Skip to Content
Last modified by nozzin on 2024/02/26 09:16
From version 2.2
edited by Mora Zhou
on 2024/02/23 12:01
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

Page properties
Content
... ... @@ -8,15 +8,14 @@
8 8  [[image:1708658466693-778.png]]
9 9  
10 10  (% style="margin-left:auto; margin-right:auto" %)
11 -|(% style="width:799px" %)(((
11 +|(% style="width:837px" %)(((
12 12  (% style="text-align:center" %)
13 -(((
14 -(% style="display:inline-block;" %)
15 -[[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
13 +[[image:1708658932564-782.png]]
14 +)))|(% style="width:785px" %)(((
15 +(% style="text-align:center" %)
16 +[[image:1708658950128-652.png]]
16 16  )))
17 -)))|(% style="width:823px" %)(((
18 -
19 -)))
18 +|(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo**
20 20  
21 21  (% style="margin-left:auto; margin-right:auto" %)
22 22  |=NAME|=QUANTITY
... ... @@ -65,17 +65,14 @@
65 65  
66 66  Select “Tools“~-~->“Device Repository“
67 67  
68 -(% style="text-align:center" %)
69 69  [[image:1708659330267-186.png]]
70 70  
71 71  Install LX6C xml file.
72 72  
73 -(% style="text-align:center" %)
74 74  [[image:1708659348892-129.png]]
75 75  
76 76  Install VD3E xml file.
77 77  
78 -(% style="text-align:center" %)
79 79  [[image:1708659363849-556.png]]
80 80  
81 81  [[image:1708659372629-274.png||style="float:left"]]
... ... @@ -99,12 +99,10 @@
99 99  
100 100  Create a new standard project
101 101  
102 -(% style="text-align:center" %)
103 103  [[image:1708659481680-311.png]]
104 104  
105 105  Select device and programming language
106 106  
107 -(% style="text-align:center" %)
108 108  [[image:1708659504171-928.png]]
109 109  
110 110  == 5.2 Connect LX6C ==
... ... @@ -113,12 +113,10 @@
113 113  
114 114  Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
115 115  
116 -(% style="text-align:center" %)
117 117  [[image:1708659630178-665.png]]
118 118  
119 119  Login device with account and password
120 120  
121 -(% style="text-align:center" %)
122 122  [[image:1708659646762-832.png]]
123 123  
124 124  
... ... @@ -129,64 +129,50 @@
129 129  Right click Application, “Add Object” and select “Axis Group”
130 130  
131 131  
132 -(% style="text-align:center" %)
133 133  [[image:1708659668179-463.png]]
134 134  
135 135  Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
136 136  
137 -(% style="text-align:center" %)
138 138  [[image:1708659683686-935.png]]
139 139  
140 140  Fill in the mechanical parameters (Use the same user units)
141 141  
142 -(% style="text-align:center" %)
143 143  [[image:1708659724005-484.png]]
144 144  
145 145  Right click “Device” and add device
146 146  
147 -(% style="text-align:center" %)
148 148  [[image:1708659738998-621.png]]
149 149  
150 150  Add “EtherCAT Master SoftMotion”
151 151  
152 -(% style="text-align:center" %)
153 153  [[image:1708659810951-477.png]]
154 154  
155 155  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)
156 156  
157 -(% style="text-align:center" %)
158 158  [[image:1708659837241-566.png]]
159 159  
160 -
161 -(% style="text-align:center" %)
162 162  [[image:1708659844978-946.png]]
163 163  
164 164  Add 3 motion axis
165 165  
166 -(% style="text-align:center" %)
167 167  [[image:1708659868961-294.png]]
168 168  
169 169  Set the correct resolution based on the motor encoder
170 170  
171 -(% style="text-align:center" %)
172 172  [[image:1708659882131-694.png]]
173 173  
174 174  Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
175 175  
176 -(% style="text-align:center" %)
177 177  [[image:1708659902425-597.png]]
178 178  
179 179  Bind axis to robot.
180 180  
181 -(% style="text-align:center" %)
182 182  [[image:1708659921571-879.png]]
183 183  
184 184  Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
185 185  
186 -(% style="text-align:center" %)
187 187  [[image:1708660033766-909.png]]
188 188  
189 -(% style="text-align:center" %)
190 190  [[image:1708660038539-524.png]]
191 191  
192 192  == 6.2 Demo program ==
... ... @@ -193,8 +193,22 @@
193 193  
194 194  Build a simple program for absolute move
195 195  
196 -(% style="text-align:center" %)
197 197  [[image:1708660054738-287.png]]
198 198  
199 -(% style="text-align:center" %)
200 200  [[image:1708660060148-798.png]]
177 +
178 +
179 +
180 +
181 +
182 +
183 +
184 +
185 +
186 +
187 +
188 +
189 +
190 +
191 +
192 +