Skip to Content
Version 3.1 by Mora Zhou on 2024/02/23 13:36
Hide last authors
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 =
6
7 (% style="text-align:center" %)
8 [[image:1708658466693-778.png]]
9
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" %)(((
Mora Zhou 3.1 18 (% style="text-align:center" %)
19 (((
20 (% style="display:inline-block;" %)
21 [[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
Mora Zhou 2.2 22 )))
Mora Zhou 3.1 23 )))
Mora Zhou 1.2 24
25 (% style="margin-left:auto; margin-right:auto" %)
Mora Zhou 3.1 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)
Mora Zhou 1.2 36
37 = 3 Mechanical parameters =
38
39 [[image:1708659158007-639.png||style="float:left"]][[image:1708659191216-488.png||style="float:left"]][[image:1708659202564-503.png]]
40
41 Length of the upper arm **d1**: 330mm
42
43 Length of the lower arm **d2**: 600mm
44
45 Distance between lower arm in one pair **d3**: 20mm
46
47 Radius of circle where lower arm contact point is located **r1**: 50mm
48
49 Radius of circle where motor shaft is located **r2**: 100mm
50
51 Maximum angle in ± for ball joints: 60°
52
53 = 4 Program preparation =
54
55 == 4.1 Language settings ==
56
57 Select “Tools”~-~->“Options”
58
59 (% style="text-align:center" %)
60 [[image:1708659282790-309.png]]
61
62
63 Set software language in “International Settings”
64
65 (% style="text-align:center" %)
66 [[image:1708659276549-637.png]]
67
68 == 4.2 Device file import ==
69
70 Select “Tools“~-~->“Device Repository“
71
Mora Zhou 1.8 72 (% style="text-align:center" %)
Mora Zhou 1.2 73 [[image:1708659330267-186.png]]
74
75 Install LX6C xml file.
76
Mora Zhou 1.8 77 (% style="text-align:center" %)
Mora Zhou 1.2 78 [[image:1708659348892-129.png]]
79
80 Install VD3E xml file.
81
Mora Zhou 1.8 82 (% style="text-align:center" %)
Mora Zhou 1.2 83 [[image:1708659363849-556.png]]
84
85 [[image:1708659372629-274.png||style="float:left"]]
86
87 [[image:1708659390655-234.png||style="float:left"]]
88
89
90
91
92
93
94
95
96
97
98
99
100 = 5 Device connection =
101
102 == 5.1 New project ==
103
104 Create a new standard project
105
Mora Zhou 1.8 106 (% style="text-align:center" %)
Mora Zhou 1.2 107 [[image:1708659481680-311.png]]
108
109 Select device and programming language
110
Mora Zhou 1.8 111 (% style="text-align:center" %)
Mora Zhou 1.2 112 [[image:1708659504171-928.png]]
113
114 == 5.2 Connect LX6C ==
115
116 Double click “Device” and select Scan Network
117
118 Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
119
Mora Zhou 1.8 120 (% style="text-align:center" %)
Mora Zhou 1.2 121 [[image:1708659630178-665.png]]
122
123 Login device with account and password
124
Mora Zhou 1.8 125 (% style="text-align:center" %)
Mora Zhou 1.2 126 [[image:1708659646762-832.png]]
127
128
129 = 6 Project configuration =
130
131 == 6.1 Add Axis Group ==
132
133 Right click Application, “Add Object” and select “Axis Group”
134
135
Mora Zhou 1.7 136 (% style="text-align:center" %)
Mora Zhou 1.2 137 [[image:1708659668179-463.png]]
138
139 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
140
Mora Zhou 1.7 141 (% style="text-align:center" %)
Mora Zhou 1.2 142 [[image:1708659683686-935.png]]
143
144 Fill in the mechanical parameters (Use the same user units)
145
Mora Zhou 1.7 146 (% style="text-align:center" %)
Mora Zhou 1.2 147 [[image:1708659724005-484.png]]
148
149 Right click “Device” and add device
150
Mora Zhou 1.6 151 (% style="text-align:center" %)
Mora Zhou 1.2 152 [[image:1708659738998-621.png]]
153
154 Add “EtherCAT Master SoftMotion”
155
Mora Zhou 1.6 156 (% style="text-align:center" %)
Mora Zhou 1.2 157 [[image:1708659810951-477.png]]
158
Mora Zhou 1.3 159 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 1.2 160
Mora Zhou 1.6 161 (% style="text-align:center" %)
Mora Zhou 1.3 162 [[image:1708659837241-566.png]]
Mora Zhou 1.2 163
Mora Zhou 1.6 164
165 (% style="text-align:center" %)
Mora Zhou 1.3 166 [[image:1708659844978-946.png]]
Mora Zhou 1.2 167
Mora Zhou 1.3 168 Add 3 motion axis
Mora Zhou 1.2 169
Mora Zhou 1.6 170 (% style="text-align:center" %)
Mora Zhou 1.3 171 [[image:1708659868961-294.png]]
Mora Zhou 1.2 172
Mora Zhou 1.3 173 Set the correct resolution based on the motor encoder
Mora Zhou 1.2 174
Mora Zhou 1.6 175 (% style="text-align:center" %)
Mora Zhou 1.3 176 [[image:1708659882131-694.png]]
Mora Zhou 1.2 177
Mora Zhou 1.3 178 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Mora Zhou 1.2 179
Mora Zhou 1.6 180 (% style="text-align:center" %)
Mora Zhou 1.3 181 [[image:1708659902425-597.png]]
182
183 Bind axis to robot.
184
Mora Zhou 1.5 185 (% style="text-align:center" %)
Mora Zhou 1.3 186 [[image:1708659921571-879.png]]
187
188 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
189
Mora Zhou 1.5 190 (% style="text-align:center" %)
Mora Zhou 1.3 191 [[image:1708660033766-909.png]]
192
Mora Zhou 1.5 193 (% style="text-align:center" %)
Mora Zhou 1.3 194 [[image:1708660038539-524.png]]
195
Mora Zhou 1.4 196 == 6.2 Demo program ==
Mora Zhou 1.3 197
Mora Zhou 1.4 198 Build a simple program for absolute move
Mora Zhou 1.3 199
Mora Zhou 1.5 200 (% style="text-align:center" %)
Mora Zhou 1.4 201 [[image:1708660054738-287.png]]
Mora Zhou 1.3 202
Mora Zhou 1.5 203 (% style="text-align:center" %)
Mora Zhou 1.4 204 [[image:1708660060148-798.png]]