Robot Teach Mode
GitHub Link: https://github.com/CopleyControlsOffi...
The following video details how to "teach" a robot its motion profile. The drives are disabled so that their motors can be manually moved. Then the positions are recorded using TxPDO's. When the teaching is finished, the profile is replayed using a PVT stream. The software used in the video is the Copley Motion Library (CML) with Copley EtherCAT drives.