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Version 2.2 by Mora Zhou on 2024/02/23 12:01
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1 = 1 Introduction =
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.
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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:799px" %)(((
12 (% style="text-align:center" %)
13 (((
14 (% style="display:inline-block;" %)
15 [[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]]
16 )))
17 )))|(% style="width:823px" %)(((
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19 )))
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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°
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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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68 (% style="text-align:center" %)
69 [[image:1708659330267-186.png]]
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71 Install LX6C xml file.
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73 (% style="text-align:center" %)
74 [[image:1708659348892-129.png]]
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76 Install VD3E xml file.
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78 (% style="text-align:center" %)
79 [[image:1708659363849-556.png]]
80
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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102 (% style="text-align:center" %)
103 [[image:1708659481680-311.png]]
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105 Select device and programming language
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107 (% style="text-align:center" %)
108 [[image:1708659504171-928.png]]
109
110 == 5.2 Connect LX6C ==
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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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116 (% style="text-align:center" %)
117 [[image:1708659630178-665.png]]
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119 Login device with account and password
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121 (% style="text-align:center" %)
122 [[image:1708659646762-832.png]]
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124
125 = 6 Project configuration =
126
127 == 6.1 Add Axis Group ==
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129 Right click Application, “Add Object” and select “Axis Group”
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131
132 (% style="text-align:center" %)
133 [[image:1708659668179-463.png]]
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135 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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137 (% style="text-align:center" %)
138 [[image:1708659683686-935.png]]
139
140 Fill in the mechanical parameters (Use the same user units)
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142 (% style="text-align:center" %)
143 [[image:1708659724005-484.png]]
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145 Right click “Device” and add device
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147 (% style="text-align:center" %)
148 [[image:1708659738998-621.png]]
149
150 Add “EtherCAT Master SoftMotion”
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152 (% style="text-align:center" %)
153 [[image:1708659810951-477.png]]
154
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)
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157 (% style="text-align:center" %)
158 [[image:1708659837241-566.png]]
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161 (% style="text-align:center" %)
162 [[image:1708659844978-946.png]]
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164 Add 3 motion axis
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166 (% style="text-align:center" %)
167 [[image:1708659868961-294.png]]
168
169 Set the correct resolution based on the motor encoder
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171 (% style="text-align:center" %)
172 [[image:1708659882131-694.png]]
173
174 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
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176 (% style="text-align:center" %)
177 [[image:1708659902425-597.png]]
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179 Bind axis to robot.
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181 (% style="text-align:center" %)
182 [[image:1708659921571-879.png]]
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184 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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186 (% style="text-align:center" %)
187 [[image:1708660033766-909.png]]
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189 (% style="text-align:center" %)
190 [[image:1708660038539-524.png]]
191
192 == 6.2 Demo program ==
193
194 Build a simple program for absolute move
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196 (% style="text-align:center" %)
197 [[image:1708660054738-287.png]]
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199 (% style="text-align:center" %)
200 [[image:1708660060148-798.png]]