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: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="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		-
37		-= 3 Mechanical parameters =
38		-
39		-[[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
40		-
41		-Length of the upper arm **d1**: 330mm
42		-
43		-Length of the lower arm **d2**: 600mm
44		-
45		-Distance between lower arm in one pair **d3**: 20mm
46		-
47		-Radius of circle where lower arm contact point is located **r1**: 50mm
48		-
49		-Radius of circle where motor shaft is located **r2**: 100mm
50		-
51		-Maximum angle in ± for ball joints: 60°
52		-
53		-= 4 Program preparation =
54		-
55		-== 4.1 Language settings ==
56		-
57		-Select “Tools”~-~->“Options”
58		-
59		-(% style="text-align:center" %)
60		-[[image:1708659282790-309.png]]
61		-
62		-
63		-Set software language in “International Settings”
64		-
65		-(% style="text-align:center" %)
66		-[[image:1708659276549-637.png]]
67		-
68		-== 4.2 Device file import ==
69		-
70		-Select “Tools“~-~->“Device Repository“
71		-
72		-(% style="text-align:center" %)
73		-[[image:1708659330267-186.png]]
74		-
75		-Install LX6C xml file.
76		-
77		-(% style="text-align:center" %)
78		-[[image:1708659348892-129.png]]
79		-
80		-Install VD3E xml file.
81		-
82		-(% style="text-align:center" %)
83		-[[image:1708659363849-556.png]]
84		-
85		-
86		-
87		-[[image:1708666791453-744.png]]
88		-
89		-[[image:1708666805375-462.png]]
90		-
91		-= 5 Device connection =
92		-
93		-== 5.1 New project ==
94		-
95		-Create a new standard project
96		-
97		-(% style="text-align:center" %)
98		-[[image:1708659481680-311.png]]
99		-
100		-Select device and programming language
101		-
102		-(% style="text-align:center" %)
103		-[[image:1708659504171-928.png]]
104		-
105		-== 5.2 Connect LX6C ==
106		-
107		-Double click “Device” and select Scan Network
108		-
109		-Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
110		-
111		-(% style="text-align:center" %)
112		-[[image:1708659630178-665.png]]
113		-
114		-Login device with account and password
115		-
116		-(% style="text-align:center" %)
117		-[[image:1708659646762-832.png]]
118		-
119		-
120		-= 6 Project configuration =
121		-
122		-== 6.1 Add Axis Group ==
123		-
124		-Right click Application, “Add Object” and select “Axis Group”
125		-
126		-
127		-(% style="text-align:center" %)
128		-[[image:1708659668179-463.png]]
129		-
130		-Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
131		-
132		-(% style="text-align:center" %)
133		-[[image:1708659683686-935.png]]
134		-
135		-Fill in the mechanical parameters (Use the same user units)
136		-
137		-(% style="text-align:center" %)
138		-[[image:1708659724005-484.png]]
139		-
140		-Right click “Device” and add device
141		-
142		-(% style="text-align:center" %)
143		-[[image:1708659738998-621.png]]
144		-
145		-Add “EtherCAT Master SoftMotion”
146		-
147		-(% style="text-align:center" %)
148		-[[image:1708659810951-477.png]]
149		-
150		-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)
151		-
152		-(% style="text-align:center" %)
153		-[[image:1708659837241-566.png]]
154		-
155		-
156		-(% style="text-align:center" %)
157		-[[image:1708659844978-946.png]]
158		-
159		-Add 3 motion axis
160		-
161		-(% style="text-align:center" %)
162		-[[image:1708659868961-294.png]]
163		-
164		-Set the correct resolution based on the motor encoder
165		-
166		-(% style="text-align:center" %)
167		-[[image:1708659882131-694.png]]
168		-
169		-Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
170		-
171		-(% style="text-align:center" %)
172		-[[image:1708659902425-597.png]]
173		-
174		-Bind axis to robot.
175		-
176		-(% style="text-align:center" %)
177		-[[image:1708659921571-879.png]]
178		-
179		-Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
180		-
181		-(% style="text-align:center" %)
182		-[[image:1708660033766-909.png]]
183		-
184		-(% style="text-align:center" %)
185		-[[image:1708660038539-524.png]]
186		-
187		-== 6.2 Demo program ==
188		-
189		-Build a simple program for absolute move
190		-
191		-(% style="text-align:center" %)
192		-[[image:1708660054738-287.png]]
193		-
194		-(% style="text-align:center" %)
195		-[[image:1708660060148-798.png]]

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