Changes for page Wecon LX6C Parallel Robot Project

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Details

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Title

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1		-Wecon LX6C Parallel Robot Project
	1	+Wecon LX6C Delta Robot Project

Author

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1		-XWiki.nozzin
	1	+XWiki.Mora

Content

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1		-= 1 Introduction =
2	2
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		-= 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		-= 6 Project configuration =
133		-
134		-== 6.1 Add Axis Group ==
135		-
136		-**Right click Application, “Add Object” and select “Axis Group”**
137		-
138		-
139		-(% style="text-align:center" %)
140		-[[image:1708659668179-463.png]]
141		-
142		-**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**
143		-
144		-(% style="text-align:center" %)
145		-[[image:1708659683686-935.png]]
146		-
147		-**Fill in the mechanical parameters (Use the same user units)**
148		-
149		-(% style="text-align:center" %)
150		-[[image:1708659724005-484.png]]
151		-
152		-**Right click “Device” and add device**
153		-
154		-(% style="text-align:center" %)
155		-[[image:1708659738998-621.png]]
156		-
157		-**Add “EtherCAT Master SoftMotion”**
158		-
159		-(% style="text-align:center" %)
160		-[[image:1708659810951-477.png]]
161		-
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)**
163		-
164		-(% style="text-align:center" %)
165		-[[image:1708659837241-566.png]]
166		-
167		-
168		-(% style="text-align:center" %)
169		-[[image:1708659844978-946.png]]
170		-
171		-**Add 3 motion axis**
172		-
173		-(% style="text-align:center" %)
174		-[[image:1708659868961-294.png]]
175		-
176		-**Set the correct resolution based on the motor encoder**
177		-
178		-(% style="text-align:center" %)
179		-[[image:1708659882131-694.png]]
180		-
181		-**Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”**
182		-
183		-(% style="text-align:center" %)
184		-[[image:1708659902425-597.png]]
185		-
186		-**Bind axis to robot.**
187		-
188		-(% style="text-align:center" %)
189		-[[image:1708659921571-879.png]]
190		-
191		-**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”**
192		-
193		-(% style="text-align:center" %)
194		-[[image:1708660033766-909.png]]
195		-
196		-(% style="text-align:center" %)
197		-[[image:1708660038539-524.png]]
198		-
199		-== 6.2 Demo program ==
200		-
201		-**Build a simple program for absolute move**
202		-
203		-(% style="text-align:center" %)
204		-[[image:1708660054738-287.png]]
205		-
206		-(% style="text-align:center" %)
207		-[[image:1708660060148-798.png]]

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