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Last modified by nozzin on 2024/02/26 09:16
From version 1.5
edited by Mora Zhou
on 2024/02/23 11:48
Change comment: There is no comment for this version
To version 1.2
edited by Mora Zhou
on 2024/02/23 11:43
Change comment: There is no comment for this version

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139 139  
140 140  [[image:1708659810951-477.png]]
141 141  
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  
144 -[[image:1708659837241-566.png]]
145 145  
146 -[[image:1708659844978-946.png]]
147 147  
148 -Add 3 motion axis
149 149  
150 -[[image:1708659868961-294.png]]
151 151  
152 -Set the correct resolution based on the motor encoder
153 153  
154 -[[image:1708659882131-694.png]]
155 155  
156 -Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
157 157  
158 -[[image:1708659902425-597.png]]
159 -
160 -Bind axis to robot.
161 -
162 -(% style="text-align:center" %)
163 -[[image:1708659921571-879.png]]
164 -
165 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
166 -
167 -(% style="text-align:center" %)
168 -[[image:1708660033766-909.png]]
169 -
170 -(% style="text-align:center" %)
171 -[[image:1708660038539-524.png]]
172 -
173 -== 6.2 Demo program ==
174 -
175 -Build a simple program for absolute move
176 -
177 -(% style="text-align:center" %)
178 -[[image:1708660054738-287.png]]
179 -
180 -(% style="text-align:center" %)
181 -[[image:1708660060148-798.png]]
182 -
183 -
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