Changes for page Wecon LX6C Parallel Robot Project

Summary

• Page properties (1 modified, 0 added, 0 removed)
• Attachments (0 modified, 0 added, 42 removed)
  • 1708658466693-778.png
  • 1708658513710-135.png
  • 1708658523058-160.png
  • 1708658729658-347.png
  • 1708658804795-796.png
  • 1708658932564-782.png
  • 1708658950128-652.png
  • 1708659114097-405.png
  • 1708659158007-639.png
  • 1708659168917-262.png
  • 1708659191216-488.png
  • 1708659202564-503.png
  • 1708659222231-551.png
  • 1708659276549-637.png
  • 1708659282790-309.png
  • 1708659330267-186.png
  • 1708659348892-129.png
  • 1708659363849-556.png
  • 1708659372629-274.png
  • 1708659390655-234.png
  • 1708659481680-311.png
  • 1708659504171-928.png
  • 1708659630178-665.png
  • 1708659646762-832.png
  • 1708659668179-463.png
  • 1708659683686-935.png
  • 1708659724005-484.png
  • 1708659738998-621.png
  • 1708659810951-477.png
  • 1708659837241-566.png
  • 1708659844978-946.png
  • 1708659868961-294.png
  • 1708659882131-694.png
  • 1708659902425-597.png
  • 1708659921571-879.png
  • 1708660033766-909.png
  • 1708660038539-524.png
  • 1708660054738-287.png
  • 1708660060148-798.png
  • 1708666409644-249.png
  • 1708666791453-744.png
  • 1708666805375-462.png

Details

Page properties

Content

...	...	@@ -1,209 +2,2 @@
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		-
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		-
105		-= 5 Device connection =
106		-
107		-== 5.1 New project ==
108		-
109		-Create a new standard project
110		-
111		-(% style="text-align:center" %)
112		-[[image:1708659481680-311.png]]
113		-
114		-Select device and programming language
115		-
116		-(% style="text-align:center" %)
117		-[[image:1708659504171-928.png]]
118		-
119		-== 5.2 Connect LX6C ==
120		-
121		-Double click “Device” and select Scan Network
122		-
123		-Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
124		-
125		-(% style="text-align:center" %)
126		-[[image:1708659630178-665.png]]
127		-
128		-Login device with account and password
129		-
130		-(% style="text-align:center" %)
131		-[[image:1708659646762-832.png]]
132		-
133		-
134		-= 6 Project configuration =
135		-
136		-== 6.1 Add Axis Group ==
137		-
138		-Right click Application, “Add Object” and select “Axis Group”
139		-
140		-
141		-(% style="text-align:center" %)
142		-[[image:1708659668179-463.png]]
143		-
144		-Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
145		-
146		-(% style="text-align:center" %)
147		-[[image:1708659683686-935.png]]
148		-
149		-Fill in the mechanical parameters (Use the same user units)
150		-
151		-(% style="text-align:center" %)
152		-[[image:1708659724005-484.png]]
153		-
154		-Right click “Device” and add device
155		-
156		-(% style="text-align:center" %)
157		-[[image:1708659738998-621.png]]
158		-
159		-Add “EtherCAT Master SoftMotion”
160		-
161		-(% style="text-align:center" %)
162		-[[image:1708659810951-477.png]]
163		-
164		-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)
165		-
166		-(% style="text-align:center" %)
167		-[[image:1708659837241-566.png]]
168		-
169		-
170		-(% style="text-align:center" %)
171		-[[image:1708659844978-946.png]]
172		-
173		-Add 3 motion axis
174		-
175		-(% style="text-align:center" %)
176		-[[image:1708659868961-294.png]]
177		-
178		-Set the correct resolution based on the motor encoder
179		-
180		-(% style="text-align:center" %)
181		-[[image:1708659882131-694.png]]
182		-
183		-Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
184		-
185		-(% style="text-align:center" %)
186		-[[image:1708659902425-597.png]]
187		-
188		-Bind axis to robot.
189		-
190		-(% style="text-align:center" %)
191		-[[image:1708659921571-879.png]]
192		-
193		-Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
194		-
195		-(% style="text-align:center" %)
196		-[[image:1708660033766-909.png]]
197		-
198		-(% style="text-align:center" %)
199		-[[image:1708660038539-524.png]]
200		-
201		-== 6.2 Demo program ==
202		-
203		-Build a simple program for absolute move
204		-
205		-(% style="text-align:center" %)
206		-[[image:1708660054738-287.png]]
207		-
208		-(% style="text-align:center" %)
209		-[[image:1708660060148-798.png]]

1708658466693-778.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-737.5 KB

Content

1708658513710-135.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-55.1 KB

Content

1708658523058-160.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-34.4 KB

Content

1708658729658-347.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-34.4 KB

Content

1708658804795-796.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-34.4 KB

Content

1708658932564-782.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-55.1 KB

Content

1708658950128-652.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-34.4 KB

Content

1708659114097-405.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-37.3 KB

Content

1708659158007-639.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-37.3 KB

Content

1708659168917-262.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-41.4 KB

Content

1708659191216-488.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-41.4 KB

Content

1708659202564-503.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-34.9 KB

Content

1708659222231-551.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-136.5 KB

Content

1708659276549-637.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-187.9 KB

Content

1708659282790-309.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-136.5 KB

Content

1708659330267-186.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-168.0 KB

Content

1708659348892-129.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-75.5 KB

Content

1708659363849-556.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-91.0 KB

Content

1708659372629-274.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-64.7 KB

Content

1708659390655-234.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-52.4 KB

Content

1708659481680-311.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-150.2 KB

Content

1708659504171-928.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-89.9 KB

Content

1708659630178-665.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-108.0 KB

Content

1708659646762-832.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-63.7 KB

Content

1708659668179-463.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-193.0 KB

Content

1708659683686-935.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-193.4 KB

Content

1708659724005-484.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-166.8 KB

Content

1708659738998-621.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-66.5 KB

Content

1708659810951-477.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-39.2 KB

Content

1708659837241-566.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-56.6 KB

Content

1708659844978-946.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-28.6 KB

Content

1708659868961-294.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-77.4 KB

Content

1708659882131-694.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-140.8 KB

Content

1708659902425-597.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-114.9 KB

Content

1708659921571-879.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-124.2 KB

Content

1708660033766-909.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-61.3 KB

Content

1708660038539-524.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-56.1 KB

Content

1708660054738-287.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-92.8 KB

Content

1708660060148-798.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-84.8 KB

Content

1708666409644-249.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-6.0 MB

Content

1708666791453-744.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-64.7 KB

Content

1708666805375-462.png

Author

...	...	@@ -1,1 +1,0 @@
1		-XWiki.Mora

Size

...	...	@@ -1,1 +1,0 @@
1		-52.4 KB

Content