether the robot needs to be decoupled (mechanically coupled).

Set the value:0: Decoupling energy prohibition 1: Decoupling enabled

CoupleF43: 34 axis coupling ratio, SCARA is valid, not ER16_A6 , so it is set
to 0.
CoupleF45: The 4-axis to 5-axis coupling ratio of the robot .
CoupleF46: The coupling ratio of the robot's 4-axis to 6-axis
CoupleF56: The coupling ratio of 5 axes to 6 axes of the robot

1.5.2 Joint Type Settings

Taking joint 1 as an example, the

configuration joint type is shown

in the following figure.

9
 AxisType: A joint type configuration that distinguishes whether a joint is a
rotational or moving axis.

1.5.3 Joint virtual axis setting

Taking joint 1 as an example, the configuration of the real virtual axis is

shown in the figure below.
AxisSimulated: Virtual axis configuration, 0 means the axis is real, 1 means
the axis is a virtual axis but needs to be connected to the drive, 2 means the axis is a virtual axis,
not connected to the drive, is empty.

1.5.4 Joint reduction ratio, resolution, and joint equivalent

settings

1.5.4.1 Set the shaft reduction ratio

Taking joint 1 as an example, configure the deceleration as shown in the

figure below.
Reduction ratio = reduction ratio numerator/reduction ratio denominator, joint 1
reduction ratio is 120863/1000=120.863.

10
 GearNumber: The reduction ratio numerator, which is an integer type.

GearDenom: Deceleration ratio denominator, integer type.

Reduction ratio = reduction ratio numerator / reduction ratio denominator.

1.5.4.2 Set encoder

resolutionTake joint 1 as an

example, configure the encoder

resolution as shown below.

EncoderResolution: Encoder resolution pulse/r

11
 Note: The encoder resolution is determined by the number of encoder bits, and
if the encoder is n bits, the resolution is 2n.

1.5.4.3 Set the joint equivalent

Take joint 1 as an

example, configure the joint

equivalent as shown in the figure

below.

Equivalent: Joint equivalent.

Note: The joint equivalent of the rotating axis is configured as 360deg/r, and the
joint equivalent of the moving axis is the screw lead**mm/r (e.g., the 3-axis lead of
the second-generation SCARA is 20mm/r, specific to the ontology parameter table).

1.5.5 Joint orientation settings

Taking joint 1 as an example, configure the

joint orientation as shown in the

figure below.

12
 AxisPosDirection: Joint direction, 0 is not negated, 1 is negated.

1.5.6 Joint soft limit setting

Taking joint 1 as an example, the

configuration of joint soft limits

is shown in the figure below.

SWLimitNegative: Soft limit in the negative direction of the joint;

SWLimitPositive: Soft limit in the positive direction of the joint.

13
 Note: Regarding the unit unit in the configuration file, if the AxisType is
configured as 0, then unit refers to mm, if AxisType is configured as 1 or 2, then unit
refers to deg.

1.5.7 Joint maximum velocity and acceleration settings

Note: The parameters in this section generally do not need to be changed.

Taking joint 1 as an example, set the maximum speed and maximum acceleration
of the joint, as shown in the following figure.

MaxVelocity: The maximum speed of the joint.

MaxAcceleration: Maximum acceleration of the joint.

1.6 Additional axis parameter settings

By configuring parameters, the system can control the movement of additional
axes, which support up to 10 , and the additional axis type can be configured
as:
⚫ Simple axes, such as: conveyor belts, plus servo equipment;
⚫ Robot axes, e.g. rails;
⚫ External axes, e.g. positioners.
A maximum of 9 single axes (single axes) are supported, but the total number of
axes in the system cannot exceed 16 axes.

14
 Note: Up to 6 "positioners" are supported in the controller, which can be 1-axis
positioners or 2-axis positioners, and since the "external axis" is one of the
additional axes, the total number of positioner axes cannot exceed 10 Piece.

1.6.1 Communication Support

When using the additional axis function, if the robot communicates with
EtherCAT, the corresponding eni.xml and ) need to be replaced

EtherCAT_cfg.ini file (you can select the basic type of file in Section 1.3.2.2, or you can

generate the corresponding file by visualization software), which is located in

the C:\runtime\rtk\ directory.

