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="text-align:center; width:801px" %)**LX6C-0808MT-DD**|(% style="text-align:center; width:821px" %)**1**
	28	+|(% style="text-align:center; width:801px" %)**VD3E-014SA1G**|(% style="text-align:center; width:821px" %)**3**
	29	+|(% style="text-align:center; width:801px" %)**WE80M-07530S-A1F**|(% style="text-align:center; width:821px" %)**3**
	30	+|(% style="text-align:center; width:801px" %)**Upper arm**|(% style="text-align:center; width:821px" %)**3**
	31	+|(% style="text-align:center; width:801px" %)**Lower arm**|(% style="text-align:center; width:821px" %)**6**
	32	+|(% style="text-align:center; width:801px" %)**Motor shaft connector**|(% style="text-align:center; width:821px" %)**3**
	33	+|(% style="text-align:center; width:801px" %)**Top plate**|(% style="text-align:center; width:821px" %)**1**
	34	+|(% style="text-align:center; width:801px" %)**Tool plate**|(% style="text-align:center; width:821px" %)**1**
	35	+|(% style="text-align:center; width:801px" %)**Hexagon socket screws**|(% style="text-align:center; 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	+= 5 Device connection =
	105	+
	106	+== 5.1 New project ==
	107	+
	108	+Create a new standard project
	109	+
	110	+(% style="text-align:center" %)
	111	+[[image:1708659481680-311.png]]
	112	+
	113	+Select device and programming language
	114	+
	115	+(% style="text-align:center" %)
	116	+[[image:1708659504171-928.png]]
	117	+
	118	+== 5.2 Connect LX6C ==
	119	+
	120	+Double click “Device” and select Scan Network
	121	+
	122	+Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
	123	+
	124	+(% style="text-align:center" %)
	125	+[[image:1708659630178-665.png]]
	126	+
	127	+Login device with account and password
	128	+
	129	+(% style="text-align:center" %)
	130	+[[image:1708659646762-832.png]]
	131	+
	132	+
	133	+= 6 Project configuration =
	134	+
	135	+== 6.1 Add Axis Group ==
	136	+
	137	+Right click Application, “Add Object” and select “Axis Group”
	138	+
	139	+
	140	+(% style="text-align:center" %)
	141	+[[image:1708659668179-463.png]]
	142	+
	143	+Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
	144	+
	145	+(% style="text-align:center" %)
	146	+[[image:1708659683686-935.png]]
	147	+
	148	+Fill in the mechanical parameters (Use the same user units)
	149	+
	150	+(% style="text-align:center" %)
	151	+[[image:1708659724005-484.png]]
	152	+
	153	+Right click “Device” and add device
	154	+
	155	+(% style="text-align:center" %)
	156	+[[image:1708659738998-621.png]]
	157	+
	158	+Add “EtherCAT Master SoftMotion”
	159	+
	160	+(% style="text-align:center" %)
	161	+[[image:1708659810951-477.png]]
	162	+
	163	+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)
	164	+
	165	+(% style="text-align:center" %)
	166	+[[image:1708659837241-566.png]]
	167	+
	168	+
	169	+(% style="text-align:center" %)
	170	+[[image:1708659844978-946.png]]
	171	+
	172	+Add 3 motion axis
	173	+
	174	+(% style="text-align:center" %)
	175	+[[image:1708659868961-294.png]]
	176	+
	177	+Set the correct resolution based on the motor encoder
	178	+
	179	+(% style="text-align:center" %)
	180	+[[image:1708659882131-694.png]]
	181	+
	182	+Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
	183	+
	184	+(% style="text-align:center" %)
	185	+[[image:1708659902425-597.png]]
	186	+
	187	+Bind axis to robot.
	188	+
	189	+(% style="text-align:center" %)
	190	+[[image:1708659921571-879.png]]
	191	+
	192	+Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
	193	+
	194	+(% style="text-align:center" %)
	195	+[[image:1708660033766-909.png]]
	196	+
	197	+(% style="text-align:center" %)
	198	+[[image:1708660038539-524.png]]
	199	+
	200	+== 6.2 Demo program ==
	201	+
	202	+Build a simple program for absolute move
	203	+
	204	+(% style="text-align:center" %)
	205	+[[image:1708660054738-287.png]]
	206	+
	207	+(% style="text-align:center" %)
	208	+[[image:1708660060148-798.png]]

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