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Version 7.1 by Mora Zhou on 2024/02/23 13:46
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1 = 1 Introduction =
2
3 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:799px" %)(((
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" %)(((
18 (% style="text-align:center" %)
19 (((
20 (% style="display:inline-block; width:513px;" %)
21 [[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
22 )))
23 )))
24
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)
36
37 = 3 Mechanical parameters =
38
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 Length of the upper arm **d1**: 330mm
52
53 Length of the lower arm **d2**: 600mm
54
55 Distance between lower arm in one pair **d3**: 20mm
56
57 Radius of circle where lower arm contact point is located **r1**: 50mm
58
59 Radius of circle where motor shaft is located **r2**: 100mm
60
61 Maximum angle in ± for ball joints: 60°
62
63 = 4 Program preparation =
64
65 == 4.1 Language settings ==
66
67 Select “Tools”~-~->“Options”
68
69 (% style="text-align:center" %)
70 [[image:1708659282790-309.png]]
71
72
73 Set software language in “International Settings”
74
75 (% style="text-align:center" %)
76 [[image:1708659276549-637.png]]
77
78 == 4.2 Device file import ==
79
80 Select “Tools“~-~->“Device Repository“
81
82 (% style="text-align:center" %)
83 [[image:1708659330267-186.png]]
84
85 Install LX6C xml file.
86
87 (% style="text-align:center" %)
88 [[image:1708659348892-129.png]]
89
90 Install VD3E xml file.
91
92 (% style="text-align:center" %)
93 [[image:1708659363849-556.png]]
94
95
96 |(((
97 (% style="text-align:center" %)
98 [[image:1708666791453-744.png]]
99 )))|(((
100 (% style="text-align:center" %)
101 [[image:1708666805375-462.png]]
102 )))
103
104
105 = 5 Device connection =
106
107 == 5.1 New project ==
108
109 Create a new standard project
110
111 (% style="text-align:center" %)
112 [[image:1708659481680-311.png]]
113
114 Select device and programming language
115
116 (% style="text-align:center" %)
117 [[image:1708659504171-928.png]]
118
119 == 5.2 Connect LX6C ==
120
121 Double click “Device” and select Scan Network
122
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
125 (% style="text-align:center" %)
126 [[image:1708659630178-665.png]]
127
128 Login device with account and password
129
130 (% style="text-align:center" %)
131 [[image:1708659646762-832.png]]
132
133
134 = 6 Project configuration =
135
136 == 6.1 Add Axis Group ==
137
138 Right click Application, “Add Object” and select “Axis Group”
139
140
141 (% style="text-align:center" %)
142 [[image:1708659668179-463.png]]
143
144 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
145
146 (% style="text-align:center" %)
147 [[image:1708659683686-935.png]]
148
149 Fill in the mechanical parameters (Use the same user units)
150
151 (% style="text-align:center" %)
152 [[image:1708659724005-484.png]]
153
154 Right click “Device” and add device
155
156 (% style="text-align:center" %)
157 [[image:1708659738998-621.png]]
158
159 Add “EtherCAT Master SoftMotion”
160
161 (% style="text-align:center" %)
162 [[image:1708659810951-477.png]]
163
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
166 (% style="text-align:center" %)
167 [[image:1708659837241-566.png]]
168
169
170 (% style="text-align:center" %)
171 [[image:1708659844978-946.png]]
172
173 Add 3 motion axis
174
175 (% style="text-align:center" %)
176 [[image:1708659868961-294.png]]
177
178 Set the correct resolution based on the motor encoder
179
180 (% style="text-align:center" %)
181 [[image:1708659882131-694.png]]
182
183 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
184
185 (% style="text-align:center" %)
186 [[image:1708659902425-597.png]]
187
188 Bind axis to robot.
189
190 (% style="text-align:center" %)
191 [[image:1708659921571-879.png]]
192
193 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
194
195 (% style="text-align:center" %)
196 [[image:1708660033766-909.png]]
197
198 (% style="text-align:center" %)
199 [[image:1708660038539-524.png]]
200
201 == 6.2 Demo program ==
202
203 Build a simple program for absolute move
204
205 (% style="text-align:center" %)
206 [[image:1708660054738-287.png]]
207
208 (% style="text-align:center" %)
209 [[image:1708660060148-798.png]]