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Last modified by nozzin on 2024/02/26 09:16
From version 1.7
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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121 121  Right click Application, “Add Object” and select “Axis Group”
122 122  
123 123  
124 -(% style="text-align:center" %)
125 125  [[image:1708659668179-463.png]]
126 126  
127 127  Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
128 128  
129 -(% style="text-align:center" %)
130 130  [[image:1708659683686-935.png]]
131 131  
132 132  Fill in the mechanical parameters (Use the same user units)
133 133  
134 -(% style="text-align:center" %)
135 135  [[image:1708659724005-484.png]]
136 136  
137 137  Right click “Device” and add device
138 138  
139 -(% style="text-align:center" %)
140 140  [[image:1708659738998-621.png]]
141 141  
142 142  Add “EtherCAT Master SoftMotion”
143 143  
144 -(% style="text-align:center" %)
145 145  [[image:1708659810951-477.png]]
146 146  
147 147  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)
148 148  
149 -(% style="text-align:center" %)
150 150  [[image:1708659837241-566.png]]
151 151  
152 -
153 -(% style="text-align:center" %)
154 154  [[image:1708659844978-946.png]]
155 155  
156 156  Add 3 motion axis
157 157  
158 -(% style="text-align:center" %)
159 159  [[image:1708659868961-294.png]]
160 160  
161 161  Set the correct resolution based on the motor encoder
162 162  
163 -(% style="text-align:center" %)
164 164  [[image:1708659882131-694.png]]
165 165  
166 166  Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
167 167  
168 -(% style="text-align:center" %)
169 169  [[image:1708659902425-597.png]]
170 170  
171 171  Bind axis to robot.
172 172  
173 -(% style="text-align:center" %)
174 174  [[image:1708659921571-879.png]]
175 175  
176 176  Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
177 177  
178 -(% style="text-align:center" %)
179 179  [[image:1708660033766-909.png]]
180 180  
181 -(% style="text-align:center" %)
182 182  [[image:1708660038539-524.png]]
183 183  
184 -== 6.2 Demo program ==
185 185  
186 -Build a simple program for absolute move
187 187  
188 -(% style="text-align:center" %)
189 -[[image:1708660054738-287.png]]
190 190  
191 -(% style="text-align:center" %)
192 -[[image:1708660060148-798.png]]
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