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 =
2	2
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.
4	4
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		-(% style="text-align:center" %)
125		-[[image:1708659668179-463.png]]
126		-
127		-Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
128		-
129		-(% style="text-align:center" %)
130		-[[image:1708659683686-935.png]]
131		-
132		-Fill in the mechanical parameters (Use the same user units)
133		-
134		-(% style="text-align:center" %)
135		-[[image:1708659724005-484.png]]
136		-
137		-Right click “Device” and add device
138		-
139		-(% style="text-align:center" %)
140		-[[image:1708659738998-621.png]]
141		-
142		-Add “EtherCAT Master SoftMotion”
143		-
144		-(% style="text-align:center" %)
145		-[[image:1708659810951-477.png]]
146		-
147		-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)
148		-
149		-(% style="text-align:center" %)
150		-[[image:1708659837241-566.png]]
151		-
152		-
153		-(% style="text-align:center" %)
154		-[[image:1708659844978-946.png]]
155		-
156		-Add 3 motion axis
157		-
158		-(% style="text-align:center" %)
159		-[[image:1708659868961-294.png]]
160		-
161		-Set the correct resolution based on the motor encoder
162		-
163		-(% style="text-align:center" %)
164		-[[image:1708659882131-694.png]]
165		-
166		-Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
167		-
168		-(% style="text-align:center" %)
169		-[[image:1708659902425-597.png]]
170		-
171		-Bind axis to robot.
172		-
173		-(% style="text-align:center" %)
174		-[[image:1708659921571-879.png]]
175		-
176		-Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
177		-
178		-(% style="text-align:center" %)
179		-[[image:1708660033766-909.png]]
180		-
181		-(% style="text-align:center" %)
182		-[[image:1708660038539-524.png]]
183		-
184		-== 6.2 Demo program ==
185		-
186		-Build a simple program for absolute move
187		-
188		-(% style="text-align:center" %)
189		-[[image:1708660054738-287.png]]
190		-
191		-(% style="text-align:center" %)
192		-[[image:1708660060148-798.png]]
193		-
194		-

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