{"id":29984,"date":"2023-03-24T13:50:06","date_gmt":"2023-03-24T05:50:06","guid":{"rendered":"https:\/\/hongtronics.com\/?p=29984"},"modified":"2024-07-01T11:40:52","modified_gmt":"2024-07-01T03:40:52","slug":"article-how-to-use-the-ethercat-incremental-encoder-input-module-to-collect-data","status":"publish","type":"post","link":"https:\/\/hongtronics.com\/en\/article-how-to-use-the-ethercat-incremental-encoder-input-module-to-collect-data\/","title":{"rendered":"Application Example] Test - How to use EtherCAT incremental encoder input module to collect data"},"content":{"rendered":"

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— \u7de8\u78bc\u5668\u6982\u8ff0<\/h2>\n\n\n\n

\u7de8\u78bc\u5668\u662f\u5c07\u8a0a\u865f\u6216\u6578\u64da\u9032\u884c\u7de8\u5236\u3001\u8f49\u63db\u70ba\u53ef\u7528\u4ee5\u901a\u8a0a\u3001\u50b3\u8f38\u548c\u5132\u5b58\u7684\u8a0a\u865f\u5f62\u5f0f\u7684\u8a2d\u5099\u3002\u7de8\u78bc\u5668\u628a\u89d2\u4f4d\u79fb\u6216\u76f4\u7dda\u4f4d\u79fb\u8f49\u63db\u6210\u96fb\u4fe1\u865f\uff0c\u524d\u8005\u7a31\u70ba\u78bc\u76e4\uff0c\u5f8c\u8005\u7a31\u70ba\u78bc\u5c3a\u3002<\/p>\n\n\n\n

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    \n
  1. \u589e\u91cf\u5f0f\u7de8\u78bc\u5668\u662f\u5c07\u4f4d\u79fb\u8f49\u63db\u6210\u5468\u671f\u6027\u7684\u96fb\u4fe1\u865f\uff0c\u518d\u628a\u9019\u500b\u96fb\u4fe1\u865f\u8f49\u8b8a\u6210\u8a08\u6578\u8108\u885d\uff0c\u7528\u8108\u885d\u7684\u500b\u6578\u8868\u793a\u4f4d\u79fb\u7684\u5927\u5c0f\u3002<\/li>\n\n\n\n
  2. \u7d55\u5c0d\u5f0f\u7de8\u78bc\u5668\u7684\u6bcf\u4e00\u500b\u4f4d\u7f6e\u5c0d\u61c9\u4e00\u500b\u78ba\u5b9a\u7684\u6578\u5b57\u78bc\uff0c\u56e0\u6b64\u5b83\u7684\u793a\u503c\u53ea\u8207\u6e2c\u91cf\u7684\u8d77\u59cb\u548c\u7d42\u6b62\u4f4d\u7f6e\u6709\u95dc\uff0c\u800c\u8207\u6e2c\u91cf\u7684\u4e2d\u9593\u904e\u7a0b\u7121\u95dc\u3002<\/li>\n<\/ol>\n\n\n\n
    <\/div>\n\n\n\n

    — HK-MK5-5002 EtherCAT\u7de8\u78bc\u5668<\/strong><\/h2>\n\n\n\n

    HK-MK5-5002 \u7de8\u78bc\u5668\u6a21\u7d44\u662f\u4e00\u500b\u7528\u65bc RS422 \u5dee\u5206\u5f62\u5f0f\u8f38\u51fa\u7684\u589e\u91cf\u7de8\u78bc\u5668\u63a1\u96c6\u6a21\u7d44\u3002\u5e36\u6709 32 \u4f4d\u6b63\u4ea4\u89e3\u78bc\u8a08\u6578\u5668\uff0c\u4ee5\u53ca\u96f6\u8108\u885d\u3001\u9396\u5b58\u4fe1\u865f\u7684\u9396\u5b58\u5668\u53ef\u8b80\u53d6\u9396\u5b58\u4f4d\u7f6e\uff0c\u4e26\u628a\u8a08\u6578\u8207\u9396\u5b58\u7d50\u679c\u900f\u904e\u7e3d\u7dda\u901a\u8a0a\u50b3\u905e\u7d66\u63a7\u5236\u5668\uff0c\u5f9e\u800c\u5be6\u73fe\u5206\u4f48\u5f0f\u7684\u7de8\u78bc\u5668\u63a1\u96c6\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u8a72\u6a21\u7d44\u63a1\u7528 4 \u500d\u983b\u5c0d\u6240\u6709\u8f38\u5165\u4fe1\u865f\u7684\u908a\u6cbf\u9032\u884c\u63a1\u6a23\u548c\u8a08\u7b97\uff0c\u53ef\u4ee5\u9032\u4e00\u6b65\u63d0\u9ad8\u5206\u8fa8\u7387\u548c\u63a1\u96c6\u7cbe\u5ea6\u3002<\/p>\n\n\n\n

