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Last modified by nozzin on 2024/02/26 09:16
From version 7.1
edited by Mora Zhou
on 2024/02/23 13:46
Change comment: There is no comment for this version
To version 1.5
edited by Mora Zhou
on 2024/02/23 11:48
Change comment: There is no comment for this version

Summary

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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  
34 +[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
39 39  
40 -|(((
41 -(% style="text-align:center" %)
42 -[[image:1708659158007-639.png]]
43 -)))|(((
44 -(% style="text-align:center" %)
45 -[[image:1708659191216-488.png]]
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48 -[[image:1708659202564-503.png]]
49 -)))
50 -
51 51  Length of the upper arm **d1**: 330mm
52 52  
53 53  Length of the lower arm **d2**: 600mm
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79 79  
80 80  Select “Tools“~-~->“Device Repository“
81 81  
82 -(% style="text-align:center" %)
83 83  [[image:1708659330267-186.png]]
84 84  
85 85  Install LX6C xml file.
86 86  
87 -(% style="text-align:center" %)
88 88  [[image:1708659348892-129.png]]
89 89  
90 90  Install VD3E xml file.
91 91  
92 -(% style="text-align:center" %)
93 93  [[image:1708659363849-556.png]]
94 94  
77 +[[image:1708659372629-274.png||style="float:left"]]
95 95  
96 -|(((
97 -(% style="text-align:center" %)
98 -[[image:1708666791453-744.png]]
99 -)))|(((
100 -(% style="text-align:center" %)
101 -[[image:1708666805375-462.png]]
102 -)))
79 +[[image:1708659390655-234.png||style="float:left"]]
103 103  
104 104  
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105 105  = 5 Device connection =
106 106  
107 107  == 5.1 New project ==
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108 108  
109 109  Create a new standard project
110 110  
111 -(% style="text-align:center" %)
112 112  [[image:1708659481680-311.png]]
113 113  
114 114  Select device and programming language
115 115  
116 -(% style="text-align:center" %)
117 117  [[image:1708659504171-928.png]]
118 118  
119 119  == 5.2 Connect LX6C ==
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122 122  
123 123  Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
124 124  
125 -(% style="text-align:center" %)
126 126  [[image:1708659630178-665.png]]
127 127  
128 128  Login device with account and password
129 129  
130 -(% style="text-align:center" %)
131 131  [[image:1708659646762-832.png]]
132 132  
133 133  
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138 138  Right click Application, “Add Object” and select “Axis Group”
139 139  
140 140  
141 -(% style="text-align:center" %)
142 142  [[image:1708659668179-463.png]]
143 143  
144 144  Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
145 145  
146 -(% style="text-align:center" %)
147 147  [[image:1708659683686-935.png]]
148 148  
149 149  Fill in the mechanical parameters (Use the same user units)
150 150  
151 -(% style="text-align:center" %)
152 152  [[image:1708659724005-484.png]]
153 153  
154 154  Right click “Device” and add device
155 155  
156 -(% style="text-align:center" %)
157 157  [[image:1708659738998-621.png]]
158 158  
159 159  Add “EtherCAT Master SoftMotion”
160 160  
161 -(% style="text-align:center" %)
162 162  [[image:1708659810951-477.png]]
163 163  
164 164  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)
165 165  
166 -(% style="text-align:center" %)
167 167  [[image:1708659837241-566.png]]
168 168  
169 -
170 -(% style="text-align:center" %)
171 171  [[image:1708659844978-946.png]]
172 172  
173 173  Add 3 motion axis
174 174  
175 -(% style="text-align:center" %)
176 176  [[image:1708659868961-294.png]]
177 177  
178 178  Set the correct resolution based on the motor encoder
179 179  
180 -(% style="text-align:center" %)
181 181  [[image:1708659882131-694.png]]
182 182  
183 183  Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
184 184  
185 -(% style="text-align:center" %)
186 186  [[image:1708659902425-597.png]]
187 187  
188 188  Bind axis to robot.
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207 207  
208 208  (% style="text-align:center" %)
209 209  [[image:1708660060148-798.png]]
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