Changes for page Wecon LX6C Parallel Robot Project

Summary

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Details

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	1	+= 1 Introduction =
1	1
	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.
2	2
	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" %)
	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)
	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"]]
	80	+
	81	+
	82	+
	83	+
	84	+
	85	+
	86	+
	87	+
	88	+
	89	+
	90	+
	91	+
	92	+= 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	+[[image:1708659668179-463.png]]
	125	+
	126	+Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
	127	+
	128	+[[image:1708659683686-935.png]]
	129	+
	130	+Fill in the mechanical parameters (Use the same user units)
	131	+
	132	+[[image:1708659724005-484.png]]
	133	+
	134	+Right click “Device” and add device
	135	+
	136	+[[image:1708659738998-621.png]]
	137	+
	138	+Add “EtherCAT Master SoftMotion”
	139	+
	140	+[[image:1708659810951-477.png]]
	141	+
	142	+
	143	+
	144	+
	145	+
	146	+
	147	+
	148	+
	149	+

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