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Last modified by nozzin on 2024/02/26 09:16
From version 1.3
edited by Mora Zhou
on 2024/02/23 11:47
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

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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  
142 142  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)
143 143  
146 +(% style="text-align:center" %)
144 144  [[image:1708659837241-566.png]]
145 145  
149 +
150 +(% style="text-align:center" %)
146 146  [[image:1708659844978-946.png]]
147 147  
148 148  Add 3 motion axis
149 149  
155 +(% style="text-align:center" %)
150 150  [[image:1708659868961-294.png]]
151 151  
152 152  Set the correct resolution based on the motor encoder
153 153  
160 +(% style="text-align:center" %)
154 154  [[image:1708659882131-694.png]]
155 155  
156 156  Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
157 157  
165 +(% style="text-align:center" %)
158 158  [[image:1708659902425-597.png]]
159 159  
160 160  Bind axis to robot.
161 161  
170 +(% style="text-align:center" %)
162 162  [[image:1708659921571-879.png]]
163 163  
164 164  Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
165 165  
175 +(% style="text-align:center" %)
166 166  [[image:1708660033766-909.png]]
167 167  
178 +(% style="text-align:center" %)
168 168  [[image:1708660038539-524.png]]
169 169  
181 +== 6.2 Demo program ==
170 170  
183 +Build a simple program for absolute move
171 171  
185 +(% style="text-align:center" %)
186 +[[image:1708660054738-287.png]]
172 172  
188 +(% style="text-align:center" %)
189 +[[image:1708660060148-798.png]]
173 173  
174 174  
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