Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -24,20 +24,30 @@ 24 24 25 25 (% style="margin-left:auto; margin-right:auto" %) 26 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) 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)** 36 36 37 37 = 3 Mechanical parameters = 38 38 39 -[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]] 40 40 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 + 41 41 Length of the upper arm **d1**: 330mm 42 42 43 43 Length of the lower arm **d2**: 600mm ... ... @@ -54,13 +54,13 @@ 54 54 55 55 == 4.1 Language settings == 56 56 57 -Select “Tools”~-~->“Options” 67 +**Select “Tools”~-~->“Options”** 58 58 59 59 (% style="text-align:center" %) 60 60 [[image:1708659282790-309.png]] 61 61 62 62 63 -Set software language in “International Settings” 73 +**Set software language in “International Settings”** 64 64 65 65 (% style="text-align:center" %) 66 66 [[image:1708659276549-637.png]] ... ... @@ -67,17 +67,17 @@ 67 67 68 68 == 4.2 Device file import == 69 69 70 -Select “Tools“~-~->“Device Repository“ 80 +**Select “Tools“~-~->“Device Repository“** 71 71 72 72 (% style="text-align:center" %) 73 73 [[image:1708659330267-186.png]] 74 74 75 -Install LX6C xml file. 85 +**Install LX6C xml file.** 76 76 77 77 (% style="text-align:center" %) 78 78 [[image:1708659348892-129.png]] 79 79 80 -Install VD3E xml file. 90 +**Install VD3E xml file.** 81 81 82 82 (% style="text-align:center" %) 83 83 [[image:1708659363849-556.png]] ... ... @@ -91,18 +91,16 @@ 91 91 [[image:1708666805375-462.png]] 92 92 ))) 93 93 94 - 95 - 96 96 = 5 Device connection = 97 97 98 98 == 5.1 New project == 99 99 100 -Create a new standard project 108 +**Create a new standard project** 101 101 102 102 (% style="text-align:center" %) 103 103 [[image:1708659481680-311.png]] 104 104 105 -Select device and programming language 113 +**Select device and programming language** 106 106 107 107 (% style="text-align:center" %) 108 108 [[image:1708659504171-928.png]] ... ... @@ -109,50 +109,49 @@ 109 109 110 110 == 5.2 Connect LX6C == 111 111 112 -Double click “Device” and select Scan Network 120 +**Double click “Device” and select Scan Network** 113 113 114 -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)** 115 115 116 116 (% style="text-align:center" %) 117 117 [[image:1708659630178-665.png]] 118 118 119 -Login device with account and password 127 +**Login device with account and password** 120 120 121 121 (% style="text-align:center" %) 122 122 [[image:1708659646762-832.png]] 123 123 124 - 125 125 = 6 Project configuration = 126 126 127 127 == 6.1 Add Axis Group == 128 128 129 -Right click Application, “Add Object” and select “Axis Group” 136 +**Right click Application, “Add Object” and select “Axis Group”** 130 130 131 131 132 132 (% style="text-align:center" %) 133 133 [[image:1708659668179-463.png]] 134 134 135 -Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 142 +**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”** 136 136 137 137 (% style="text-align:center" %) 138 138 [[image:1708659683686-935.png]] 139 139 140 -Fill in the mechanical parameters (Use the same user units) 147 +**Fill in the mechanical parameters (Use the same user units)** 141 141 142 142 (% style="text-align:center" %) 143 143 [[image:1708659724005-484.png]] 144 144 145 -Right click “Device” and add device 152 +**Right click “Device” and add device** 146 146 147 147 (% style="text-align:center" %) 148 148 [[image:1708659738998-621.png]] 149 149 150 -Add “EtherCAT Master SoftMotion” 157 +**Add “EtherCAT Master SoftMotion”** 151 151 152 152 (% style="text-align:center" %) 153 153 [[image:1708659810951-477.png]] 154 154 155 -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) 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)** 156 156 157 157 (% style="text-align:center" %) 158 158 [[image:1708659837241-566.png]] ... ... @@ -161,27 +161,27 @@ 161 161 (% style="text-align:center" %) 162 162 [[image:1708659844978-946.png]] 163 163 164 -Add 3 motion axis 171 +**Add 3 motion axis** 165 165 166 166 (% style="text-align:center" %) 167 167 [[image:1708659868961-294.png]] 168 168 169 -Set the correct resolution based on the motor encoder 176 +**Set the correct resolution based on the motor encoder** 170 170 171 171 (% style="text-align:center" %) 172 172 [[image:1708659882131-694.png]] 173 173 174 -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”** 175 175 176 176 (% style="text-align:center" %) 177 177 [[image:1708659902425-597.png]] 178 178 179 -Bind axis to robot. 186 +**Bind axis to robot.** 180 180 181 181 (% style="text-align:center" %) 182 182 [[image:1708659921571-879.png]] 183 183 184 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 191 +**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”** 185 185 186 186 (% style="text-align:center" %) 187 187 [[image:1708660033766-909.png]] ... ... @@ -191,7 +191,7 @@ 191 191 192 192 == 6.2 Demo program == 193 193 194 -Build a simple program for absolute move 201 +**Build a simple program for absolute move** 195 195 196 196 (% style="text-align:center" %) 197 197 [[image:1708660054738-287.png]]