Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -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 ... ... @@ -64,31 +64,25 @@ 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 -[[image:1708659372629-274.png||style="float:left"]] 78 78 79 -[[image:1708659390655-234.png||style="float:left"]] 80 80 87 +[[image:1708666791453-744.png]] 81 81 89 +[[image:1708666805375-462.png]] 82 82 83 - 84 - 85 - 86 - 87 - 88 - 89 - 90 - 91 - 92 92 = 5 Device connection = 93 93 94 94 == 5.1 New project == ... ... @@ -95,10 +95,12 @@ 95 95 96 96 Create a new standard project 97 97 97 +(% style="text-align:center" %) 98 98 [[image:1708659481680-311.png]] 99 99 100 100 Select device and programming language 101 101 102 +(% 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) 109 109 111 +(% style="text-align:center" %) 110 110 [[image:1708659630178-665.png]] 111 111 112 112 Login device with account and password 113 113 116 +(% style="text-align:center" %) 114 114 [[image:1708659646762-832.png]] 115 115 116 116 ... ... @@ -121,50 +121,64 @@ 121 121 Right click Application, “Add Object” and select “Axis Group” 122 122 123 123 127 +(% style="text-align:center" %) 124 124 [[image:1708659668179-463.png]] 125 125 126 126 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 127 127 132 +(% style="text-align:center" %) 128 128 [[image:1708659683686-935.png]] 129 129 130 130 Fill in the mechanical parameters (Use the same user units) 131 131 137 +(% style="text-align:center" %) 132 132 [[image:1708659724005-484.png]] 133 133 134 134 Right click “Device” and add device 135 135 142 +(% style="text-align:center" %) 136 136 [[image:1708659738998-621.png]] 137 137 138 138 Add “EtherCAT Master SoftMotion” 139 139 147 +(% 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) 143 143 152 +(% style="text-align:center" %) 144 144 [[image:1708659837241-566.png]] 145 145 155 + 156 +(% style="text-align:center" %) 146 146 [[image:1708659844978-946.png]] 147 147 148 148 Add 3 motion axis 149 149 161 +(% style="text-align:center" %) 150 150 [[image:1708659868961-294.png]] 151 151 152 152 Set the correct resolution based on the motor encoder 153 153 166 +(% 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” 157 157 171 +(% style="text-align:center" %) 158 158 [[image:1708659902425-597.png]] 159 159 160 160 Bind axis to robot. 161 161 176 +(% style="text-align:center" %) 162 162 [[image:1708659921571-879.png]] 163 163 164 164 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 165 165 181 +(% style="text-align:center" %) 166 166 [[image:1708660033766-909.png]] 167 167 184 +(% style="text-align:center" %) 168 168 [[image:1708660038539-524.png]] 169 169 170 170 == 6.2 Demo program == ... ... @@ -171,22 +171,8 @@ 171 171 172 172 Build a simple program for absolute move 173 173 191 +(% style="text-align:center" %) 174 174 [[image:1708660054738-287.png]] 175 175 194 +(% style="text-align:center" %) 176 176 [[image:1708660060148-798.png]] 177 - 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