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Last modified by nozzin on 2024/02/26 09:16
From version 4.1
edited by Mora Zhou
on 2024/02/23 13:38
Change comment: There is no comment for this version
To version 1.2
edited by Mora Zhou
on 2024/02/23 11:43
Change comment: There is no comment for this version

Summary

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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:799px" %)(((
11 +|(% style="width:837px" %)(((
12 12  (% style="text-align:center" %)
13 -(((
14 -(% style="display:inline-block; width:334px;" %)
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; width:513px;" %)
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;" %)QUANTITY
27 -|(% style="width:801px" %)LX6C-0808MT-DD|(% style="width:821px" %)1
28 -|(% style="width:801px" %)VD3E-014SA1G|(% style="width:821px" %)3
29 -|(% style="width:801px" %)WE80M-07530S-A1F|(% style="width:821px" %)3
30 -|(% style="width:801px" %)Upper arm|(% style="width:821px" %)3
31 -|(% style="width:801px" %)Lower arm|(% style="width:821px" %)6
32 -|(% style="width:801px" %)Motor shaft connector|(% style="width:821px" %)3
33 -|(% style="width:801px" %)Top plate|(% style="width:821px" %)1
34 -|(% style="width:801px" %)Tool plate|(% style="width:821px" %)1
35 -|(% 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  
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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"]]
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97 97  
98 98  
99 99  
100 -= =
101 -
102 -= =
103 -
104 104  = 5 Device connection =
105 105  
106 106  == 5.1 New project ==
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107 107  
108 108  Create a new standard project
109 109  
110 -(% style="text-align:center" %)
111 111  [[image:1708659481680-311.png]]
112 112  
113 113  Select device and programming language
114 114  
115 -(% style="text-align:center" %)
116 116  [[image:1708659504171-928.png]]
117 117  
118 118  == 5.2 Connect LX6C ==
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121 121  
122 122  Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
123 123  
124 -(% style="text-align:center" %)
125 125  [[image:1708659630178-665.png]]
126 126  
127 127  Login device with account and password
128 128  
129 -(% style="text-align:center" %)
130 130  [[image:1708659646762-832.png]]
131 131  
132 132  
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137 137  Right click Application, “Add Object” and select “Axis Group”
138 138  
139 139  
140 -(% style="text-align:center" %)
141 141  [[image:1708659668179-463.png]]
142 142  
143 143  Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
144 144  
145 -(% style="text-align:center" %)
146 146  [[image:1708659683686-935.png]]
147 147  
148 148  Fill in the mechanical parameters (Use the same user units)
149 149  
150 -(% style="text-align:center" %)
151 151  [[image:1708659724005-484.png]]
152 152  
153 153  Right click “Device” and add device
154 154  
155 -(% style="text-align:center" %)
156 156  [[image:1708659738998-621.png]]
157 157  
158 158  Add “EtherCAT Master SoftMotion”
159 159  
160 -(% style="text-align:center" %)
161 161  [[image:1708659810951-477.png]]
162 162  
163 -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)
164 164  
165 -(% style="text-align:center" %)
166 -[[image:1708659837241-566.png]]
167 167  
168 168  
169 -(% style="text-align:center" %)
170 -[[image:1708659844978-946.png]]
171 171  
172 -Add 3 motion axis
173 173  
174 -(% style="text-align:center" %)
175 -[[image:1708659868961-294.png]]
176 176  
177 -Set the correct resolution based on the motor encoder
178 178  
179 -(% style="text-align:center" %)
180 -[[image:1708659882131-694.png]]
181 181  
182 -Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
183 -
184 -(% style="text-align:center" %)
185 -[[image:1708659902425-597.png]]
186 -
187 -Bind axis to robot.
188 -
189 -(% style="text-align:center" %)
190 -[[image:1708659921571-879.png]]
191 -
192 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
193 -
194 -(% style="text-align:center" %)
195 -[[image:1708660033766-909.png]]
196 -
197 -(% style="text-align:center" %)
198 -[[image:1708660038539-524.png]]
199 -
200 -== 6.2 Demo program ==
201 -
202 -Build a simple program for absolute move
203 -
204 -(% style="text-align:center" %)
205 -[[image:1708660054738-287.png]]
206 -
207 -(% style="text-align:center" %)
208 -[[image:1708660060148-798.png]]
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