    \"\"
    MK5 5002\u7522\u54c1\u5716<\/figcaption><\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    HK-MK5-5002\u7684\u8f38\u5165\u901a\u9053\u8207\u8f38\u51fa\u901a\u9053\uff0cEtherCAT\u901a\u8a0a\u63a5\u53e3\u4ee5\u53ca\u96fb\u6e90\u63a5\u53e3\uff0c\u90fd\u64c1\u6709\u5c0d\u61c9\u7684 LED\u6307\u793a\u71c8\uff0c\u7528\u65bc\u5feb\u901f\u89c0\u5bdf\u548c\u8a3a\u65b7\u4fe1\u865f\u8207\u6307\u4ee4\u72c0\u614b\u3002<\/p>\n\n\n\n

    <\/div>\n\n\n\n

    — \u6e2c\u8a66\u904e\u7a0b<\/h2>\n\n\n\n

    \u7b2c\u4e00\u6b65\uff1a\u786c\u9ad4\u9023\u63a5<\/strong><\/p>\n\n\n\n

    \u9032\u884c HK-MK5-5002-T000\u7de8\u78bc\u5668\u6a21\u7d44\u8b80\u53d6\u7de8\u78bc\u5668\u6578\u64da\u7684\u6e2c\u8a66\uff0c\u4ee5 KPA Studio\u8edf\u9ad4\u4f5c\u70ba EtherCAT\u7aef\u7684\u865b\u64ec\u4e3b\u7ad9\uff0c\u8f49\u52d5\u7de8\u78bc\u5668\u6642\uff0c\u5728 KPA\u4e0a\u5728\u7dda\u6aa2\u6e2c MK5 5002\u7de8\u78bc\u5668\u6a21\u7d44\u63a1\u96c6\u5230\u7684\u6578\u64da\u3002<\/p>\n\n\n\n

    \u5728\u9032\u884c\u901a\u8a0a\u6e2c\u8a66\u524d\uff0c\u9996\u5148\u8981\u5c0d MK5-5002-T000\u7de8\u78bc\u5668\u6a21\u7d44\u9032\u884c\u786c\u9ad4\u9023\u63a5\uff0c\u5982\u5716\u70ba\u5b8c\u6210\u9023\u63a5\u5f8c\u7684\u786c\u9ad4\u90e8\u5206\uff1a<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u7de8\u78bc\u5668 A\/B\/Z\u5dee\u5206\u4fe1\u865f\u5206\u5225\u63a5\u5165 HK-MK5-5002\u6a21\u7d44\u901a\u90531\u5c0d\u61c9\u7684\u7aef\u5b50\uff1b\u7de8\u78bc\u5668\u96fb\u6e90\u7dda\u5206\u5225\u63a5\u5165 HK-MK5-5002\u6a21\u7d44\u7684 5V\u548c 0V\u5c0d\u61c9\u7684\u7aef\u5b50\uff1b<\/p>\n\n\n\n

    HK-MK5-5002\u4f9b\u96fb\u96fb\u6e90\u8f38\u5165\u70ba\u901a\u8a0a\u7cfb\u7d71\u4f9b\u96fb\u6216\u73fe\u5834\u8a2d\u5099\u7aef\u4f9b\u96fb\uff0c\u4e26\u5e36\u6709\u96fb\u6c23\u9694\u96e2\uff0c\u5176\u5805\u56fa\u7684\u91d1\u5c6c\u5916\u6bbc\u80fd\u5920\u63d0\u4f9b\u51fa\u8272\u7684\u96fb\u78c1\u5c4f\u853d\u548c\u6563\u71b1\u6027\u80fd\uff0cIP30\u9632\u8b77\u7b49\u7d1a\uff0c\u78ba\u4fdd\u5728\u82db\u523b\u7684\u5de5\u696d\u751f\u7522\u74b0\u5883\u4e2d\u4e5f\u80fd\u7a69\u5b9a\u4f7f\u7528\uff0c\u5341\u5206\u5b89\u5168\u53ef\u9760\u3002<\/p>\n\n\n\n

