Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -121,74 +121,29 @@ 121 121 Right click Application, “Add Object” and select “Axis Group” 122 122 123 123 124 -(% style="text-align:center" %) 125 125 [[image:1708659668179-463.png]] 126 126 127 127 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 128 128 129 -(% style="text-align:center" %) 130 130 [[image:1708659683686-935.png]] 131 131 132 132 Fill in the mechanical parameters (Use the same user units) 133 133 134 -(% style="text-align:center" %) 135 135 [[image:1708659724005-484.png]] 136 136 137 137 Right click “Device” and add device 138 138 139 -(% style="text-align:center" %) 140 140 [[image:1708659738998-621.png]] 141 141 142 142 Add “EtherCAT Master SoftMotion” 143 143 144 -(% style="text-align:center" %) 145 145 [[image:1708659810951-477.png]] 146 146 147 -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) 148 148 149 -(% style="text-align:center" %) 150 -[[image:1708659837241-566.png]] 151 151 152 152 153 -(% style="text-align:center" %) 154 -[[image:1708659844978-946.png]] 155 155 156 -Add 3 motion axis 157 157 158 -(% style="text-align:center" %) 159 -[[image:1708659868961-294.png]] 160 160 161 -Set the correct resolution based on the motor encoder 162 162 163 -(% style="text-align:center" %) 164 -[[image:1708659882131-694.png]] 165 165 166 -Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General” 167 - 168 -(% style="text-align:center" %) 169 -[[image:1708659902425-597.png]] 170 - 171 -Bind axis to robot. 172 - 173 -(% style="text-align:center" %) 174 -[[image:1708659921571-879.png]] 175 - 176 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 177 - 178 -(% style="text-align:center" %) 179 -[[image:1708660033766-909.png]] 180 - 181 -(% style="text-align:center" %) 182 -[[image:1708660038539-524.png]] 183 - 184 -== 6.2 Demo program == 185 - 186 -Build a simple program for absolute move 187 - 188 -(% style="text-align:center" %) 189 -[[image:1708660054738-287.png]] 190 - 191 -(% style="text-align:center" %) 192 -[[image:1708660060148-798.png]] 193 - 194 -
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