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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 4.1
edited by Mora Zhou
on 2024/02/23 13:38
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -8,26 +8,31 @@
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" %)(((
13 +(((
14 +(% style="display:inline-block; width:334px;" %)
15 +[[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
16 +)))
17 +)))|(% style="width:823px" %)(((
15 15  (% style="text-align:center" %)
16 -[[image:1708658950128-652.png]]
19 +(((
20 +(% style="display:inline-block; width:513px;" %)
21 +[[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
17 17  )))
18 -|(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo**
23 +)))
19 19  
20 20  (% style="margin-left:auto; margin-right:auto" %)
21 -|=NAME|=QUANTITY
22 -|LX6C-0808MT-DD|1
23 -|VD3E-014SA1G|3
24 -|WE80M-07530S-A1F|3
25 -|Upper arm|3
26 -|Lower arm|6
27 -|Motor shaft connector|3
28 -|Top plate|1
29 -|Tool plate|1
30 -|Hexagon socket screws|6 (M4 and M5)
26 +|=(% style="width: 801px;" %)NAME|=(% style="width: 821px;" %)QUANTITY
27 +|(% style="width:801px" %)LX6C-0808MT-DD|(% style="width:821px" %)1
28 +|(% style="width:801px" %)VD3E-014SA1G|(% style="width:821px" %)3
29 +|(% style="width:801px" %)WE80M-07530S-A1F|(% style="width:821px" %)3
30 +|(% style="width:801px" %)Upper arm|(% style="width:821px" %)3
31 +|(% style="width:801px" %)Lower arm|(% style="width:821px" %)6
32 +|(% style="width:801px" %)Motor shaft connector|(% style="width:821px" %)3
33 +|(% style="width:801px" %)Top plate|(% style="width:821px" %)1
34 +|(% style="width:801px" %)Tool plate|(% style="width:821px" %)1
35 +|(% style="width:801px" %)Hexagon socket screws|(% style="width:821px" %)6 (M4 and M5)
31 31  
32 32  = 3 Mechanical parameters =
33 33  
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64 64  
65 65  Select “Tools“~-~->“Device Repository“
66 66  
72 +(% style="text-align:center" %)
67 67  [[image:1708659330267-186.png]]
68 68  
69 69  Install LX6C xml file.
70 70  
77 +(% style="text-align:center" %)
71 71  [[image:1708659348892-129.png]]
72 72  
73 73  Install VD3E xml file.
74 74  
82 +(% 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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89 89  
90 90  
91 91  
100 += =
101 +
102 += =
103 +
92 92  = 5 Device connection =
93 93  
94 94  == 5.1 New project ==
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95 95  
96 96  Create a new standard project
97 97  
110 +(% style="text-align:center" %)
98 98  [[image:1708659481680-311.png]]
99 99  
100 100  Select device and programming language
101 101  
115 +(% 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  
124 +(% style="text-align:center" %)
110 110  [[image:1708659630178-665.png]]
111 111  
112 112  Login device with account and password
113 113  
129 +(% 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  
140 +(% 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  
145 +(% 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  
150 +(% style="text-align:center" %)
132 132  [[image:1708659724005-484.png]]
133 133  
134 134  Right click “Device” and add device
135 135  
155 +(% style="text-align:center" %)
136 136  [[image:1708659738998-621.png]]
137 137  
138 138  Add “EtherCAT Master SoftMotion”
139 139  
160 +(% style="text-align:center" %)
140 140  [[image:1708659810951-477.png]]
141 141  
163 +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  
165 +(% style="text-align:center" %)
166 +[[image:1708659837241-566.png]]
143 143  
144 144  
169 +(% style="text-align:center" %)
170 +[[image:1708659844978-946.png]]
145 145  
172 +Add 3 motion axis
146 146  
174 +(% style="text-align:center" %)
175 +[[image:1708659868961-294.png]]
147 147  
177 +Set the correct resolution based on the motor encoder
148 148  
179 +(% style="text-align:center" %)
180 +[[image:1708659882131-694.png]]
149 149  
182 +Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
183 +
184 +(% style="text-align:center" %)
185 +[[image:1708659902425-597.png]]
186 +
187 +Bind axis to robot.
188 +
189 +(% style="text-align:center" %)
190 +[[image:1708659921571-879.png]]
191 +
192 +Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
193 +
194 +(% style="text-align:center" %)
195 +[[image:1708660033766-909.png]]
196 +
197 +(% style="text-align:center" %)
198 +[[image:1708660038539-524.png]]
199 +
200 +== 6.2 Demo program ==
201 +
202 +Build a simple program for absolute move
203 +
204 +(% style="text-align:center" %)
205 +[[image:1708660054738-287.png]]
206 +
207 +(% style="text-align:center" %)
208 +[[image:1708660060148-798.png]]
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