Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -8,46 +8,31 @@ 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="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)**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]] 46 -)))|((( 47 -(% style="text-align:center" %) 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 ... ... @@ -64,13 +64,13 @@ 64 64 65 65 == 4.1 Language settings == 66 66 67 - **Select “Tools”~-~->“Options”**52 +Select “Tools”~-~->“Options” 68 68 69 69 (% style="text-align:center" %) 70 70 [[image:1708659282790-309.png]] 71 71 72 72 73 - **Set software language in “International Settings”**58 +Set software language in “International Settings” 74 74 75 75 (% style="text-align:center" %) 76 76 [[image:1708659276549-637.png]] ... ... @@ -77,42 +77,43 @@ 77 77 78 78 == 4.2 Device file import == 79 79 80 - **Select “Tools“~-~->“Device Repository“**65 +Select “Tools“~-~->“Device Repository“ 81 81 82 -(% style="text-align:center" %) 83 83 [[image:1708659330267-186.png]] 84 84 85 - **Install LX6C xml file.**69 +Install LX6C xml file. 86 86 87 -(% style="text-align:center" %) 88 88 [[image:1708659348892-129.png]] 89 89 90 - **Install VD3E xml file.**73 +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 81 + 82 + 83 + 84 + 85 + 86 + 87 + 88 + 89 + 90 + 91 + 104 104 = 5 Device connection = 105 105 106 106 == 5.1 New project == 107 107 108 - **Create a new standard project**96 +Create a new standard project 109 109 110 -(% style="text-align:center" %) 111 111 [[image:1708659481680-311.png]] 112 112 113 - **Select device and programming language**100 +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 == ... ... @@ -121,12 +121,10 @@ 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 ... ... @@ -137,64 +137,50 @@ 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]] 162 162 163 163 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" %) 166 166 [[image:1708659837241-566.png]] 167 167 168 - 169 -(% style="text-align:center" %) 170 170 [[image:1708659844978-946.png]] 171 171 172 172 Add 3 motion axis 173 173 174 -(% style="text-align:center" %) 175 175 [[image:1708659868961-294.png]] 176 176 177 177 Set the correct resolution based on the motor encoder 178 178 179 -(% style="text-align:center" %) 180 180 [[image:1708659882131-694.png]] 181 181 182 182 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General” 183 183 184 -(% style="text-align:center" %) 185 185 [[image:1708659902425-597.png]] 186 186 187 187 Bind axis to robot. 188 188 189 -(% style="text-align:center" %) 190 190 [[image:1708659921571-879.png]] 191 191 192 192 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 193 193 194 -(% style="text-align:center" %) 195 195 [[image:1708660033766-909.png]] 196 196 197 -(% style="text-align:center" %) 198 198 [[image:1708660038539-524.png]] 199 199 200 200 == 6.2 Demo program == ... ... @@ -201,8 +201,22 @@ 201 201 202 202 Build a simple program for absolute move 203 203 204 -(% style="text-align:center" %) 205 205 [[image:1708660054738-287.png]] 206 206 207 -(% style="text-align:center" %) 208 208 [[image:1708660060148-798.png]] 177 + 178 + 179 + 180 + 181 + 182 + 183 + 184 + 185 + 186 + 187 + 188 + 189 + 190 + 191 + 192 +
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