Wecon LX6C Delta Robot Project

= 1 Introduction =

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.

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= 2 Main kit composition =

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[[image:1708658466693-778.png]]

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[[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]

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[[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]

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|=(% style="width: 801px;" %)NAME|=(% style="width: 821px;" %)QUANTITY

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|(% style="text-align:center; width:801px" %)**LX6C-0808MT-DD**|(% style="text-align:center; width:821px" %)**1**

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|(% style="text-align:center; width:801px" %)**VD3E-014SA1G**|(% style="text-align:center; width:821px" %)**3**

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|(% style="text-align:center; width:801px" %)**WE80M-07530S-A1F**|(% style="text-align:center; width:821px" %)**3**

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|(% style="text-align:center; width:801px" %)**Upper arm**|(% style="text-align:center; width:821px" %)**3**

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|(% style="text-align:center; width:801px" %)**Lower arm**|(% style="text-align:center; width:821px" %)**6**

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|(% style="text-align:center; width:801px" %)**Motor shaft connector**|(% style="text-align:center; width:821px" %)**3**

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|(% style="text-align:center; width:801px" %)**Top plate**|(% style="text-align:center; width:821px" %)**1**

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|(% style="text-align:center; width:801px" %)**Tool plate**|(% style="text-align:center; width:821px" %)**1**

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|(% style="text-align:center; width:801px" %)**Hexagon socket screws**|(% style="text-align:center; width:821px" %)**6 (M4 and M5)**

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= 3 Mechanical parameters =

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[[image:1708659158007-639.png]]

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[[image:1708659191216-488.png]]

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[[image:1708659202564-503.png]]

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Length of the upper arm **d1**: 330mm

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Length of the lower arm **d2**: 600mm

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Distance between lower arm in one pair **d3**: 20mm

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Radius of circle where lower arm contact point is located **r1**: 50mm

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Radius of circle where motor shaft is located **r2**: 100mm

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Maximum angle in ± for ball joints: 60°

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= 4 Program preparation =

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== 4.1 Language settings ==

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**Select “Tools”~-~->“Options”**

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[[image:1708659282790-309.png]]

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**Set software language in “International Settings”**

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[[image:1708659276549-637.png]]

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== 4.2 Device file import ==

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**Select “Tools“~-~->“Device Repository“**

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[[image:1708659330267-186.png]]

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**Install LX6C xml file.**

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[[image:1708659348892-129.png]]

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**Install VD3E xml file.**

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[[image:1708659363849-556.png]]

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[[image:1708666791453-744.png]]

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[[image:1708666805375-462.png]]

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= 5 Device connection =

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== 5.1 New project ==

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**Create a new standard project**

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[[image:1708659481680-311.png]]

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**Select device and programming language**

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[[image:1708659504171-928.png]]

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== 5.2 Connect LX6C ==

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**Double click “Device” and select Scan Network**

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**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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[[image:1708659630178-665.png]]

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**Login device with account and password**

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[[image:1708659646762-832.png]]

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= 6 Project configuration =

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== 6.1 Add Axis Group ==

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**Right click Application, “Add Object” and select “Axis Group”**

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[[image:1708659668179-463.png]]

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**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**

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[[image:1708659683686-935.png]]

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**Fill in the mechanical parameters (Use the same user units)**

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[[image:1708659724005-484.png]]

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**Right click “Device” and add device**

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[[image:1708659738998-621.png]]

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**Add “EtherCAT Master SoftMotion”**

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[[image:1708659810951-477.png]]

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**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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[[image:1708659837241-566.png]]

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[[image:1708659844978-946.png]]

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