Wecon LX6C Delta Robot Project

= 1 Introduction =

This project uses Wecon Codesys PLC LX6C and bus type servo VD3E for delta robot control. Through simple debugging, the point-to-point interpolation motion of the delta robot is realized.

4

5

= 2 Main kit composition =

6

7

(% style="text-align:center" %)

8

[[image:1708658466693-778.png]]

9

10

(% style="margin-left:auto; margin-right:auto" %)

11

|(% style="width:837px" %)(((

12

(% style="text-align:center" %)

13

[[image:1708658932564-782.png]]

14

)))|(% style="width:785px" %)(((

15

(% style="text-align:center" %)

16

[[image:1708658950128-652.png]]

17

)))

18

|(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo**

19

20

(% style="margin-left:auto; margin-right:auto" %)

|=NAME|=QUANTITY

|LX6C-0808MT-DD|1

|VD3E-014SA1G|3

|WE80M-07530S-A1F|3

|Upper arm|3

|Lower arm|6

|Motor shaft connector|3

28

|Top plate|1

29

|Tool plate|1

30

|Hexagon socket screws|6 (M4 and M5)

31

32

= 3 Mechanical parameters =

33

34

[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]

35

36

Length of the upper arm **d1**: 330mm

37

38

Length of the lower arm **d2**: 600mm

39

40

Distance between lower arm in one pair **d3**: 20mm

41

42

Radius of circle where lower arm contact point is located **r1**: 50mm

43

44

Radius of circle where motor shaft is located **r2**: 100mm

45

46

Maximum angle in ± for ball joints: 60°

47

48

= 4 Program preparation =

49

50

== 4.1 Language settings ==

51

52

Select “Tools”~-~->“Options”

53

54

(% style="text-align:center" %)

55

[[image:1708659282790-309.png]]

56

57

58

Set software language in “International Settings”

59

60

(% style="text-align:center" %)

61

[[image:1708659276549-637.png]]

62

63

== 4.2 Device file import ==

64

65

Select “Tools“~-~->“Device Repository“

66

67

[[image:1708659330267-186.png]]

68

69

Install LX6C xml file.

70

71

[[image:1708659348892-129.png]]

72

73

Install VD3E xml file.

74

75

[[image:1708659363849-556.png]]

76

77

[[image:1708659372629-274.png||style="float:left"]]

78

79

[[image:1708659390655-234.png||style="float:left"]]

= 5 Device connection =

93

94

== 5.1 New project ==

95

96

Create a new standard project

97

98

[[image:1708659481680-311.png]]

99

100

Select device and programming language

101

102

[[image:1708659504171-928.png]]

103

104

== 5.2 Connect LX6C ==

105

106

Double click “Device” and select Scan Network

107

108

Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)

109

110

[[image:1708659630178-665.png]]

111

112

Login device with account and password

113

114

[[image:1708659646762-832.png]]

115

116

117

= 6 Project configuration =

118

119

== 6.1 Add Axis Group ==

120

121

Right click Application, “Add Object” and select “Axis Group”

122

123

124

(% style="text-align:center" %)

125

[[image:1708659668179-463.png]]

126

127

Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”

128

129

(% style="text-align:center" %)

130

[[image:1708659683686-935.png]]

131

132

Fill in the mechanical parameters (Use the same user units)

133

134

(% style="text-align:center" %)

135

[[image:1708659724005-484.png]]

136

137

Right click “Device” and add device

138

139

(% style="text-align:center" %)

140

[[image:1708659738998-621.png]]

141

142

Add “EtherCAT Master SoftMotion”

143

144

(% style="text-align:center" %)

145

[[image:1708659810951-477.png]]

146

147

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)

148

149

(% style="text-align:center" %)

150

[[image:1708659837241-566.png]]

151

152

153

(% style="text-align:center" %)

154

[[image:1708659844978-946.png]]

155