Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -8,31 +8,46 @@ 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="text-align:center; width:801px" %)**LX6C-0808MT-DD**|(% style="text-align:center; width:821px" %)**1** 28 +|(% style="text-align:center; width:801px" %)**VD3E-014SA1G**|(% style="text-align:center; width:821px" %)**3** 29 +|(% style="text-align:center; width:801px" %)**WE80M-07530S-A1F**|(% style="text-align:center; width:821px" %)**3** 30 +|(% style="text-align:center; width:801px" %)**Upper arm**|(% style="text-align:center; width:821px" %)**3** 31 +|(% style="text-align:center; width:801px" %)**Lower arm**|(% style="text-align:center; width:821px" %)**6** 32 +|(% style="text-align:center; width:801px" %)**Motor shaft connector**|(% style="text-align:center; width:821px" %)**3** 33 +|(% style="text-align:center; width:801px" %)**Top plate**|(% style="text-align:center; width:821px" %)**1** 34 +|(% style="text-align:center; width:801px" %)**Tool plate**|(% style="text-align:center; width:821px" %)**1** 35 +|(% style="text-align:center; width:801px" %)**Hexagon socket screws**|(% style="text-align:center; width:821px" %)**6 (M4 and M5)** 31 31 32 32 = 3 Mechanical parameters = 33 33 34 -[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]] 35 35 40 +|((( 41 +(% style="text-align:center" %) 42 +[[image:1708659158007-639.png]] 43 +)))|((( 44 +(% style="text-align:center" %) 45 +[[image:1708659191216-488.png]] 46 +)))|((( 47 +(% style="text-align:center" %) 48 +[[image:1708659202564-503.png]] 49 +))) 50 + 36 36 Length of the upper arm **d1**: 330mm 37 37 38 38 Length of the lower arm **d2**: 600mm ... ... @@ -49,13 +49,13 @@ 49 49 50 50 == 4.1 Language settings == 51 51 52 -Select “Tools”~-~->“Options” 67 +**Select “Tools”~-~->“Options”** 53 53 54 54 (% style="text-align:center" %) 55 55 [[image:1708659282790-309.png]] 56 56 57 57 58 -Set software language in “International Settings” 73 +**Set software language in “International Settings”** 59 59 60 60 (% style="text-align:center" %) 61 61 [[image:1708659276549-637.png]] ... ... @@ -62,46 +62,40 @@ 62 62 63 63 == 4.2 Device file import == 64 64 65 -Select “Tools“~-~->“Device Repository“ 80 +**Select “Tools“~-~->“Device Repository“** 66 66 67 67 (% style="text-align:center" %) 68 68 [[image:1708659330267-186.png]] 69 69 70 -Install LX6C xml file. 85 +**Install LX6C xml file.** 71 71 72 72 (% style="text-align:center" %) 73 73 [[image:1708659348892-129.png]] 74 74 75 -Install VD3E xml file. 90 +**Install VD3E xml file.** 76 76 77 77 (% style="text-align:center" %) 78 78 [[image:1708659363849-556.png]] 79 79 80 -[[image:1708659372629-274.png||style="float:left"]] 81 81 82 -[[image:1708659390655-234.png||style="float:left"]] 96 +|((( 97 +(% style="text-align:center" %) 98 +[[image:1708666791453-744.png]] 99 +)))|((( 100 +(% style="text-align:center" %) 101 +[[image:1708666805375-462.png]] 102 +))) 83 83 84 - 85 - 86 - 87 - 88 - 89 - 90 - 91 - 92 - 93 - 94 - 95 95 = 5 Device connection = 96 96 97 97 == 5.1 New project == 98 98 99 -Create a new standard project 108 +**Create a new standard project** 100 100 101 101 (% style="text-align:center" %) 102 102 [[image:1708659481680-311.png]] 103 103 104 -Select device and programming language 113 +**Select device and programming language** 105 105 106 106 (% style="text-align:center" %) 107 107 [[image:1708659504171-928.png]] ... ... @@ -108,50 +108,49 @@ 108 108 109 109 == 5.2 Connect LX6C == 110 110 111 -Double click “Device” and select Scan Network 120 +**Double click “Device” and select Scan Network** 112 112 113 -Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8) 122 +**Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)** 114 114 115 115 (% style="text-align:center" %) 116 116 [[image:1708659630178-665.png]] 117 117 118 -Login device with account and password 127 +**Login device with account and password** 119 119 120 120 (% style="text-align:center" %) 121 121 [[image:1708659646762-832.png]] 122 122 123 - 124 124 = 6 Project configuration = 125 125 126 126 == 6.1 Add Axis Group == 127 127 128 -Right click Application, “Add Object” and select “Axis Group” 136 +**Right click Application, “Add Object” and select “Axis Group”** 129 129 130 130 131 131 (% style="text-align:center" %) 132 132 [[image:1708659668179-463.png]] 133 133 134 -Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 142 +**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”** 135 135 136 136 (% style="text-align:center" %) 137 137 [[image:1708659683686-935.png]] 138 138 139 -Fill in the mechanical parameters (Use the same user units) 147 +**Fill in the mechanical parameters (Use the same user units)** 140 140 141 141 (% style="text-align:center" %) 142 142 [[image:1708659724005-484.png]] 143 143 144 -Right click “Device” and add device 152 +**Right click “Device” and add device** 145 145 146 146 (% style="text-align:center" %) 147 147 [[image:1708659738998-621.png]] 148 148 149 -Add “EtherCAT Master SoftMotion” 157 +**Add “EtherCAT Master SoftMotion”** 150 150 151 151 (% style="text-align:center" %) 152 152 [[image:1708659810951-477.png]] 153 153 154 -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) 162 +**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)** 155 155 156 156 (% style="text-align:center" %) 157 157 [[image:1708659837241-566.png]] ... ... @@ -160,27 +160,27 @@ 160 160 (% style="text-align:center" %) 161 161 [[image:1708659844978-946.png]] 162 162 163 -Add 3 motion axis 171 +**Add 3 motion axis** 164 164 165 165 (% style="text-align:center" %) 166 166 [[image:1708659868961-294.png]] 167 167 168 -Set the correct resolution based on the motor encoder 176 +**Set the correct resolution based on the motor encoder** 169 169 170 170 (% style="text-align:center" %) 171 171 [[image:1708659882131-694.png]] 172 172 173 -Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General” 181 +**Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”** 174 174 175 175 (% style="text-align:center" %) 176 176 [[image:1708659902425-597.png]] 177 177 178 -Bind axis to robot. 186 +**Bind axis to robot.** 179 179 180 180 (% style="text-align:center" %) 181 181 [[image:1708659921571-879.png]] 182 182 183 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 191 +**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”** 184 184 185 185 (% style="text-align:center" %) 186 186 [[image:1708660033766-909.png]] ... ... @@ -190,7 +190,7 @@ 190 190 191 191 == 6.2 Demo program == 192 192 193 -Build a simple program for absolute move 201 +**Build a simple program for absolute move** 194 194 195 195 (% style="text-align:center" %) 196 196 [[image:1708660054738-287.png]]
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