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Last modified by nozzin on 2024/02/26 09:16
From version 1.6
edited by Mora Zhou
on 2024/02/23 11:49
Change comment: There is no comment for this version
To version 1.3
edited by Mora Zhou
on 2024/02/23 11:47
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" %)
137 137  [[image:1708659738998-621.png]]
138 138  
139 139  Add “EtherCAT Master SoftMotion”
140 140  
141 -(% style="text-align:center" %)
142 142  [[image:1708659810951-477.png]]
143 143  
144 144  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)
145 145  
146 -(% style="text-align:center" %)
147 147  [[image:1708659837241-566.png]]
148 148  
149 -
150 -(% style="text-align:center" %)
151 151  [[image:1708659844978-946.png]]
152 152  
153 153  Add 3 motion axis
154 154  
155 -(% style="text-align:center" %)
156 156  [[image:1708659868961-294.png]]
157 157  
158 158  Set the correct resolution based on the motor encoder
159 159  
160 -(% style="text-align:center" %)
161 161  [[image:1708659882131-694.png]]
162 162  
163 163  Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
164 164  
165 -(% style="text-align:center" %)
166 166  [[image:1708659902425-597.png]]
167 167  
168 168  Bind axis to robot.
169 169  
170 -(% style="text-align:center" %)
171 171  [[image:1708659921571-879.png]]
172 172  
173 173  Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
174 174  
175 -(% style="text-align:center" %)
176 176  [[image:1708660033766-909.png]]
177 177  
178 -(% style="text-align:center" %)
179 179  [[image:1708660038539-524.png]]
180 180  
181 -== 6.2 Demo program ==
182 182  
183 -Build a simple program for absolute move
184 184  
185 -(% style="text-align:center" %)
186 -[[image:1708660054738-287.png]]
187 187  
188 -(% style="text-align:center" %)
189 -[[image:1708660060148-798.png]]
190 190  
191 191  
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