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	+
	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]]

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