Changes for page Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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... ... @@ -117,50 +117,49 @@ 117 117 118 118 == 5.2 Connect LX6C == 119 119 120 -Double click “Device” and select Scan Network 120 +**Double click “Device” and select Scan Network** 121 121 122 -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)** 123 123 124 124 (% style="text-align:center" %) 125 125 [[image:1708659630178-665.png]] 126 126 127 -Login device with account and password 127 +**Login device with account and password** 128 128 129 129 (% style="text-align:center" %) 130 130 [[image:1708659646762-832.png]] 131 131 132 - 133 133 = 6 Project configuration = 134 134 135 135 == 6.1 Add Axis Group == 136 136 137 -Right click Application, “Add Object” and select “Axis Group” 136 +**Right click Application, “Add Object” and select “Axis Group”** 138 138 139 139 140 140 (% style="text-align:center" %) 141 141 [[image:1708659668179-463.png]] 142 142 143 -Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary” 142 +**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”** 144 144 145 145 (% style="text-align:center" %) 146 146 [[image:1708659683686-935.png]] 147 147 148 -Fill in the mechanical parameters (Use the same user units) 147 +**Fill in the mechanical parameters (Use the same user units)** 149 149 150 150 (% style="text-align:center" %) 151 151 [[image:1708659724005-484.png]] 152 152 153 -Right click “Device” and add device 152 +**Right click “Device” and add device** 154 154 155 155 (% style="text-align:center" %) 156 156 [[image:1708659738998-621.png]] 157 157 158 -Add “EtherCAT Master SoftMotion” 157 +**Add “EtherCAT Master SoftMotion”** 159 159 160 160 (% 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) 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)** 164 164 165 165 (% style="text-align:center" %) 166 166 [[image:1708659837241-566.png]] ... ... @@ -169,27 +169,27 @@ 169 169 (% style="text-align:center" %) 170 170 [[image:1708659844978-946.png]] 171 171 172 -Add 3 motion axis 171 +**Add 3 motion axis** 173 173 174 174 (% style="text-align:center" %) 175 175 [[image:1708659868961-294.png]] 176 176 177 -Set the correct resolution based on the motor encoder 176 +**Set the correct resolution based on the motor encoder** 178 178 179 179 (% style="text-align:center" %) 180 180 [[image:1708659882131-694.png]] 181 181 182 -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”** 183 183 184 184 (% style="text-align:center" %) 185 185 [[image:1708659902425-597.png]] 186 186 187 -Bind axis to robot. 186 +**Bind axis to robot.** 188 188 189 189 (% style="text-align:center" %) 190 190 [[image:1708659921571-879.png]] 191 191 192 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task” 191 +**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”** 193 193 194 194 (% style="text-align:center" %) 195 195 [[image:1708660033766-909.png]] ... ... @@ -199,7 +199,7 @@ 199 199 200 200 == 6.2 Demo program == 201 201 202 -Build a simple program for absolute move 201 +**Build a simple program for absolute move** 203 203 204 204 (% style="text-align:center" %) 205 205 [[image:1708660054738-287.png]]