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Last modified by nozzin on 2024/02/26 09:16
From version 1.9
edited by Mora Zhou
on 2024/02/23 11:53
Change comment: There is no comment for this version
To version 12.1
edited by nozzin
on 2024/02/26 09:16
Change comment: There is no comment for this version

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Title
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1 -Wecon LX6C Delta Robot Project
1 +Wecon LX6C Parallel Robot Project
Author
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1 -XWiki.Mora
1 +XWiki.nozzin
Content
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1 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.
3 +This project uses Wecon Codesys PLC LX6C and bus type servo VD3E for parallel robot control. Through simple debugging, the point-to-point interpolation motion of the delta robot is realized.
4 4  
5 5  = 2 Main kit composition =
6 6  
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8 8  [[image:1708658466693-778.png]]
9 9  
10 10  (% style="margin-left:auto; margin-right:auto" %)
11 -|(% style="width:837px" %)(((
11 +|(% style="width:799px" %)(((
12 12  (% style="text-align:center" %)
13 -[[image:1708658932564-782.png]]
14 -)))|(% style="width:785px" %)(((
13 +(((
14 +(% style="display:inline-block; width:334px;" %)
15 +[[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
16 +)))
17 +)))|(% style="width:823px" %)(((
15 15  (% style="text-align:center" %)
16 -[[image:1708658950128-652.png]]
19 +(((
20 +(% style="display:inline-block; width:513px;" %)
21 +[[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
17 17  )))
18 -|(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo**
23 +)))
19 19  
20 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)
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)**
31 31  
32 32  = 3 Mechanical parameters =
33 33  
34 -[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
35 35  
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 +
36 36  Length of the upper arm **d1**: 330mm
37 37  
38 38  Length of the lower arm **d2**: 600mm
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49 49  
50 50  == 4.1 Language settings ==
51 51  
52 -Select “Tools”~-~->“Options”
67 +**Select “Tools”~-~->“Options”**
53 53  
54 54  (% style="text-align:center" %)
55 55  [[image:1708659282790-309.png]]
56 56  
57 57  
58 -Set software language in “International Settings”
73 +**Set software language in “International Settings”**
59 59  
60 60  (% style="text-align:center" %)
61 61  [[image:1708659276549-637.png]]
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62 62  
63 63  == 4.2 Device file import ==
64 64  
65 -Select “Tools“~-~->“Device Repository“
80 +**Select “Tools“~-~->“Device Repository“**
66 66  
67 67  (% style="text-align:center" %)
68 68  [[image:1708659330267-186.png]]
69 69  
70 -Install LX6C xml file.
85 +**Install LX6C xml file.**
71 71  
72 72  (% style="text-align:center" %)
73 73  [[image:1708659348892-129.png]]
74 74  
75 -Install VD3E xml file.
90 +**Install VD3E xml file.**
76 76  
77 77  (% style="text-align:center" %)
78 78  [[image:1708659363849-556.png]]
79 79  
80 -[[image:1708659372629-274.png||style="float:left"]]
81 81  
82 -[[image:1708659390655-234.png||style="float:left"]]
96 +|(((
97 +(% style="text-align:center" %)
98 +[[image:1708666791453-744.png]]
99 +)))|(((
100 +(% style="text-align:center" %)
101 +[[image:1708666805375-462.png]]
102 +)))
83 83  
84 -
85 -
86 -
87 -
88 -
89 -
90 -
91 -
92 -
93 -
94 -
95 95  = 5 Device connection =
96 96  
97 97  == 5.1 New project ==
98 98  
99 -Create a new standard project
108 +**Create a new standard project**
100 100  
101 101  (% style="text-align:center" %)
102 102  [[image:1708659481680-311.png]]
103 103  
104 -Select device and programming language
113 +**Select device and programming language**
105 105  
106 106  (% style="text-align:center" %)
107 107  [[image:1708659504171-928.png]]
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108 108  
109 109  == 5.2 Connect LX6C ==
110 110  
111 -Double click “Device” and select Scan Network
120 +**Double click “Device” and select Scan Network**
112 112  
113 -Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
122 +**Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)**
114 114  
115 115  (% style="text-align:center" %)
116 116  [[image:1708659630178-665.png]]
117 117  
118 -Login device with account and password
127 +**Login device with account and password**
119 119  
120 120  (% style="text-align:center" %)
121 121  [[image:1708659646762-832.png]]
122 122  
123 -
124 124  = 6 Project configuration =
125 125  
126 126  == 6.1 Add Axis Group ==
127 127  
128 -Right click Application, “Add Object” and select “Axis Group”
136 +**Right click Application, “Add Object” and select “Axis Group”**
129 129  
130 130  
131 131  (% style="text-align:center" %)
132 132  [[image:1708659668179-463.png]]
133 133  
134 -Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
142 +**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**
135 135  
136 136  (% style="text-align:center" %)
137 137  [[image:1708659683686-935.png]]
138 138  
139 -Fill in the mechanical parameters (Use the same user units)
147 +**Fill in the mechanical parameters (Use the same user units)**
140 140  
141 141  (% style="text-align:center" %)
142 142  [[image:1708659724005-484.png]]
143 143  
144 -Right click “Device” and add device
152 +**Right click “Device” and add device**
145 145  
146 146  (% style="text-align:center" %)
147 147  [[image:1708659738998-621.png]]
148 148  
149 -Add “EtherCAT Master SoftMotion”
157 +**Add “EtherCAT Master SoftMotion”**
150 150  
151 151  (% style="text-align:center" %)
152 152  [[image:1708659810951-477.png]]
153 153  
154 -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)
162 +**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)**
155 155  
156 156  (% style="text-align:center" %)
157 157  [[image:1708659837241-566.png]]
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160 160  (% style="text-align:center" %)
161 161  [[image:1708659844978-946.png]]
162 162  
163 -Add 3 motion axis
171 +**Add 3 motion axis**
164 164  
165 165  (% style="text-align:center" %)
166 166  [[image:1708659868961-294.png]]
167 167  
168 -Set the correct resolution based on the motor encoder
176 +**Set the correct resolution based on the motor encoder**
169 169  
170 170  (% style="text-align:center" %)
171 171  [[image:1708659882131-694.png]]
172 172  
173 -Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
181 +**Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”**
174 174  
175 175  (% style="text-align:center" %)
176 176  [[image:1708659902425-597.png]]
177 177  
178 -Bind axis to robot.
186 +**Bind axis to robot.**
179 179  
180 180  (% style="text-align:center" %)
181 181  [[image:1708659921571-879.png]]
182 182  
183 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
191 +**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”**
184 184  
185 185  (% style="text-align:center" %)
186 186  [[image:1708660033766-909.png]]
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190 190  
191 191  == 6.2 Demo program ==
192 192  
193 -Build a simple program for absolute move
201 +**Build a simple program for absolute move**
194 194  
195 195  (% style="text-align:center" %)
196 196  [[image:1708660054738-287.png]]
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