Changes for page Wecon LX6C Parallel Robot Project

Summary

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Details

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Content

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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:799px" %)(((
	12	+(% style="text-align:center" %)
	13	+(((
	14	+(% style="display:inline-block;" %)
	15	+[[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
	16	+)))
	17	+)))|(% style="width:823px" %)(((
	18	+
	19	+)))
	20	+
	21	+(% style="margin-left:auto; margin-right:auto" %)
	22	+|=NAME|=QUANTITY
	23	+|LX6C-0808MT-DD|1
	24	+|VD3E-014SA1G|3
	25	+|WE80M-07530S-A1F|3
	26	+|Upper arm|3
	27	+|Lower arm|6
	28	+|Motor shaft connector|3
	29	+|Top plate|1
	30	+|Tool plate|1
	31	+|Hexagon socket screws|6 (M4 and M5)
	32	+
	33	+= 3 Mechanical parameters =
	34	+
	35	+[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
	36	+
	37	+Length of the upper arm **d1**: 330mm
	38	+
	39	+Length of the lower arm **d2**: 600mm
	40	+
	41	+Distance between lower arm in one pair **d3**: 20mm
	42	+
	43	+Radius of circle where lower arm contact point is located **r1**: 50mm
	44	+
	45	+Radius of circle where motor shaft is located **r2**: 100mm
	46	+
	47	+Maximum angle in ± for ball joints: 60°
	48	+
	49	+= 4 Program preparation =
	50	+
	51	+== 4.1 Language settings ==
	52	+
	53	+Select “Tools”~-~->“Options”
	54	+
	55	+(% style="text-align:center" %)
	56	+[[image:1708659282790-309.png]]
	57	+
	58	+
	59	+Set software language in “International Settings”
	60	+
	61	+(% style="text-align:center" %)
	62	+[[image:1708659276549-637.png]]
	63	+
	64	+== 4.2 Device file import ==
	65	+
	66	+Select “Tools“~-~->“Device Repository“
	67	+
	68	+(% style="text-align:center" %)
	69	+[[image:1708659330267-186.png]]
	70	+
	71	+Install LX6C xml file.
	72	+
	73	+(% style="text-align:center" %)
	74	+[[image:1708659348892-129.png]]
	75	+
	76	+Install VD3E xml file.
	77	+
	78	+(% style="text-align:center" %)
	79	+[[image:1708659363849-556.png]]
	80	+
	81	+[[image:1708659372629-274.png||style="float:left"]]
	82	+
	83	+[[image:1708659390655-234.png||style="float:left"]]
	84	+
	85	+
	86	+
	87	+
	88	+
	89	+
	90	+
	91	+
	92	+
	93	+
	94	+
	95	+
	96	+= 5 Device connection =
	97	+
	98	+== 5.1 New project ==
	99	+
	100	+Create a new standard project
	101	+
	102	+(% style="text-align:center" %)
	103	+[[image:1708659481680-311.png]]
	104	+
	105	+Select device and programming language
	106	+
	107	+(% style="text-align:center" %)
	108	+[[image:1708659504171-928.png]]
	109	+
	110	+== 5.2 Connect LX6C ==
	111	+
	112	+Double click “Device” and select Scan Network
	113	+
	114	+Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
	115	+
	116	+(% style="text-align:center" %)
	117	+[[image:1708659630178-665.png]]
	118	+
	119	+Login device with account and password
	120	+
	121	+(% style="text-align:center" %)
	122	+[[image:1708659646762-832.png]]
	123	+
	124	+
	125	+= 6 Project configuration =
	126	+
	127	+== 6.1 Add Axis Group ==
	128	+
	129	+Right click Application, “Add Object” and select “Axis Group”
	130	+
	131	+
	132	+(% style="text-align:center" %)
	133	+[[image:1708659668179-463.png]]
	134	+
	135	+Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
	136	+
	137	+(% style="text-align:center" %)
	138	+[[image:1708659683686-935.png]]
	139	+
	140	+Fill in the mechanical parameters (Use the same user units)
	141	+
	142	+(% style="text-align:center" %)
	143	+[[image:1708659724005-484.png]]
	144	+
	145	+Right click “Device” and add device
	146	+
	147	+(% style="text-align:center" %)
	148	+[[image:1708659738998-621.png]]
	149	+
	150	+Add “EtherCAT Master SoftMotion”
	151	+
	152	+(% style="text-align:center" %)
	153	+[[image:1708659810951-477.png]]
	154	+
	155	+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)
	156	+
	157	+(% style="text-align:center" %)
	158	+[[image:1708659837241-566.png]]
	159	+
	160	+
	161	+(% style="text-align:center" %)
	162	+[[image:1708659844978-946.png]]
	163	+
	164	+Add 3 motion axis
	165	+
	166	+(% style="text-align:center" %)
	167	+[[image:1708659868961-294.png]]
	168	+
	169	+Set the correct resolution based on the motor encoder
	170	+
	171	+(% style="text-align:center" %)
	172	+[[image:1708659882131-694.png]]
	173	+
	174	+Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
	175	+
	176	+(% style="text-align:center" %)
	177	+[[image:1708659902425-597.png]]
	178	+
	179	+Bind axis to robot.
	180	+
	181	+(% style="text-align:center" %)
	182	+[[image:1708659921571-879.png]]
	183	+
	184	+Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
	185	+
	186	+(% style="text-align:center" %)
	187	+[[image:1708660033766-909.png]]
	188	+
	189	+(% style="text-align:center" %)
	190	+[[image:1708660038539-524.png]]
	191	+
	192	+== 6.2 Demo program ==
	193	+
	194	+Build a simple program for absolute move
	195	+
	196	+(% style="text-align:center" %)
	197	+[[image:1708660054738-287.png]]
	198	+
	199	+(% style="text-align:center" %)
	200	+[[image:1708660060148-798.png]]

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