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Last modified by nozzin on 2024/02/26 09:16
From version 1.2
edited by Mora Zhou
on 2024/02/23 11:43
Change comment: There is no comment for this version
To version 2.1
edited by Mora Zhou
on 2024/02/23 11:53
Change comment: There is no comment for this version

Summary

Details

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64 64  
65 65  Select “Tools“~-~->“Device Repository“
66 66  
67 +(% style="text-align:center" %)
67 67  [[image:1708659330267-186.png]]
68 68  
69 69  Install LX6C xml file.
70 70  
72 +(% style="text-align:center" %)
71 71  [[image:1708659348892-129.png]]
72 72  
73 73  Install VD3E xml file.
74 74  
77 +(% style="text-align:center" %)
75 75  [[image:1708659363849-556.png]]
76 76  
77 77  [[image:1708659372629-274.png||style="float:left"]]
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95 95  
96 96  Create a new standard project
97 97  
101 +(% style="text-align:center" %)
98 98  [[image:1708659481680-311.png]]
99 99  
100 100  Select device and programming language
101 101  
106 +(% style="text-align:center" %)
102 102  [[image:1708659504171-928.png]]
103 103  
104 104  == 5.2 Connect LX6C ==
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107 107  
108 108  Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
109 109  
115 +(% style="text-align:center" %)
110 110  [[image:1708659630178-665.png]]
111 111  
112 112  Login device with account and password
113 113  
120 +(% style="text-align:center" %)
114 114  [[image:1708659646762-832.png]]
115 115  
116 116  
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121 121  Right click Application, “Add Object” and select “Axis Group”
122 122  
123 123  
131 +(% 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  
136 +(% 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  
141 +(% style="text-align:center" %)
132 132  [[image:1708659724005-484.png]]
133 133  
134 134  Right click “Device” and add device
135 135  
146 +(% style="text-align:center" %)
136 136  [[image:1708659738998-621.png]]
137 137  
138 138  Add “EtherCAT Master SoftMotion”
139 139  
151 +(% style="text-align:center" %)
140 140  [[image:1708659810951-477.png]]
141 141  
154 +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)
142 142  
156 +(% style="text-align:center" %)
157 +[[image:1708659837241-566.png]]
143 143  
144 144  
160 +(% style="text-align:center" %)
161 +[[image:1708659844978-946.png]]
145 145  
163 +Add 3 motion axis
146 146  
165 +(% style="text-align:center" %)
166 +[[image:1708659868961-294.png]]
147 147  
168 +Set the correct resolution based on the motor encoder
148 148  
170 +(% style="text-align:center" %)
171 +[[image:1708659882131-694.png]]
149 149  
173 +Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
174 +
175 +(% style="text-align:center" %)
176 +[[image:1708659902425-597.png]]
177 +
178 +Bind axis to robot.
179 +
180 +(% style="text-align:center" %)
181 +[[image:1708659921571-879.png]]
182 +
183 +Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
184 +
185 +(% style="text-align:center" %)
186 +[[image:1708660033766-909.png]]
187 +
188 +(% style="text-align:center" %)
189 +[[image:1708660038539-524.png]]
190 +
191 +== 6.2 Demo program ==
192 +
193 +Build a simple program for absolute move
194 +
195 +(% style="text-align:center" %)
196 +[[image:1708660054738-287.png]]
197 +
198 +(% style="text-align:center" %)
199 +[[image:1708660060148-798.png]]
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