1.6.2 Model configuration

at C:\runtime\configFiles\Create a new folder config_***，The folder naming format

is:[Standard model name E*] ------“*”Refers to the number of additional axes

For example: ERC10_A3 robot with 1 additional axis and the folder named
config_ERC10_A3E1.

ER16_A6 robot with 1 additional axis and the folder named config_ER16_A6E1.

Under this new folder, place the standard configuration files of the
corresponding model, including: RobotParam.ini and

EAxisParam* .ini, then open the corresponding files separately and add additional
axis specific parameters.

Once the additional axis parameters are configured, select the model

according to Section 1.3 Robot Model Settings and the system will support

additional axis movements.

15
1.6.3 Set the number of axes for

additional axes

Set the number of additional axes to 1, as

shown in the following figure.

Note: When configuring additional axes, do not modify the model name
[Mech]RobotType in the configuration file.

1.6.4 Added axis parameter area

Under the standard axis parameters of the configuration file, add a

parameter area for the axis, and add the number of parameters and names of
the axis parameter area

It is consistent with the number and name of parameters in the standard axis
parameter area.
For example, for a ER16_A6 robot with 1 additional axis, the label of the newly

added axis parameter area is named [Axis7], as shown in the following figure:

16
 Note: The label name of the newly added axis parameter area should be
incremented after the number of ontology axes according to the actual
configuration.

17
 For example, if a custom 3-axis robot has 1 additional axis, the label name
of the new axis parameter area should be [Axis4].

1.6.5 Axis parameter configuration for additional axes

1.6.5.1 Axis number setting takes the ER16_A6 robot with

1 additional axis as an example, and the axis number of the

new axis parameter area is 7.

Note: The axis number of the newly added axis parameter area should be
incremented after the number of ontology axes according to the actual
configuration.

For example, if a custom 3-axis robot has 1 additional axis, the axis number
of the new axis parameter area should be 4.

1.6.5.2 Axis General Parameter Settings

The general parameter configuration of additional axes mainly includes:

joint type, reduction ratio, resolution, joint equivalent, soft limit, joint

speed, acceleration, acceleration, etc.

The configuration method is the same as the parameter configuration method

of the robot body axis.

18
1.6.5.3 Soft limit settings

When configuring the additional shaft soft limit, it is necessary to

determine the zero point of the additional shaft according to the on-site

installation situation, and then set the positive and negative soft limit

according to the actual motion range of the axis.

1.6.6 Multiple additional axes

If there are multiple additional axes, configure the number of additional

axes [Mech] AuxAxes according to the actual situation and increase the corresponding axis

parameter area.

1.7 Rail parameter setting

By configuring parameters, the system can control the movement of the guide
rail (involved in motion chain interpolation). The specific configuration
method is as follows:

19
1.7.1 Axis Expansion Configuration

Take the example of a ER16_A6 robot with 1 rail.

Configure the parameters for axis 7 according to Section 1.6 Additional axis
parameter settings so that the robot can move normally with additional axes.

Note: The type of joint of the rail needs to be configured correctly,

distinguishing whether it is a moving axis or a rotating axis.

1.7.2 Coordinate System Conversion Configuration

When using guides, in addition to the parameters required for additional

axes, you also need to configure the coordinate system conversion relationship

between the rail, the robot and the world coordinate system World .

Take the example of a ER16_A6 robot with 1 rail. The reference configuration
template for the parameter file is located in the folder :

C:\runtime\configFiles\config_ER16_A6\RobotParam_Rail.ini。

20
1.7.2.1 Guide Rail Kinematics Type Select The

kinematic chain type of the newly added

axis is configured as the Robot axis.

1.7.2.2 Relationship between rails and World

Configure the coordinate system conversion relationship FramePre[X,Y,Z,A,B, C] of

the guide's base coordinate system relative to the previous motion chain , where: X, Y, Z is the

position offset of the base coordinate system of the guide rail relative to World, A, B, C is

the attitude rotation of the rail's base coordinate system relative to World, and

the pose is described in the ZYX manner.

Note: If the axis is moved, the rail motion needs to move along the Z axis of

the FramePre, and if it is a rotation axis, the rail motion needs to rotate around

the Z axis of the FramePre .

