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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 1.7
edited by Mora Zhou
on 2024/02/23 11:49
Change comment: There is no comment for this version

Summary

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121 121  Right click Application, “Add Object” and select “Axis Group”
122 122  
123 123  
124 +(% style="text-align:center" %)
124 124  [[image:1708659668179-463.png]]
125 125  
126 126  Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
127 127  
129 +(% style="text-align:center" %)
128 128  [[image:1708659683686-935.png]]
129 129  
130 130  Fill in the mechanical parameters (Use the same user units)
131 131  
134 +(% style="text-align:center" %)
132 132  [[image:1708659724005-484.png]]
133 133  
134 134  Right click “Device” and add device
135 135  
139 +(% style="text-align:center" %)
136 136  [[image:1708659738998-621.png]]
137 137  
138 138  Add “EtherCAT Master SoftMotion”
139 139  
144 +(% style="text-align:center" %)
140 140  [[image:1708659810951-477.png]]
141 141  
147 +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  
149 +(% style="text-align:center" %)
150 +[[image:1708659837241-566.png]]
143 143  
144 144  
153 +(% style="text-align:center" %)
154 +[[image:1708659844978-946.png]]
145 145  
156 +Add 3 motion axis
146 146  
158 +(% style="text-align:center" %)
159 +[[image:1708659868961-294.png]]
147 147  
161 +Set the correct resolution based on the motor encoder
148 148  
163 +(% style="text-align:center" %)
164 +[[image:1708659882131-694.png]]
149 149  
166 +Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
167 +
168 +(% style="text-align:center" %)
169 +[[image:1708659902425-597.png]]
170 +
171 +Bind axis to robot.
172 +
173 +(% style="text-align:center" %)
174 +[[image:1708659921571-879.png]]
175 +
176 +Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
177 +
178 +(% style="text-align:center" %)
179 +[[image:1708660033766-909.png]]
180 +
181 +(% style="text-align:center" %)
182 +[[image:1708660038539-524.png]]
183 +
184 +== 6.2 Demo program ==
185 +
186 +Build a simple program for absolute move
187 +
188 +(% style="text-align:center" %)
189 +[[image:1708660054738-287.png]]
190 +
191 +(% style="text-align:center" %)
192 +[[image:1708660060148-798.png]]
193 +
194 +
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