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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 2.2
edited by Mora Zhou
on 2024/02/23 12:01
Change comment: There is no comment for this version

Summary

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8 8  [[image:1708658466693-778.png]]
9 9  
10 10  (% style="margin-left:auto; margin-right:auto" %)
11 -|(% style="width:837px" %)(((
11 +|(% style="width:799px" %)(((
12 12  (% style="text-align:center" %)
13 -[[image:1708658932564-782.png]]
14 -)))|(% style="width:785px" %)(((
15 -(% style="text-align:center" %)
16 -[[image:1708658950128-652.png]]
13 +(((
14 +(% style="display:inline-block;" %)
15 +[[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
17 17  )))
18 -|(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo**
17 +)))|(% style="width:823px" %)(((
18 +
19 +)))
19 19  
20 20  (% style="margin-left:auto; margin-right:auto" %)
21 21  |=NAME|=QUANTITY
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64 64  
65 65  Select “Tools“~-~->“Device Repository“
66 66  
68 +(% style="text-align:center" %)
67 67  [[image:1708659330267-186.png]]
68 68  
69 69  Install LX6C xml file.
70 70  
73 +(% style="text-align:center" %)
71 71  [[image:1708659348892-129.png]]
72 72  
73 73  Install VD3E xml file.
74 74  
78 +(% 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  
102 +(% style="text-align:center" %)
98 98  [[image:1708659481680-311.png]]
99 99  
100 100  Select device and programming language
101 101  
107 +(% 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  
116 +(% style="text-align:center" %)
110 110  [[image:1708659630178-665.png]]
111 111  
112 112  Login device with account and password
113 113  
121 +(% 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  
132 +(% 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  
137 +(% 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  
142 +(% style="text-align:center" %)
132 132  [[image:1708659724005-484.png]]
133 133  
134 134  Right click “Device” and add device
135 135  
147 +(% style="text-align:center" %)
136 136  [[image:1708659738998-621.png]]
137 137  
138 138  Add “EtherCAT Master SoftMotion”
139 139  
152 +(% style="text-align:center" %)
140 140  [[image:1708659810951-477.png]]
141 141  
155 +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  
157 +(% style="text-align:center" %)
158 +[[image:1708659837241-566.png]]
143 143  
144 144  
161 +(% style="text-align:center" %)
162 +[[image:1708659844978-946.png]]
145 145  
164 +Add 3 motion axis
146 146  
166 +(% style="text-align:center" %)
167 +[[image:1708659868961-294.png]]
147 147  
169 +Set the correct resolution based on the motor encoder
148 148  
171 +(% style="text-align:center" %)
172 +[[image:1708659882131-694.png]]
149 149  
174 +Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
175 +
176 +(% style="text-align:center" %)
177 +[[image:1708659902425-597.png]]
178 +
179 +Bind axis to robot.
180 +
181 +(% style="text-align:center" %)
182 +[[image:1708659921571-879.png]]
183 +
184 +Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
185 +
186 +(% style="text-align:center" %)
187 +[[image:1708660033766-909.png]]
188 +
189 +(% style="text-align:center" %)
190 +[[image:1708660038539-524.png]]
191 +
192 +== 6.2 Demo program ==
193 +
194 +Build a simple program for absolute move
195 +
196 +(% style="text-align:center" %)
197 +[[image:1708660054738-287.png]]
198 +
199 +(% style="text-align:center" %)
200 +[[image:1708660060148-798.png]]
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