Configuration for a linear Axis

The following guidelines will help to combine a motor module with a new linear joint. The joint is tests with the ModuleCtrl software tool, and parameter like encoder direction, referencing and current can be adapted.

Requirements: free motor module in a functioning robot controller; linear axis; Windows computer; Peak Systeme PCAN-USB adapter with cable

Preparations

• Download and install ModuleCtrl from this Wiki: Config Software ModuleCtrl
• Read the user guide of the ModuleCtrl software
• Install the Peak Systeme driver for the USB-CAN adapter PCAN-USB
• Switch off the control (never hot-plug!)
• Connect the linear axis to the free motor module. See the robolink user guide for pin connections.
• Connect the PCAN-USB adapter to the CAN plug in the support module of the control

Connect the joint with the ModuleCtrl software tool

• Power up the control. Now the green light of the motor module shoul be on.
• Start the ModuleCtrl software and
  • Press the "Connect" button
  • Change the CAN-ID to e.g. 0x58, depending on the CAN-ID switch on the module (ID starts at 0x10, every step is 0x08 added)
• Now the green LED should blink to show that there is CAN communication available
• The status in ModuleCtrl should be e.g. "MNE, COM, .."
  • If the status is "Not connected" then please check all cables and close/open the software and try to connect again. Also close all other programs that access the PCAN-USB adapter.
  • If the status is "DEAD" or "module dead" then the CAN ID does not match to the module.

Test the Motion

• After connection