Skip to Content
Last modified by nozzin on 2024/02/26 09:16
From version 1.2
edited by Mora Zhou
on 2024/02/23 11:43
Change comment: There is no comment for this version
To version 1.6
edited by Mora Zhou
on 2024/02/23 11:49
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -133,17 +133,59 @@
133 133  
134 134  Right click “Device” and add device
135 135  
136 +(% style="text-align:center" %)
136 136  [[image:1708659738998-621.png]]
137 137  
138 138  Add “EtherCAT Master SoftMotion”
139 139  
141 +(% style="text-align:center" %)
140 140  [[image:1708659810951-477.png]]
141 141  
144 +Right click “EtherCAT_Master_SoftMotion” and add device, select “Wecon VD3E EtherCAT Servo_v1.10” (Servo xml file should be same with servo firmware, you can check servo firmware in U2-04 through servo panel)
142 142  
146 +(% style="text-align:center" %)
147 +[[image:1708659837241-566.png]]
143 143  
144 144  
150 +(% style="text-align:center" %)
151 +[[image:1708659844978-946.png]]
145 145  
153 +Add 3 motion axis
146 146  
155 +(% style="text-align:center" %)
156 +[[image:1708659868961-294.png]]
147 147  
158 +Set the correct resolution based on the motor encoder
148 148  
160 +(% style="text-align:center" %)
161 +[[image:1708659882131-694.png]]
149 149  
163 +Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
164 +
165 +(% style="text-align:center" %)
166 +[[image:1708659902425-597.png]]
167 +
168 +Bind axis to robot.
169 +
170 +(% style="text-align:center" %)
171 +[[image:1708659921571-879.png]]
172 +
173 +Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
174 +
175 +(% style="text-align:center" %)
176 +[[image:1708660033766-909.png]]
177 +
178 +(% style="text-align:center" %)
179 +[[image:1708660038539-524.png]]
180 +
181 +== 6.2 Demo program ==
182 +
183 +Build a simple program for absolute move
184 +
185 +(% style="text-align:center" %)
186 +[[image:1708660054738-287.png]]
187 +
188 +(% style="text-align:center" %)
189 +[[image:1708660060148-798.png]]
190 +
191 +
1708659837241-566.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +56.6 KB
Content
1708659844978-946.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +28.6 KB
Content
1708659868961-294.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +77.4 KB
Content
1708659882131-694.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +140.8 KB
Content
1708659902425-597.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +114.9 KB
Content
1708659921571-879.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +124.2 KB
Content
1708660033766-909.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +61.3 KB
Content
1708660038539-524.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +56.1 KB
Content
1708660054738-287.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +92.8 KB
Content
1708660060148-798.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Mora
Size
... ... @@ -1,0 +1,1 @@
1 +84.8 KB
Content