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Last modified by nozzin on 2024/02/26 09:16
From version 12.1
edited by nozzin
on 2024/02/26 09:16
Change comment: There is no comment for this version
To version 6.1
edited by Mora Zhou
on 2024/02/23 13:44
Change comment: There is no comment for this version

Summary

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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  = 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.
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 5  = 2 Main kit composition =
6 6  
... ... @@ -24,30 +24,20 @@
24 24  
25 25  (% style="margin-left:auto; margin-right:auto" %)
26 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)**
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 36  
37 37  = 3 Mechanical parameters =
38 38  
39 +[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
39 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 51  Length of the upper arm **d1**: 330mm
52 52  
53 53  Length of the lower arm **d2**: 600mm
... ... @@ -64,13 +64,13 @@
64 64  
65 65  == 4.1 Language settings ==
66 66  
67 -**Select “Tools”~-~->“Options”**
57 +Select “Tools”~-~->“Options”
68 68  
69 69  (% style="text-align:center" %)
70 70  [[image:1708659282790-309.png]]
71 71  
72 72  
73 -**Set software language in “International Settings”**
63 +Set software language in “International Settings”
74 74  
75 75  (% style="text-align:center" %)
76 76  [[image:1708659276549-637.png]]
... ... @@ -77,17 +77,17 @@
77 77  
78 78  == 4.2 Device file import ==
79 79  
80 -**Select “Tools“~-~->“Device Repository“**
70 +Select “Tools“~-~->“Device Repository“
81 81  
82 82  (% style="text-align:center" %)
83 83  [[image:1708659330267-186.png]]
84 84  
85 -**Install LX6C xml file.**
75 +Install LX6C xml file.
86 86  
87 87  (% style="text-align:center" %)
88 88  [[image:1708659348892-129.png]]
89 89  
90 -**Install VD3E xml file.**
80 +Install VD3E xml file.
91 91  
92 92  (% style="text-align:center" %)
93 93  [[image:1708659363849-556.png]]
... ... @@ -101,16 +101,18 @@
101 101  [[image:1708666805375-462.png]]
102 102  )))
103 103  
94 +
95 +
104 104  = 5 Device connection =
105 105  
106 106  == 5.1 New project ==
107 107  
108 -**Create a new standard project**
100 +Create a new standard project
109 109  
110 110  (% style="text-align:center" %)
111 111  [[image:1708659481680-311.png]]
112 112  
113 -**Select device and programming language**
105 +Select device and programming language
114 114  
115 115  (% style="text-align:center" %)
116 116  [[image:1708659504171-928.png]]
... ... @@ -117,49 +117,50 @@
117 117  
118 118  == 5.2 Connect LX6C ==
119 119  
120 -**Double click “Device” and select Scan Network**
112 +Double click “Device” and select Scan Network
121 121  
122 -**Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)**
114 +Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
123 123  
124 124  (% style="text-align:center" %)
125 125  [[image:1708659630178-665.png]]
126 126  
127 -**Login device with account and password**
119 +Login device with account and password
128 128  
129 129  (% style="text-align:center" %)
130 130  [[image:1708659646762-832.png]]
131 131  
124 +
132 132  = 6 Project configuration =
133 133  
134 134  == 6.1 Add Axis Group ==
135 135  
136 -**Right click Application, “Add Object” and select “Axis Group”**
129 +Right click Application, “Add Object” and select “Axis Group”
137 137  
138 138  
139 139  (% style="text-align:center" %)
140 140  [[image:1708659668179-463.png]]
141 141  
142 -**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**
135 +Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
143 143  
144 144  (% style="text-align:center" %)
145 145  [[image:1708659683686-935.png]]
146 146  
147 -**Fill in the mechanical parameters (Use the same user units)**
140 +Fill in the mechanical parameters (Use the same user units)
148 148  
149 149  (% style="text-align:center" %)
150 150  [[image:1708659724005-484.png]]
151 151  
152 -**Right click “Device” and add device**
145 +Right click “Device” and add device
153 153  
154 154  (% style="text-align:center" %)
155 155  [[image:1708659738998-621.png]]
156 156  
157 -**Add “EtherCAT Master SoftMotion”**
150 +Add “EtherCAT Master SoftMotion”
158 158  
159 159  (% style="text-align:center" %)
160 160  [[image:1708659810951-477.png]]
161 161  
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)**
155 +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)
163 163  
164 164  (% style="text-align:center" %)
165 165  [[image:1708659837241-566.png]]
... ... @@ -168,27 +168,27 @@
168 168  (% style="text-align:center" %)
169 169  [[image:1708659844978-946.png]]
170 170  
171 -**Add 3 motion axis**
164 +Add 3 motion axis
172 172  
173 173  (% style="text-align:center" %)
174 174  [[image:1708659868961-294.png]]
175 175  
176 -**Set the correct resolution based on the motor encoder**
169 +Set the correct resolution based on the motor encoder
177 177  
178 178  (% style="text-align:center" %)
179 179  [[image:1708659882131-694.png]]
180 180  
181 -**Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”**
174 +Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
182 182  
183 183  (% style="text-align:center" %)
184 184  [[image:1708659902425-597.png]]
185 185  
186 -**Bind axis to robot.**
179 +Bind axis to robot.
187 187  
188 188  (% style="text-align:center" %)
189 189  [[image:1708659921571-879.png]]
190 190  
191 -**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”**
184 +Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
192 192  
193 193  (% style="text-align:center" %)
194 194  [[image:1708660033766-909.png]]
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198 198  
199 199  == 6.2 Demo program ==
200 200  
201 -**Build a simple program for absolute move**
194 +Build a simple program for absolute move
202 202  
203 203  (% style="text-align:center" %)
204 204  [[image:1708660054738-287.png]]