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Tutorial: Building a Simple 2-Bar Robot - Virtual Verification

In the previous chapter, we mapped the theoretical robot structure to the actual hardware. Now that the mapping is complete, we will verify the robot's movement through a virtual simulation before deploying it to the real hardware.

Goal: Verify the test_robot configuration via simulation and activate the EtherCAT Master for real-world control.

virtual_verification_ui
Virtual Verification Interface

Step 1: Virtual Verification

First, we must validate that the parameters entered in the previous steps cause no conflicts.

  1. Click the Activate Simulation button.
  2. The system will verify the robot parameters. Once verified, the simulation will start automatically.

Verification Results

If there are no issues with the parameters, the system log will display a success message.

Status: Activate Simulation Success

simulation_log
Simulation Success Log

Step 2: Jog Control & Monitoring

Once the simulation is active, you can manually control the robot to check its behavior.

  1. Locate the Jog Panel on the right side of the screen.
  2. Click Servo On to enable motor control.
  3. Use the Jog Control buttons to move the robot joints.
jog_panel
Jog Control Panel

Monitoring Command Values

As you move the robot, you can monitor the target values being sent to the servo drivers in real-time.

actuator_preview
Actuator Command Preview

Step 3: Real Robot Activation (EtherCAT)

After verifying the motion in the simulator, we will activate the EtherCAT Master to operate the real robot.

  1. Click the Apply button located at the top right of the screen.
apply_button
Location of the Apply Button
  1. A confirmation dialog will appear.
  2. Check the box to confirm that you have verified the target values via simulation.
  3. Click Apply to proceed.
verification_checkbox
Safety Confirmation Checkbox

Step 4: Final Validation

The system will attempt to initialize the EtherCAT communication.

Scenario A: Success

If successful, the logs will show the connection details, and a Go to Motion Studio button will appear in the top right corner.

ethercat_success
EtherCAT Connection Success

Scenario B: Failure

If the connection fails, the log will display the specific reason (e.g., communication timeout, parameter mismatch).

ethercat_failure
Error Log Example

Troubleshooting: If you encounter an error, correct the indicated parameters in the previous sections, return to the Virtual Verification page, and repeat the process.

Setup Complete

Once the connection is successful, click Go to Motion Studio to enter the main control interface.

motion_studio
Motion Studio Interface

Congratulations! You have successfully completed the Real Robot Setup for your 2-bar robot.

In the next chapter, we will introduce the features and capabilities of Motion Studio.