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Last modified by nozzin on 2024/02/26 09:16
From version 10.1
edited by Mora Zhou
on 2024/02/23 13:59
Change comment: There is no comment for this version
To version 11.1
edited by Mora Zhou
on 2024/02/23 14:03
Change comment: There is no comment for this version

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... ... @@ -133,33 +133,33 @@
133 133  
134 134  == 6.1 Add Axis Group ==
135 135  
136 -Right click Application, “Add Object” and select “Axis Group”
136 +**Right click Application, “Add Object” and select “Axis Group”**
137 137  
138 138  
139 139  (% style="text-align:center" %)
140 140  [[image:1708659668179-463.png]]
141 141  
142 -Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
142 +**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**
143 143  
144 144  (% style="text-align:center" %)
145 145  [[image:1708659683686-935.png]]
146 146  
147 -Fill in the mechanical parameters (Use the same user units)
147 +**Fill in the mechanical parameters (Use the same user units)**
148 148  
149 149  (% style="text-align:center" %)
150 150  [[image:1708659724005-484.png]]
151 151  
152 -Right click “Device” and add device
152 +**Right click “Device” and add device**
153 153  
154 154  (% style="text-align:center" %)
155 155  [[image:1708659738998-621.png]]
156 156  
157 -Add “EtherCAT Master SoftMotion”
157 +**Add “EtherCAT Master SoftMotion”**
158 158  
159 159  (% style="text-align:center" %)
160 160  [[image:1708659810951-477.png]]
161 161  
162 -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)
162 +**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)**
163 163  
164 164  (% style="text-align:center" %)
165 165  [[image:1708659837241-566.png]]
... ... @@ -168,27 +168,27 @@
168 168  (% style="text-align:center" %)
169 169  [[image:1708659844978-946.png]]
170 170  
171 -Add 3 motion axis
171 +**Add 3 motion axis**
172 172  
173 173  (% style="text-align:center" %)
174 174  [[image:1708659868961-294.png]]
175 175  
176 -Set the correct resolution based on the motor encoder
176 +**Set the correct resolution based on the motor encoder**
177 177  
178 178  (% style="text-align:center" %)
179 179  [[image:1708659882131-694.png]]
180 180  
181 -Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
181 +**Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”**
182 182  
183 183  (% style="text-align:center" %)
184 184  [[image:1708659902425-597.png]]
185 185  
186 -Bind axis to robot.
186 +**Bind axis to robot.**
187 187  
188 188  (% style="text-align:center" %)
189 189  [[image:1708659921571-879.png]]
190 190  
191 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
191 +**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”**
192 192  
193 193  (% style="text-align:center" %)
194 194  [[image:1708660033766-909.png]]
... ... @@ -198,7 +198,7 @@
198 198  
199 199  == 6.2 Demo program ==
200 200  
201 -Build a simple program for absolute move
201 +**Build a simple program for absolute move**
202 202  
203 203  (% style="text-align:center" %)
204 204  [[image:1708660054738-287.png]]