21
 Take the example of a ER16_A6 robot with 1 rail. Since there is only 1 rail, only
the rail base needs to be configured

The coordinate system conversion relationship of the standard system relative to

World. If you want the positive direction of the rail motion to be the same as

the positive direction of the world coordinate system Y-axis, configure

FramePre[0,0,0,0,0, -90]。

1.7.2.3 The relationship between the robot and the guide

Configure the coordinate system conversion relationship of the robot's base

coordinate system relative to the base coordinate system of the guide
RobotBase[X,Y,Z,A,

B,C], where: X, Y, Z is the position offset of the robot base coordinate system

relative to the guide rail base coordinate system, A, B, C is the attitude rotation

of the robot's base coordinate system relative to the guide rail base coordinate system, and the pose

is described as ZYX mode.

22
 Take the example of a ER16_A6 robot with 1 rail. After configuring the FramePre

transformation relationship of the guide's base coordinate system relative to

World, configure it as if you want the positive direction of the robot's base coordinate system to be

the same as the positive direction of the world coordinate system

RobotBase[0，0，0，0，0，90]。

1.7.3 Multiple rails

When there are multiple rails, the number of additional axes [Mech] AuxAxes

should be configured according to the actual situation and the corresponding axis parameter

area should be added. At the same time, the coordinate system conversion

relationship between motion chains needs to be set according to the above rules.

1.8 Positioner parameter setting

By configuring the parameters, the system can control the coordinated
movement of the positioner and the robot. The specific configuration method
is as follows:

1.8.1 Axis Expansion Configuration

Take the example of a ER16_A6 robot with 1 two-axis positioner. The reference
configuration template for the parameter file is located in the folder :

23
 C:\runtime\configFiles\config_ER16_A6\RobotParam_ Positioner.ini。

Configure the parameters for the 7th and 8th axes according to Section 1.6
Additional axis parameter settings so that the robot can carry additional axis
positives
Exercise often.

1.8.1.1 Positioner kinematic chain type selection

Configure the motion chain type of the axis as an external axis.

24
1.8.2 Multiple positioners

When there are multiple positioners, the number of additional axes [Mech]

AuxAxes should be configured according to the actual situation, and the corresponding axis

parameter area should be added.

1.9 PN/Fn parameter setting

Note: This parameter is only valid for robots with an ECAT type servo .

Open the ServoParam.ini file in C:\runtime\configFiles\config_ER16_A6\. The PN/FN

parameter file format is shown in the following figure:

Note: The _x on the left side of the equal sign of the document represents the servo
axis number, and the corresponding parameters of different models are different;
the number on the right side of the equal sign

25
One column matches the axis number on the left, the second column is the index of the
object in the object dictionary corresponding to the Pn/Fn parameter, and the third
column is
The subindex of the object in the object dictionary corresponding to the Pn/Fn parameter,
and the second column is the length (in bytes) of the object in the object dictionary
corresponding to the Pn/Fn parameter.

Modification example: The object index in the object dictionary corresponding

to the Pn/FN of one drag six servos is different from that of the standard servo.
For example, a

The object index of the Pn/Fn of the axis needs to be modified as follows:

1.10 Servo type parameter setting

Note: This parameter is only valid for robots with a servo of type Canopen.

The servo drive types of Canopen communication are: ETS, AMG, AMA.

When using, the parameter ServoType needs to be set accordingly according to

the type of servo drive actually installed by the robot

The parameters are located in [System] in the RobotParam.ini file for the corresponding
model.

The following table shows the supported server types:

ServoType = 0 ; 1ETS+1AMG

ServoType = 1 ; 1ETS

ServoType = 2 ; 4AMG

ServoType = 3 ; 3AMG

ServoType = 4 ; 4AMA

26
 ServoType = 5 ; 3AMA

Four-axis robots (SCARA series, ERC10_A4) are configured as 0 by default

and 3-axis robots are configured as 1 by default. Note: This parameter needs to be

modified when the 3-axis robot is configured with additional axes.

If the ERC10_A3 robot does not have an additional axis (servo type ETS), set
the parameters as shown below:

If the ERC10_A3 robot is configured with 1 additional axis (servo type ETS+AMG),
set the parameters as shown below:

27
1.11 Customize five-axis robot parameter settings
By configuring the parameters, the system can support the motion of the
customized five-axis robot. The specific configuration method is as
follows:

1.11.1 Communication Support

Customizing a five-axis robot for EtherCAT communication requires replacing the

corresponding eni.xml and EtherCAT_cfg.ini files

(You can select a basic type of file in Section 1.3.2.2, or you can generate a

corresponding file through visualization software), which is located in the

C:\runtime\rtk\ directory.)

