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Last modified by nozzin on 2024/02/26 09:16
From version 1.8
edited by Mora Zhou
on 2024/02/23 11:50
Change comment: There is no comment for this version
To version 1.4
edited by Mora Zhou
on 2024/02/23 11:47
Change comment: There is no comment for this version

Summary

Details

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Content
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64 64  
65 65  Select “Tools“~-~->“Device Repository“
66 66  
67 -(% style="text-align:center" %)
68 68  [[image:1708659330267-186.png]]
69 69  
70 70  Install LX6C xml file.
71 71  
72 -(% style="text-align:center" %)
73 73  [[image:1708659348892-129.png]]
74 74  
75 75  Install VD3E xml file.
76 76  
77 -(% style="text-align:center" %)
78 78  [[image:1708659363849-556.png]]
79 79  
80 80  [[image:1708659372629-274.png||style="float:left"]]
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98 98  
99 99  Create a new standard project
100 100  
101 -(% style="text-align:center" %)
102 102  [[image:1708659481680-311.png]]
103 103  
104 104  Select device and programming language
105 105  
106 -(% style="text-align:center" %)
107 107  [[image:1708659504171-928.png]]
108 108  
109 109  == 5.2 Connect LX6C ==
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112 112  
113 113  Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
114 114  
115 -(% style="text-align:center" %)
116 116  [[image:1708659630178-665.png]]
117 117  
118 118  Login device with account and password
119 119  
120 -(% style="text-align:center" %)
121 121  [[image:1708659646762-832.png]]
122 122  
123 123  
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128 128  Right click Application, “Add Object” and select “Axis Group”
129 129  
130 130  
131 -(% style="text-align:center" %)
132 132  [[image:1708659668179-463.png]]
133 133  
134 134  Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
135 135  
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137 137  [[image:1708659683686-935.png]]
138 138  
139 139  Fill in the mechanical parameters (Use the same user units)
140 140  
141 -(% style="text-align:center" %)
142 142  [[image:1708659724005-484.png]]
143 143  
144 144  Right click “Device” and add device
145 145  
146 -(% style="text-align:center" %)
147 147  [[image:1708659738998-621.png]]
148 148  
149 149  Add “EtherCAT Master SoftMotion”
150 150  
151 -(% style="text-align:center" %)
152 152  [[image:1708659810951-477.png]]
153 153  
154 154  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)
155 155  
156 -(% style="text-align:center" %)
157 157  [[image:1708659837241-566.png]]
158 158  
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160 -(% style="text-align:center" %)
161 161  [[image:1708659844978-946.png]]
162 162  
163 163  Add 3 motion axis
164 164  
165 -(% style="text-align:center" %)
166 166  [[image:1708659868961-294.png]]
167 167  
168 168  Set the correct resolution based on the motor encoder
169 169  
170 -(% style="text-align:center" %)
171 171  [[image:1708659882131-694.png]]
172 172  
173 173  Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
174 174  
175 -(% style="text-align:center" %)
176 176  [[image:1708659902425-597.png]]
177 177  
178 178  Bind axis to robot.
179 179  
180 -(% style="text-align:center" %)
181 181  [[image:1708659921571-879.png]]
182 182  
183 183  Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
184 184  
185 -(% style="text-align:center" %)
186 186  [[image:1708660033766-909.png]]
187 187  
188 -(% style="text-align:center" %)
189 189  [[image:1708660038539-524.png]]
190 190  
191 191  == 6.2 Demo program ==
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192 192  
193 193  Build a simple program for absolute move
194 194  
195 -(% style="text-align:center" %)
196 196  [[image:1708660054738-287.png]]
197 197  
198 -(% style="text-align:center" %)
199 199  [[image:1708660060148-798.png]]
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