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; 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;" %)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 ... ... @@ -69,25 +69,31 @@ 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 77 +[[image:1708659372629-274.png||style="float:left"]] 85 85 79 +[[image:1708659390655-234.png||style="float:left"]] 86 86 87 -[[image:1708666791453-744.png]] 88 88 89 -[[image:1708666805375-462.png]] 90 90 83 + 84 + 85 + 86 + 87 + 88 + 89 + 90 + 91 + 91 91 = 5 Device connection = 92 92 93 93 == 5.1 New project == ... ... @@ -94,12 +94,10 @@ 94 94 95 95 Create a new standard project 96 96 97 -(% style="text-align:center" %) 98 98 [[image:1708659481680-311.png]] 99 99 100 100 Select device and programming language 101 101 102 -(% style="text-align:center" %) 103 103 [[image:1708659504171-928.png]] 104 104 105 105 == 5.2 Connect LX6C == ... ... @@ -108,12 +108,10 @@ 108 108 109 109 Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8) 110 110 111 -(% style="text-align:center" %) 112 112 [[image:1708659630178-665.png]] 113 113 114 114 Login device with account and password 115 115 116 -(% style="text-align:center" %) 117 117 [[image:1708659646762-832.png]] 118 118 119 119 ... ... @@ -124,64 +124,50 @@ 124 124 Right click Application, “Add Object” and select “Axis Group” 125 125 126 126 127 -(% style="text-align:center" %) 128 128 [[image:1708659668179-463.png]] 129 129 130 130 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 131 131 132 -(% style="text-align:center" %) 133 133 [[image:1708659683686-935.png]] 134 134 135 135 Fill in the mechanical parameters (Use the same user units) 136 136 137 -(% style="text-align:center" %) 138 138 [[image:1708659724005-484.png]] 139 139 140 140 Right click “Device” and add device 141 141 142 -(% style="text-align:center" %) 143 143 [[image:1708659738998-621.png]] 144 144 145 145 Add “EtherCAT Master SoftMotion” 146 146 147 -(% style="text-align:center" %) 148 148 [[image:1708659810951-477.png]] 149 149 150 150 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) 151 151 152 -(% style="text-align:center" %) 153 153 [[image:1708659837241-566.png]] 154 154 155 - 156 -(% style="text-align:center" %) 157 157 [[image:1708659844978-946.png]] 158 158 159 159 Add 3 motion axis 160 160 161 -(% style="text-align:center" %) 162 162 [[image:1708659868961-294.png]] 163 163 164 164 Set the correct resolution based on the motor encoder 165 165 166 -(% style="text-align:center" %) 167 167 [[image:1708659882131-694.png]] 168 168 169 169 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General” 170 170 171 -(% style="text-align:center" %) 172 172 [[image:1708659902425-597.png]] 173 173 174 174 Bind axis to robot. 175 175 176 -(% style="text-align:center" %) 177 177 [[image:1708659921571-879.png]] 178 178 179 179 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 180 180 181 -(% style="text-align:center" %) 182 182 [[image:1708660033766-909.png]] 183 183 184 -(% style="text-align:center" %) 185 185 [[image:1708660038539-524.png]] 186 186 187 187 == 6.2 Demo program == ... ... @@ -188,8 +188,22 @@ 188 188 189 189 Build a simple program for absolute move 190 190 191 -(% style="text-align:center" %) 192 192 [[image:1708660054738-287.png]] 193 193 194 -(% style="text-align:center" %) 195 195 [[image:1708660060148-798.png]] 177 + 178 + 179 + 180 + 181 + 182 + 183 + 184 + 185 + 186 + 187 + 188 + 189 + 190 + 191 + 192 +
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