    \u7b2c\u4e8c\u6b65\uff1aKPA Studio\u914d\u7f6e<\/strong><\/p>\n\n\n\n

    KPA Studio \u662f\u4e00\u6b3e\u7528\u65bc\u8a2d\u5b9a\u3001\u8abf\u8a66\u548c\u8a3a\u65b7 EtherCAT \u7db2\u8def\u7684\u5de5\u5177\u8edf\u9ad4\u3002\u8a72\u8edf\u9ad4\u4e3b\u8981\u6709\u4ee5\u4e0b\u5169\u500b\u7528\u9014\uff1a<\/p>\n\n\n\n

    \uff081\uff09\u9023\u63a5\u7531 KPA \u7684\u4e3b\u7ad9\u5354\u8b70\u68e7\u958b\u767c\u51fa\u4f86\u7684 EtherCAT \u4e3b\u7ad9\uff0c\u9032\u884c EtherCAT \u7684\u7db2\u8def\u914d\u7f6e\u548c\u8a3a\u65b7\u3002<\/p>\n\n\n\n

    \uff082\uff09\u8207 KPA \u7684 EtherCAT \u4e3b\u7ad9\u8edf\u9ad4\uff08MRT\uff09\u914d\u5408\uff0c\u8abf\u8a66\u5404\u985e EtherCAT \u5f9e\u7ad9\uff0c\u5982\u4f3a\u670d\uff0cIO \u7b49<\/p>\n\n\n\n

    \u914d\u7f6e\u6b65\u9a5f\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    1\uff09KPA Studio \u4ee5\u53caMRT_WIN32 \u5b89\u88dd\u5b8c\u6210\u5f8c\uff0c\u5148\u96d9\u64caMaster(Win32)\u6253\u958bMRT\uff0c\u6253\u958b\u5f8c\u53f0\u4efb\u52d9\u6709MRT \u7684\u904b\u884c\u5716\u6a19\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    2\uff09\u96d9\u64ca \u201cstudio\u201d\u6253\u958b KPA Studio\u8edf\u9ad4\uff0c\u9ede\u64ca \u201cRun without license\u201d\uff0c\u9032\u5165\u64cd\u4f5c\u754c\u9762\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n

    3\uff09KPA Studio\u8edf\u9ad4\u6253\u958b\u5f8c\u7684\u754c\u9762\u5982\u4e0b\uff1a<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u2022\u83dc\u55ae\u6b04\uff1a\u53ef\u6253\u958b\u5e6b\u52a9\u6587\u6a94\uff0c\u8a2d\u7f6e\u8edf\u9ad4\u57fa\u672c\u9078\u9805\uff0c\u6253\u958b\u6578\u64da\u8a18\u9304\uff0c\u5e40\u8a18\u9304\u7b49\u5de5\u5177\uff1b<\/p>\n\n\n\n

    \u2022\u5de5\u5177\u6b04\uff1a\u65b0\u5efa\u5de5\u7a0b\uff0c\u9023\u63a5\u4e3b\u7ad9\uff0c\u522a\u9664\u4e3b\u7ad9\uff0c\u62d3\u64b2\u986f\u793a\u7b49\u5de5\u5177\uff1b<\/p>\n\n\n\n

    \u2022EtherCAT \u7db2\u8def\u62d3\u64b2\u7a97\u53e3\uff1a\u7528\u65bc\u914d\u7f6e EtherCAT \u7db2\u8def\uff0c\u5982\u5f9e\u7ad9\u6392\u5e8f\uff0c\u5f9e\u7ad9\u500b\u6578\u7b49\uff1b<\/p>\n\n\n\n

    \u2022\u4e3b\u5f9e\u7ad9\u914d\u7f6e\/\u64cd\u4f5c\u7a97\u53e3\uff1a\u914d\u7f6e\u4e3b\u5f9e\u7ad9\u7684\u5404\u985e\u53c3\u6578\uff0c\u64cd\u4f5c\u4e3b\u5f9e\u7ad9\uff0c\u5982\u5207\u63db\u72c0\u614b\u6a5f\uff0c\u4fee\u6539\u904e\u7a0b\u6578\u64da\u548c\u90f5\u7bb1\u6578\u64da\u7b49\uff1b<\/p>\n\n\n\n

    \u2022\u5f9e\u7ad9 ESI \u6587\u4ef6\u8996\u7a97\uff1a\u986f\u793a\u5f9e\u7ad9 ESI \u6587\u4ef6\u8a0a\u606f\uff0c\u53ef\u5c0e\u5165\u5f9e\u7ad9 ESI \u6587\u4ef6\uff1b<\/p>\n\n\n\n

