Examples

EtherCAT & Axis Configuration

• EtherCAT Drive Config Script
• Homing Script
• Single Rotary Axis Calibration
• Single Linear Axis Calibration
• Dual Rotary Axis Calibration Script

Motion

• Constructing and Jogging a Single Axis Positioner
• Constructing the Kinematics of a Two Axis Positioner
• Jogging Two Axis Groups Using Threads
• Attaching Frames to An Axis
• Basic Frame Tracking with an Axis
• Programming Waypoints in a Moving Frame
• Coordinated Motion with an Axis
• Coordinated Motion Script
• Manually Setting the Axis Indices and Streaming over RTDE
• Configuring, Enabling, and Driving EtherCAT Axes

• URCaps for MotionPlus

World Model

• Adding, Moving, and Attaching Frames
• Moving the Robot Using Frames
• Moving the Robot Relative to the TCP
• Moving the Robot’s Base While Following A Trajectory