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Last modified by nozzin on 2024/02/26 09:16
From version 2.2
edited by Mora Zhou
on 2024/02/23 12:01
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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11 11  |(% style="width:799px" %)(((
12 12  (% style="text-align:center" %)
13 13  (((
14 -(% style="display:inline-block;" %)
14 +(% style="display:inline-block; width:334px;" %)
15 15  [[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
16 16  )))
17 17  )))|(% style="width:823px" %)(((
18 -
18 +(% style="text-align:center" %)
19 +(((
20 +(% style="display:inline-block; width:513px;" %)
21 +[[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
19 19  )))
23 +)))
20 20  
21 21  (% style="margin-left:auto; margin-right:auto" %)
22 -|=NAME|=QUANTITY
23 -|LX6C-0808MT-DD|1
24 -|VD3E-014SA1G|3
25 -|WE80M-07530S-A1F|3
26 -|Upper arm|3
27 -|Lower arm|6
28 -|Motor shaft connector|3
29 -|Top plate|1
30 -|Tool plate|1
31 -|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)**
32 32  
33 33  = 3 Mechanical parameters =
34 34  
35 -[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
36 36  
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 +
37 37  Length of the upper arm **d1**: 330mm
38 38  
39 39  Length of the lower arm **d2**: 600mm
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50 50  
51 51  == 4.1 Language settings ==
52 52  
53 -Select “Tools”~-~->“Options”
67 +**Select “Tools”~-~->“Options”**
54 54  
55 55  (% style="text-align:center" %)
56 56  [[image:1708659282790-309.png]]
57 57  
58 58  
59 -Set software language in “International Settings”
73 +**Set software language in “International Settings”**
60 60  
61 61  (% style="text-align:center" %)
62 62  [[image:1708659276549-637.png]]
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63 63  
64 64  == 4.2 Device file import ==
65 65  
66 -Select “Tools“~-~->“Device Repository“
80 +**Select “Tools“~-~->“Device Repository“**
67 67  
68 68  (% style="text-align:center" %)
69 69  [[image:1708659330267-186.png]]
70 70  
71 -Install LX6C xml file.
85 +**Install LX6C xml file.**
72 72  
73 73  (% style="text-align:center" %)
74 74  [[image:1708659348892-129.png]]
75 75  
76 -Install VD3E xml file.
90 +**Install VD3E xml file.**
77 77  
78 78  (% style="text-align:center" %)
79 79  [[image:1708659363849-556.png]]
80 80  
81 -[[image:1708659372629-274.png||style="float:left"]]
82 82  
83 -[[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 +)))
84 84  
85 -
86 -
87 -
88 -
89 -
90 -
91 -
92 -
93 -
94 -
95 -
96 96  = 5 Device connection =
97 97  
98 98  == 5.1 New project ==
99 99  
100 -Create a new standard project
108 +**Create a new standard project**
101 101  
102 102  (% style="text-align:center" %)
103 103  [[image:1708659481680-311.png]]
104 104  
105 -Select device and programming language
113 +**Select device and programming language**
106 106  
107 107  (% style="text-align:center" %)
108 108  [[image:1708659504171-928.png]]
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109 109  
110 110  == 5.2 Connect LX6C ==
111 111  
112 -Double click “Device” and select Scan Network
120 +**Double click “Device” and select Scan Network**
113 113  
114 -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)**
115 115  
116 116  (% style="text-align:center" %)
117 117  [[image:1708659630178-665.png]]
118 118  
119 -Login device with account and password
127 +**Login device with account and password**
120 120  
121 121  (% style="text-align:center" %)
122 122  [[image:1708659646762-832.png]]
123 123  
124 -
125 125  = 6 Project configuration =
126 126  
127 127  == 6.1 Add Axis Group ==
128 128  
129 -Right click Application, “Add Object” and select “Axis Group”
136 +**Right click Application, “Add Object” and select “Axis Group”**
130 130  
131 131  
132 132  (% style="text-align:center" %)
133 133  [[image:1708659668179-463.png]]
134 134  
135 -Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
142 +**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**
136 136  
137 137  (% style="text-align:center" %)
138 138  [[image:1708659683686-935.png]]
139 139  
140 -Fill in the mechanical parameters (Use the same user units)
147 +**Fill in the mechanical parameters (Use the same user units)**
141 141  
142 142  (% style="text-align:center" %)
143 143  [[image:1708659724005-484.png]]
144 144  
145 -Right click “Device” and add device
152 +**Right click “Device” and add device**
146 146  
147 147  (% style="text-align:center" %)
148 148  [[image:1708659738998-621.png]]
149 149  
150 -Add “EtherCAT Master SoftMotion”
157 +**Add “EtherCAT Master SoftMotion”**
151 151  
152 152  (% style="text-align:center" %)
153 153  [[image:1708659810951-477.png]]
154 154  
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)
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)**
156 156  
157 157  (% style="text-align:center" %)
158 158  [[image:1708659837241-566.png]]
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161 161  (% style="text-align:center" %)
162 162  [[image:1708659844978-946.png]]
163 163  
164 -Add 3 motion axis
171 +**Add 3 motion axis**
165 165  
166 166  (% style="text-align:center" %)
167 167  [[image:1708659868961-294.png]]
168 168  
169 -Set the correct resolution based on the motor encoder
176 +**Set the correct resolution based on the motor encoder**
170 170  
171 171  (% style="text-align:center" %)
172 172  [[image:1708659882131-694.png]]
173 173  
174 -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”**
175 175  
176 176  (% style="text-align:center" %)
177 177  [[image:1708659902425-597.png]]
178 178  
179 -Bind axis to robot.
186 +**Bind axis to robot.**
180 180  
181 181  (% style="text-align:center" %)
182 182  [[image:1708659921571-879.png]]
183 183  
184 -Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
191 +**Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”**
185 185  
186 186  (% style="text-align:center" %)
187 187  [[image:1708660033766-909.png]]
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191 191  
192 192  == 6.2 Demo program ==
193 193  
194 -Build a simple program for absolute move
201 +**Build a simple program for absolute move**
195 195  
196 196  (% style="text-align:center" %)
197 197  [[image:1708660054738-287.png]]
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