    \u2022\u8a3a\u65b7\u7a97\u53e3\uff1a\u986f\u793a\u5404\u985e\u72c0\u614b\u8a0a\u606f\u53ca\u8a3a\u65b7\u8a0a\u606f\u3002<\/p>\n\n\n\n

    4\uff09\u5c0e\u5165\u5f9e\u7ad9ESI\u6587\u4ef6<\/p>\n\n\n\n

    \u5728\u6383\u63cf\u5f9e\u7ad9\u4e4b\u524d\uff0c\u8acb\u5148\u628a\u8a72\u5f9e\u7ad9\u7684ESI \u6587\u4ef6\u5c0e\u5165\u5230Studio \u8edf\u9ad4\u4e2d\uff0c\u4ee5\u4fbf Studio \u6383\u63cf\u5230\u5f9e\u7ad9\u5f8c\uff0c\u53ef\u81ea\u52d5\u5339\u914d\u76f8\u61c9\u7684ESI \u6587\u4ef6\u3002<\/p>\n\n\n\n

    \u5728 ESI \u6587\u4ef6\u7a97\u53e3\uff0c\u53f3\u9375\u2014\u2014Open slaves library folder\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u6253\u958b\u8def\u5f91\u5f8c\uff0c\u628a\u4f60\u7684\u5f9e\u7ad9 ESI \u6587\u4ef6\u8907\u88fd\u5230\u8a72\u8def\u5f91\u4e0b\u3002<\/p>\n\n\n\n

    \u56de\u5230 ESI \u6587\u4ef6\u8996\u7a97\uff0c\u53f3\u9375\u2014\u2014 Reload slaves library\uff0c\u5b8c\u6210\u5c0e\u5165\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u6b64\u6642\uff0c\u5728\u5f9e\u7ad9 ESI\u5eab\u4e2d\uff0c\u627e\u5230\u5982\u5716\u6240\u793a\u7684 HK-KB\u7684\u5f9e\u7ad9 ESI\u6587\u4ef6\uff0c\u5247\u8aaa\u660e\u5c0e\u5165\u6210\u529f<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u7b2c\u4e09\u6b65\uff1a\u8a0a\u865f\u63a1\u96c6\u6e2c\u8a66<\/strong><\/p>\n\n\n\n

    1\uff09\u9996\u5148\uff0c\u9023\u63a5\u672c\u5730\u4e3b\u7ad9\uff0c\u5373 Master \uff08WIN32 \uff09\uff0c\u9ede\u64ca\u5716\u4e2d\u7684 connect\uff0c\u6210\u529f\u9023\u63a5\u5f8c\uff0c\u9078\u64c7\u8a2d\u5099\u7db2\u8def\u5361 Usb 3.0 to Gigabit Ethernet Adapt\uff0c\u8a72\u7db2\u8def\u5361\u7528\u65bc\u767c\u9001 EtherCAT \u5831\u6587\uff0c\u5982\u4e0b\u5716\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    2\uff09\u4f7f\u7528 HK-MK5-5002\u901a\u90531\u63a1\u96c6\u7de8\u78bc\u5668\u6578\u503c\uff0c\u63d2\u5165\u7db2\u7dda\uff0c\u9023\u63a5\u4e3b\u7ad9\uff0c\u4e26\u7d66 HK-MK5-5002\u6a21\u7d44\u4e0a\u96fb\u3002\u5728\u62d3\u64b2\u7a97\u53e3\u4e0a\uff0c\u53f3\u9375 Master1\u2014\u2014Scan configuration \u6383\u63cf\u5df2\u63a5\u7dda\u597d\u7684\u5f9e\u7ad9\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    3\uff09\u5982\u679c\u63a5\u7dda\u6b63\u5e38\uff0c\u4e14\u5f9e\u7ad9\u5df2\u4e0a\u7dda\uff0c\u53ef\u6383\u63cf\u5230\u5f9e\u7ad9\uff0c\u5982\u4e0b\u5716\uff0c\u5df2\u6383\u5230 HK-MK5 5002 EtherCAT\u5f9e\u7ad9<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    4\uff09\u4e3b\u7ad9\u6383\u51fa\u5f9e\u7ad9\u6a21\u7d44 HK-MK5-5002\uff0c\u9f20\u6a19\u9ede\u9078 Master 1\uff0c\u7136\u5f8c\u5728\u4e3b\u5f9e\u7ad9\u64cd\u4f5c\u53e3\u9ede\u9078 State\uff0c\u5982\u5716\u6240\u793a\u9032\u5165 OP\u72c0\u614b\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    5\uff09\u5728 KPA\u8edf\u9ad4\u4e2d\uff0c\u6ed1\u9f20\u9ede\u9078 Process Image\uff0c\u7136\u5f8c\u8f49\u52d5\u7de8\u78bc\u5668\uff0c\u53ef\u4ee5\u89c0\u5bdf\u5230 PDO\uff086000\uff1a08-Counter value\uff09\u7684\u503c\u96a8\u8457\u7de8\u78bc\u5668\u7684\u8f49\u52d5\u800c\u8b8a\u5316\uff08\u4e0b\u5716\u5206\u5225\u662f\u7de8\u78bc\u5668\u6b63\u8f49\u548c\u53cd\u8f49\u6642\u7684\u6578\u64da\u63a1\u96c6\u6548\u679c\uff09\u3002<\/p>\n\n\n\n

