Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -64,14 +64,17 @@ 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"]] ... ... @@ -95,10 +95,12 @@ 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 == ... ... @@ -107,10 +107,12 @@ 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 ... ... @@ -121,57 +121,72 @@ 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]] 141 141 142 142 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) 143 143 156 +(% style="text-align:center" %) 144 144 [[image:1708659837241-566.png]] 145 145 159 + 160 +(% style="text-align:center" %) 146 146 [[image:1708659844978-946.png]] 147 147 148 148 Add 3 motion axis 149 149 165 +(% style="text-align:center" %) 150 150 [[image:1708659868961-294.png]] 151 151 152 152 Set the correct resolution based on the motor encoder 153 153 170 +(% style="text-align:center" %) 154 154 [[image:1708659882131-694.png]] 155 155 156 156 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General” 157 157 175 +(% style="text-align:center" %) 158 158 [[image:1708659902425-597.png]] 159 159 160 160 Bind axis to robot. 161 161 180 +(% style="text-align:center" %) 162 162 [[image:1708659921571-879.png]] 163 163 164 164 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 165 165 185 +(% style="text-align:center" %) 166 166 [[image:1708660033766-909.png]] 167 167 188 +(% style="text-align:center" %) 168 168 [[image:1708660038539-524.png]] 169 169 191 +== 6.2 Demo program == 170 170 193 +Build a simple program for absolute move 171 171 195 +(% style="text-align:center" %) 196 +[[image:1708660054738-287.png]] 172 172 173 - 174 - 175 - 176 - 177 - 198 +(% style="text-align:center" %) 199 +[[image:1708660060148-798.png]]
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