1.11.2 Model configuration

Create a new folder under C:\runtime\configFiles\ config_***_A6, for example:

config_ER12_1510_H5_A6.

Although the five-axis robot has only five axes, its naming still needs to end
with _A6, corresponding to the RobotParam.ini

The same is true for models, as shown in the image below.

1.11.3 General settings for axis parameters

As mentioned in 1.7.2, custom five-axis models still end in _A6, so the

parameters of the [Axis6] group are required in the configuration file, which can be

configured the same as [Axis5].

28
 It is important to note that because the six-axis does not actually exist,
AxisSimulated must be set to 2 , which means 1.4.3

section, as shown in the following figure.

1.11.4 Added parameter settings

Since the five-axis zero position of the custom five-axis robot is

vertically downward to the zero position, which is inconsistent with the general

six-joint position, a new parameter configuration zero position is added in the

[Basic] group in the EAxisParam*.ini file, as shown in the figure below.

29
1.12 Single axis (Single axis ) parameter setting
Note: This function is only valid for robots with a servo bus of ECAT type.

By configuring parameters, the system can control single-axis movements via the
PLC. The function blocks supported by the PLC and the specific usage methods

See ER Series RCS2 System PLC Software Installation and Standard Engineering

User Manual. When using a single axis, the specific configuration of parameters

is as follows:

1.12.1 Communication Support

When using the single-axis function, only the robot is supported to

communicate with EtherCAT, and the corresponding eni.xml and ) need to be replaced

30
EtherCAT_cfg.ini file (you can select the basic type of file in Section 1.3.2.2, or you can

generate the corresponding file by visualization software), which is located in

the C:\runtime\rtk\ directory.

1.12.2 Enable single-axis functionality

Take the example of a ER16_A6 robot with a single axis.

Under the C:\runtime\configFiles\config_ER16_A6\ folder, place the SgAxisParam.ini

file and configure it accordingly. After the single-axis parameter configuration

is completed, select the model according to Section 1.3 Robot Model Settings, and the

system can support single-axis motion.

1.12.3 Set the number of axes for a single axis

Taking the robot with 1 single axis as an example, set the

number of single axes to 1, as shown in the following

figure.

1.12.4 Axis parameter area

Configure the axis parameter area [SgAxis1] ~ [SgAxisN] below according to the actual
number of single-axis axes, as shown in the following figure:

31
 For example, if the robot has 1 single axis, the axis parameter area
[SgAxis1] needs to be configured.

If the robot has 3 single axes, the axis parameter zones [SgAxis1],

[SgAxis2], [SgAxis3] need to be configured. If the robot has 9 single axes,

the axis parameter fields [SgAxis1], [SgAxis2], ... need to be configured

、[SgAxis9]。

1.12.5 Single-axis axis parameter configuration

1.12.5.1 Axis number setting takes the ER16_A6

robot with 1 single axis as an example, and the axis

number in the axis parameter area is 7.

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 Note: The axis number of the axis parameter area should be incremented after
the number of ontology axes according to the actual configuration.

1.12.5.2 Axis General Parameter Settings

The general parameter configuration of single axis mainly includes: joint

type, reduction ratio, resolution, joint equivalent, soft limit, joint speed,

acceleration, acceleration, etc.

The configuration method is the same as the parameter configuration method

of the robot body axis.

1.12.5.3 Soft limit settings

When configuring single-axis soft limits, it is necessary to determine the

zero point of the single-axis according to the on-site installation situation,

and then set the positive and negative soft limits according to the actual range

of motion of the axis.

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1.12.5.4 The joint type setting is based on the actual

use of uniaxial axis, and the configuration joint type is

shown in the following figure.

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 AxisType: A joint type configuration that distinguishes whether a joint is a
rotational or moving axis.
For example, if the joint type of the uniaxial is configured to 1, which
indicates continuous rotation, the uniaxial operation at a fixed speed can be controlled by
the MoveVelocity function block on the PLC.

1.12.6 Multiple single axes

The system currently supports up to 9 single axes. If there are multiple

single axes, the number of single axes should be configured according to
the actual situation

[Info]SgAxes and add the corresponding axis parameter area.

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