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; 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	+[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
	40	+
	41	+Length of the upper arm **d1**: 330mm
	42	+
	43	+Length of the lower arm **d2**: 600mm
	44	+
	45	+Distance between lower arm in one pair **d3**: 20mm
	46	+
	47	+Radius of circle where lower arm contact point is located **r1**: 50mm
	48	+
	49	+Radius of circle where motor shaft is located **r2**: 100mm
	50	+
	51	+Maximum angle in ± for ball joints: 60°
	52	+
	53	+= 4 Program preparation =
	54	+
	55	+== 4.1 Language settings ==
	56	+
	57	+Select “Tools”~-~->“Options”
	58	+
	59	+(% style="text-align:center" %)
	60	+[[image:1708659282790-309.png]]
	61	+
	62	+
	63	+Set software language in “International Settings”
	64	+
	65	+(% style="text-align:center" %)
	66	+[[image:1708659276549-637.png]]
	67	+
	68	+== 4.2 Device file import ==
	69	+
	70	+Select “Tools“~-~->“Device Repository“
	71	+
	72	+(% style="text-align:center" %)
	73	+[[image:1708659330267-186.png]]
	74	+
	75	+Install LX6C xml file.
	76	+
	77	+(% style="text-align:center" %)
	78	+[[image:1708659348892-129.png]]
	79	+
	80	+Install VD3E xml file.
	81	+
	82	+(% style="text-align:center" %)
	83	+[[image:1708659363849-556.png]]
	84	+
	85	+
	86	+
	87	+[[image:1708666791453-744.png]]
	88	+
	89	+[[image:1708666805375-462.png]]
	90	+
	91	+= 5 Device connection =
	92	+
	93	+== 5.1 New project ==
	94	+
	95	+Create a new standard project
	96	+
	97	+(% style="text-align:center" %)
	98	+[[image:1708659481680-311.png]]
	99	+
	100	+Select device and programming language
	101	+
	102	+(% style="text-align:center" %)
	103	+[[image:1708659504171-928.png]]
	104	+
	105	+== 5.2 Connect LX6C ==
	106	+
	107	+Double click “Device” and select Scan Network
	108	+
	109	+Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
	110	+
	111	+(% style="text-align:center" %)
	112	+[[image:1708659630178-665.png]]
	113	+
	114	+Login device with account and password
	115	+
	116	+(% style="text-align:center" %)
	117	+[[image:1708659646762-832.png]]
	118	+
	119	+
	120	+= 6 Project configuration =
	121	+
	122	+== 6.1 Add Axis Group ==
	123	+
	124	+Right click Application, “Add Object” and select “Axis Group”
	125	+
	126	+
	127	+(% style="text-align:center" %)
	128	+[[image:1708659668179-463.png]]
	129	+
	130	+Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
	131	+
	132	+(% style="text-align:center" %)
	133	+[[image:1708659683686-935.png]]
	134	+
	135	+Fill in the mechanical parameters (Use the same user units)
	136	+
	137	+(% style="text-align:center" %)
	138	+[[image:1708659724005-484.png]]
	139	+
	140	+Right click “Device” and add device
	141	+
	142	+(% style="text-align:center" %)
	143	+[[image:1708659738998-621.png]]
	144	+
	145	+Add “EtherCAT Master SoftMotion”
	146	+
	147	+(% style="text-align:center" %)
	148	+[[image:1708659810951-477.png]]
	149	+
	150	+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)
	151	+
	152	+(% style="text-align:center" %)
	153	+[[image:1708659837241-566.png]]
	154	+
	155	+
	156	+(% style="text-align:center" %)
	157	+[[image:1708659844978-946.png]]
	158	+
	159	+Add 3 motion axis
	160	+
	161	+(% style="text-align:center" %)
	162	+[[image:1708659868961-294.png]]
	163	+
	164	+Set the correct resolution based on the motor encoder
	165	+
	166	+(% style="text-align:center" %)
	167	+[[image:1708659882131-694.png]]
	168	+
	169	+Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
	170	+
	171	+(% style="text-align:center" %)
	172	+[[image:1708659902425-597.png]]
	173	+
	174	+Bind axis to robot.
	175	+
	176	+(% style="text-align:center" %)
	177	+[[image:1708659921571-879.png]]
	178	+
	179	+Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
	180	+
	181	+(% style="text-align:center" %)
	182	+[[image:1708660033766-909.png]]
	183	+
	184	+(% style="text-align:center" %)
	185	+[[image:1708660038539-524.png]]
	186	+
	187	+== 6.2 Demo program ==
	188	+
	189	+Build a simple program for absolute move
	190	+
	191	+(% style="text-align:center" %)
	192	+[[image:1708660054738-287.png]]
	193	+
	194	+(% style="text-align:center" %)
	195	+[[image:1708660060148-798.png]]

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