    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    <\/div>\n\n\n\n

    \u82e5\u7de8\u78bc\u5668\u8f49\u52d5\u65b9\u5411\u8207\u8a08\u6578\u65b9\u5411\u76f8\u53cd\uff0c\u53ef\u900f\u904e\u8a2d\u7f6e\u5c0d\u8c61\u5b57\u5178 0x8000.3\uff08Enable direction inversion\uff09\u70ba1\uff0c\u4f7f\u80fd\u53cd\u5411\u8a08\u6578\u529f\u80fd\u3002\u5982\u9700\u901a\u904e CoE\u8a2d\u7f6e\u53c3\u6578\uff0c\u9700\u8981\u5148\u5c07\u5f9e\u7ad9\u72c0\u614b\u6a5f\u5207\u63db\u81f3 Pre-OP\uff0c\u8a2d\u7f6e\u5b8c\u7562\u5f8c\uff0c\u9700\u8981\u900f\u904e\u5c0d\u8c61\u5b57\u5178F003.01\uff08Save Current Paremeters\uff09\uff0c\u8ce6\u503c0x1234\uff0c\u4fdd\u5b58\u7576\u524d\u53c3\u6578\uff0c\u6389\u96fb\u4e0d\u4e1f\u5931\uff0c\u6700\u5f8c\u5c07\u5f9e\u7ad9\u72c0\u614b\u6a5f OP\u72c0\u614b\u3002<\/p>\n\n\n\n

    — \u7e3d\u7d50<\/h2>\n\n\n\n

    HK-MK5-5002 \u7de8\u78bc\u5668\u6a21\u7d44\u662f\u4e00\u500b\u7528\u65bc RS422 \u5dee\u5206\u5f62\u5f0f\u8f38\u51fa\u7684\u589e\u91cf\u7de8\u78bc\u5668\u63a1\u96c6\u6a21\u7d44\uff0c\u5e36\u6709 32 \u4f4d\u6b63\u4ea4\u89e3\u78bc\u8a08\u6578\u5668\uff0c\u4ee5\u53ca\u96f6\u8108\u885d\u3001\u9396\u5b58\u8a0a\u865f\u7684\u9396\u5b58\u5668\u53ef\u8b80\u53d6\u9396\u5b58\u4f4d\u7f6e\uff0c\u4e26\u628a\u8a08\u6578\u8207\u9396\u5b58\u7d50\u679c\u900f\u904e\u7e3d\u7dda\u901a\u8a0a\u50b3\u905e\u7d66\u63a7\u5236\u5668\uff0c\u5f9e\u800c\u5be6\u73fe\u5206\u4f48\u5f0f\u7684\u7de8\u78bc\u5668\u63a1\u96c6\u3002\u8a72\u6a21\u584a\u7d44\u63a1\u7528 4 \u500d\u983b\u5c0d\u6240\u6709\u8f38\u5165\u8a0a\u865f\u7684\u908a\u6cbf\u9032\u884c\u63a1\u6a23\u548c\u8a08\u7b97\uff0c\u53ef\u4ee5\u9032\u4e00\u6b65\u63d0\u9ad8\u5206\u8fa8\u7387\u548c\u63a1\u96c6\u7cbe\u5ea6\u3002<\/p>\n\n\n\n

    \n\n\n\n

    \u2193\u2193 Welcome to contact us \u2193\u2193<\/strong><\/p>\n\n\n\n

    \"\"<\/a><\/figure>","protected":false},"excerpt":{"rendered":"

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