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Version 1.8 by Mora Zhou on 2024/02/23 11:50
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Mora Zhou 1.2 1 = 1 Introduction =
Mora Zhou 1.1 2
Mora Zhou 1.2 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.
Mora Zhou 1.1 4
Mora Zhou 1.2 5 = 2 Main kit composition =
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7 (% style="text-align:center" %)
8 [[image:1708658466693-778.png]]
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10 (% style="margin-left:auto; margin-right:auto" %)
11 |(% style="width:837px" %)(((
12 (% style="text-align:center" %)
13 [[image:1708658932564-782.png]]
14 )))|(% style="width:785px" %)(((
15 (% style="text-align:center" %)
16 [[image:1708658950128-652.png]]
17 )))
18 |(% style="text-align:center; width:837px" %)**LX6C**|(% style="text-align:center; width:785px" %)**VD3E Servo**
19
20 (% style="margin-left:auto; margin-right:auto" %)
21 |=NAME|=QUANTITY
22 |LX6C-0808MT-DD|1
23 |VD3E-014SA1G|3
24 |WE80M-07530S-A1F|3
25 |Upper arm|3
26 |Lower arm|6
27 |Motor shaft connector|3
28 |Top plate|1
29 |Tool plate|1
30 |Hexagon socket screws|6 (M4 and M5)
31
32 = 3 Mechanical parameters =
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34 [[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
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36 Length of the upper arm **d1**: 330mm
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38 Length of the lower arm **d2**: 600mm
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40 Distance between lower arm in one pair **d3**: 20mm
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42 Radius of circle where lower arm contact point is located **r1**: 50mm
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44 Radius of circle where motor shaft is located **r2**: 100mm
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46 Maximum angle in ± for ball joints: 60°
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48 = 4 Program preparation =
49
50 == 4.1 Language settings ==
51
52 Select “Tools”~-~->“Options”
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54 (% style="text-align:center" %)
55 [[image:1708659282790-309.png]]
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58 Set software language in “International Settings”
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60 (% style="text-align:center" %)
61 [[image:1708659276549-637.png]]
62
63 == 4.2 Device file import ==
64
65 Select “Tools“~-~->“Device Repository“
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Mora Zhou 1.8 67 (% style="text-align:center" %)
Mora Zhou 1.2 68 [[image:1708659330267-186.png]]
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70 Install LX6C xml file.
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Mora Zhou 1.8 72 (% style="text-align:center" %)
Mora Zhou 1.2 73 [[image:1708659348892-129.png]]
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75 Install VD3E xml file.
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Mora Zhou 1.8 77 (% style="text-align:center" %)
Mora Zhou 1.2 78 [[image:1708659363849-556.png]]
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80 [[image:1708659372629-274.png||style="float:left"]]
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82 [[image:1708659390655-234.png||style="float:left"]]
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95 = 5 Device connection =
96
97 == 5.1 New project ==
98
99 Create a new standard project
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Mora Zhou 1.8 101 (% style="text-align:center" %)
Mora Zhou 1.2 102 [[image:1708659481680-311.png]]
103
104 Select device and programming language
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Mora Zhou 1.8 106 (% style="text-align:center" %)
Mora Zhou 1.2 107 [[image:1708659504171-928.png]]
108
109 == 5.2 Connect LX6C ==
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111 Double click “Device” and select Scan Network
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113 Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
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Mora Zhou 1.8 115 (% style="text-align:center" %)
Mora Zhou 1.2 116 [[image:1708659630178-665.png]]
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118 Login device with account and password
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Mora Zhou 1.8 120 (% style="text-align:center" %)
Mora Zhou 1.2 121 [[image:1708659646762-832.png]]
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123
124 = 6 Project configuration =
125
126 == 6.1 Add Axis Group ==
127
128 Right click Application, “Add Object” and select “Axis Group”
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Mora Zhou 1.7 131 (% style="text-align:center" %)
Mora Zhou 1.2 132 [[image:1708659668179-463.png]]
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134 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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Mora Zhou 1.7 136 (% style="text-align:center" %)
Mora Zhou 1.2 137 [[image:1708659683686-935.png]]
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139 Fill in the mechanical parameters (Use the same user units)
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Mora Zhou 1.7 141 (% style="text-align:center" %)
Mora Zhou 1.2 142 [[image:1708659724005-484.png]]
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144 Right click “Device” and add device
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Mora Zhou 1.6 146 (% style="text-align:center" %)
Mora Zhou 1.2 147 [[image:1708659738998-621.png]]
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149 Add “EtherCAT Master SoftMotion”
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Mora Zhou 1.6 151 (% style="text-align:center" %)
Mora Zhou 1.2 152 [[image:1708659810951-477.png]]
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Mora Zhou 1.3 154 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)
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Mora Zhou 1.6 156 (% style="text-align:center" %)
Mora Zhou 1.3 157 [[image:1708659837241-566.png]]
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Mora Zhou 1.6 159
160 (% style="text-align:center" %)
Mora Zhou 1.3 161 [[image:1708659844978-946.png]]
Mora Zhou 1.2 162
Mora Zhou 1.3 163 Add 3 motion axis
Mora Zhou 1.2 164
Mora Zhou 1.6 165 (% style="text-align:center" %)
Mora Zhou 1.3 166 [[image:1708659868961-294.png]]
Mora Zhou 1.2 167
Mora Zhou 1.3 168 Set the correct resolution based on the motor encoder
Mora Zhou 1.2 169
Mora Zhou 1.6 170 (% style="text-align:center" %)
Mora Zhou 1.3 171 [[image:1708659882131-694.png]]
Mora Zhou 1.2 172
Mora Zhou 1.3 173 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Mora Zhou 1.2 174
Mora Zhou 1.6 175 (% style="text-align:center" %)
Mora Zhou 1.3 176 [[image:1708659902425-597.png]]
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178 Bind axis to robot.
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Mora Zhou 1.5 180 (% style="text-align:center" %)
Mora Zhou 1.3 181 [[image:1708659921571-879.png]]
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183 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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Mora Zhou 1.5 185 (% style="text-align:center" %)
Mora Zhou 1.3 186 [[image:1708660033766-909.png]]
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Mora Zhou 1.5 188 (% style="text-align:center" %)
Mora Zhou 1.3 189 [[image:1708660038539-524.png]]
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Mora Zhou 1.4 191 == 6.2 Demo program ==
Mora Zhou 1.3 192
Mora Zhou 1.4 193 Build a simple program for absolute move
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Mora Zhou 1.5 195 (% style="text-align:center" %)
Mora Zhou 1.4 196 [[image:1708660054738-287.png]]
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Mora Zhou 1.5 198 (% style="text-align:center" %)
Mora Zhou 1.4 199 [[image:1708660060148-798.png]]
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