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Version 2.2 by Mora Zhou on 2024/02/23 12:01
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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" %)
Mora Zhou 2.2 11 |(% style="width:799px" %)(((
Mora Zhou 1.2 12 (% style="text-align:center" %)
Mora Zhou 2.2 13 (((
14 (% style="display:inline-block;" %)
15 [[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
Mora Zhou 1.2 16 )))
Mora Zhou 2.2 17 )))|(% style="width:823px" %)(((
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19 )))
Mora Zhou 1.2 20
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)
32
33 = 3 Mechanical parameters =
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35 [[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
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37 Length of the upper arm **d1**: 330mm
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39 Length of the lower arm **d2**: 600mm
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41 Distance between lower arm in one pair **d3**: 20mm
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43 Radius of circle where lower arm contact point is located **r1**: 50mm
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45 Radius of circle where motor shaft is located **r2**: 100mm
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47 Maximum angle in ± for ball joints: 60°
48
49 = 4 Program preparation =
50
51 == 4.1 Language settings ==
52
53 Select “Tools”~-~->“Options”
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55 (% style="text-align:center" %)
56 [[image:1708659282790-309.png]]
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59 Set software language in “International Settings”
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61 (% style="text-align:center" %)
62 [[image:1708659276549-637.png]]
63
64 == 4.2 Device file import ==
65
66 Select “Tools“~-~->“Device Repository“
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Mora Zhou 1.8 68 (% style="text-align:center" %)
Mora Zhou 1.2 69 [[image:1708659330267-186.png]]
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71 Install LX6C xml file.
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Mora Zhou 1.8 73 (% style="text-align:center" %)
Mora Zhou 1.2 74 [[image:1708659348892-129.png]]
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76 Install VD3E xml file.
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Mora Zhou 1.8 78 (% style="text-align:center" %)
Mora Zhou 1.2 79 [[image:1708659363849-556.png]]
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81 [[image:1708659372629-274.png||style="float:left"]]
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83 [[image:1708659390655-234.png||style="float:left"]]
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96 = 5 Device connection =
97
98 == 5.1 New project ==
99
100 Create a new standard project
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Mora Zhou 1.8 102 (% style="text-align:center" %)
Mora Zhou 1.2 103 [[image:1708659481680-311.png]]
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105 Select device and programming language
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Mora Zhou 1.8 107 (% style="text-align:center" %)
Mora Zhou 1.2 108 [[image:1708659504171-928.png]]
109
110 == 5.2 Connect LX6C ==
111
112 Double click “Device” and select Scan Network
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114 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 1.8 116 (% style="text-align:center" %)
Mora Zhou 1.2 117 [[image:1708659630178-665.png]]
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119 Login device with account and password
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Mora Zhou 1.8 121 (% style="text-align:center" %)
Mora Zhou 1.2 122 [[image:1708659646762-832.png]]
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124
125 = 6 Project configuration =
126
127 == 6.1 Add Axis Group ==
128
129 Right click Application, “Add Object” and select “Axis Group”
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131
Mora Zhou 1.7 132 (% style="text-align:center" %)
Mora Zhou 1.2 133 [[image:1708659668179-463.png]]
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135 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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Mora Zhou 1.7 137 (% style="text-align:center" %)
Mora Zhou 1.2 138 [[image:1708659683686-935.png]]
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140 Fill in the mechanical parameters (Use the same user units)
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Mora Zhou 1.7 142 (% style="text-align:center" %)
Mora Zhou 1.2 143 [[image:1708659724005-484.png]]
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145 Right click “Device” and add device
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Mora Zhou 1.6 147 (% style="text-align:center" %)
Mora Zhou 1.2 148 [[image:1708659738998-621.png]]
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150 Add “EtherCAT Master SoftMotion”
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Mora Zhou 1.6 152 (% style="text-align:center" %)
Mora Zhou 1.2 153 [[image:1708659810951-477.png]]
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Mora Zhou 1.3 155 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)
Mora Zhou 1.2 156
Mora Zhou 1.6 157 (% style="text-align:center" %)
Mora Zhou 1.3 158 [[image:1708659837241-566.png]]
Mora Zhou 1.2 159
Mora Zhou 1.6 160
161 (% style="text-align:center" %)
Mora Zhou 1.3 162 [[image:1708659844978-946.png]]
Mora Zhou 1.2 163
Mora Zhou 1.3 164 Add 3 motion axis
Mora Zhou 1.2 165
Mora Zhou 1.6 166 (% style="text-align:center" %)
Mora Zhou 1.3 167 [[image:1708659868961-294.png]]
Mora Zhou 1.2 168
Mora Zhou 1.3 169 Set the correct resolution based on the motor encoder
Mora Zhou 1.2 170
Mora Zhou 1.6 171 (% style="text-align:center" %)
Mora Zhou 1.3 172 [[image:1708659882131-694.png]]
Mora Zhou 1.2 173
Mora Zhou 1.3 174 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Mora Zhou 1.2 175
Mora Zhou 1.6 176 (% style="text-align:center" %)
Mora Zhou 1.3 177 [[image:1708659902425-597.png]]
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179 Bind axis to robot.
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Mora Zhou 1.5 181 (% style="text-align:center" %)
Mora Zhou 1.3 182 [[image:1708659921571-879.png]]
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184 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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Mora Zhou 1.5 186 (% style="text-align:center" %)
Mora Zhou 1.3 187 [[image:1708660033766-909.png]]
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Mora Zhou 1.5 189 (% style="text-align:center" %)
Mora Zhou 1.3 190 [[image:1708660038539-524.png]]
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Mora Zhou 1.4 192 == 6.2 Demo program ==
Mora Zhou 1.3 193
Mora Zhou 1.4 194 Build a simple program for absolute move
Mora Zhou 1.3 195
Mora Zhou 1.5 196 (% style="text-align:center" %)
Mora Zhou 1.4 197 [[image:1708660054738-287.png]]
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Mora Zhou 1.5 199 (% style="text-align:center" %)
Mora Zhou 1.4 200 [[image:1708660060148-798.png]]