Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -8,31 +8,26 @@ 8 8 [[image:1708658466693-778.png]] 9 9 10 10 (% style="margin-left:auto; margin-right:auto" %) 11 -|(% style="width:7 99px" %)(((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"]] 16 -))) 17 -)))|(% style="width:823px" %)((( 13 +[[image:1708658932564-782.png]] 14 +)))|(% style="width:785px" %)((( 18 18 (% style="text-align:center" %) 19 -((( 20 -(% style="display:inline-block;" %) 21 -[[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]] 16 +[[image:1708658950128-652.png]] 22 22 ))) 23 -)) )18 +|(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo** 24 24 25 25 (% style="margin-left:auto; margin-right:auto" %) 26 -|= (% style="width: 801px;" %)NAME|=(% style="width: 821px;" %)QUANTITY27 -| (% style="width:801px" %)LX6C-0808MT-DD|(% style="width:821px" %)128 -| (% style="width:801px" %)VD3E-014SA1G|(% style="width:821px" %)329 -| (% style="width:801px" %)WE80M-07530S-A1F|(% style="width:821px" %)330 -| (% style="width:801px" %)Upper arm|(% style="width:821px" %)331 -| (% style="width:801px" %)Lower arm|(% style="width:821px" %)632 -| (% style="width:801px" %)Motor shaft connector|(% style="width:821px" %)333 -| (% style="width:801px" %)Top plate|(% style="width:821px" %)134 -| (% style="width:801px" %)Tool plate|(% style="width:821px" %)135 -| (% style="width:801px" %)Hexagon socket screws|(% style="width:821px" %)6 (M4 and M5)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) 36 36 37 37 = 3 Mechanical parameters = 38 38 ... ... @@ -69,17 +69,14 @@ 69 69 70 70 Select “Tools“~-~->“Device Repository“ 71 71 72 -(% style="text-align:center" %) 73 73 [[image:1708659330267-186.png]] 74 74 75 75 Install LX6C xml file. 76 76 77 -(% style="text-align:center" %) 78 78 [[image:1708659348892-129.png]] 79 79 80 80 Install VD3E xml file. 81 81 82 -(% style="text-align:center" %) 83 83 [[image:1708659363849-556.png]] 84 84 85 85 [[image:1708659372629-274.png||style="float:left"]] ... ... @@ -103,12 +103,10 @@ 103 103 104 104 Create a new standard project 105 105 106 -(% style="text-align:center" %) 107 107 [[image:1708659481680-311.png]] 108 108 109 109 Select device and programming language 110 110 111 -(% style="text-align:center" %) 112 112 [[image:1708659504171-928.png]] 113 113 114 114 == 5.2 Connect LX6C == ... ... @@ -117,12 +117,10 @@ 117 117 118 118 Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8) 119 119 120 -(% style="text-align:center" %) 121 121 [[image:1708659630178-665.png]] 122 122 123 123 Login device with account and password 124 124 125 -(% style="text-align:center" %) 126 126 [[image:1708659646762-832.png]] 127 127 128 128 ... ... @@ -133,72 +133,57 @@ 133 133 Right click Application, “Add Object” and select “Axis Group” 134 134 135 135 136 -(% style="text-align:center" %) 137 137 [[image:1708659668179-463.png]] 138 138 139 139 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 140 140 141 -(% style="text-align:center" %) 142 142 [[image:1708659683686-935.png]] 143 143 144 144 Fill in the mechanical parameters (Use the same user units) 145 145 146 -(% style="text-align:center" %) 147 147 [[image:1708659724005-484.png]] 148 148 149 149 Right click “Device” and add device 150 150 151 -(% style="text-align:center" %) 152 152 [[image:1708659738998-621.png]] 153 153 154 154 Add “EtherCAT Master SoftMotion” 155 155 156 -(% style="text-align:center" %) 157 157 [[image:1708659810951-477.png]] 158 158 159 159 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) 160 160 161 -(% style="text-align:center" %) 162 162 [[image:1708659837241-566.png]] 163 163 164 - 165 -(% style="text-align:center" %) 166 166 [[image:1708659844978-946.png]] 167 167 168 168 Add 3 motion axis 169 169 170 -(% style="text-align:center" %) 171 171 [[image:1708659868961-294.png]] 172 172 173 173 Set the correct resolution based on the motor encoder 174 174 175 -(% style="text-align:center" %) 176 176 [[image:1708659882131-694.png]] 177 177 178 178 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General” 179 179 180 -(% style="text-align:center" %) 181 181 [[image:1708659902425-597.png]] 182 182 183 183 Bind axis to robot. 184 184 185 -(% style="text-align:center" %) 186 186 [[image:1708659921571-879.png]] 187 187 188 188 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 189 189 190 -(% style="text-align:center" %) 191 191 [[image:1708660033766-909.png]] 192 192 193 -(% style="text-align:center" %) 194 194 [[image:1708660038539-524.png]] 195 195 196 -== 6.2 Demo program == 197 197 198 -Build a simple program for absolute move 199 199 200 -(% style="text-align:center" %) 201 -[[image:1708660054738-287.png]] 202 202 203 -(% style="text-align:center" %) 204 -[[image:1708660060148-798.png]] 173 + 174 + 175 + 176 + 177 +
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