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Last modified by nozzin on 2024/02/26 09:16
From version 1.4
edited by Mora Zhou
on 2024/02/23 11:47
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

Details

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Content
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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  
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  
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144 144  [[image:1708659837241-566.png]]
145 145  
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146 146  [[image:1708659844978-946.png]]
147 147  
148 148  Add 3 motion axis
149 149  
158 +(% 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  
163 +(% 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  
168 +(% style="text-align:center" %)
158 158  [[image:1708659902425-597.png]]
159 159  
160 160  Bind axis to robot.
161 161  
173 +(% style="text-align:center" %)
162 162  [[image:1708659921571-879.png]]
163 163  
164 164  Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
165 165  
178 +(% style="text-align:center" %)
166 166  [[image:1708660033766-909.png]]
167 167  
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168 168  [[image:1708660038539-524.png]]
169 169  
170 170  == 6.2 Demo program ==
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171 171  
172 172  Build a simple program for absolute move
173 173  
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174 174  [[image:1708660054738-287.png]]
175 175  
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176 176  [[image:1708660060148-798.png]]
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