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Version 3.1 by Mora Zhou on 2024/02/23 13:36
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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.
4
5 = 2 Main kit composition =
6
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" %)(((
18 (% style="text-align:center" %)
19 (((
20 (% style="display:inline-block;" %)
21 [[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
22 )))
23 )))
24
25 (% style="margin-left:auto; margin-right:auto" %)
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)
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
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43 Length of the lower arm **d2**: 600mm
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45 Distance between lower arm in one pair **d3**: 20mm
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47 Radius of circle where lower arm contact point is located **r1**: 50mm
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49 Radius of circle where motor shaft is located **r2**: 100mm
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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”
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65 (% style="text-align:center" %)
66 [[image:1708659276549-637.png]]
67
68 == 4.2 Device file import ==
69
70 Select “Tools“~-~->“Device Repository“
71
72 (% style="text-align:center" %)
73 [[image:1708659330267-186.png]]
74
75 Install LX6C xml file.
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77 (% style="text-align:center" %)
78 [[image:1708659348892-129.png]]
79
80 Install VD3E xml file.
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82 (% style="text-align:center" %)
83 [[image:1708659363849-556.png]]
84
85 [[image:1708659372629-274.png||style="float:left"]]
86
87 [[image:1708659390655-234.png||style="float:left"]]
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100 = 5 Device connection =
101
102 == 5.1 New project ==
103
104 Create a new standard project
105
106 (% style="text-align:center" %)
107 [[image:1708659481680-311.png]]
108
109 Select device and programming language
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111 (% style="text-align:center" %)
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
120 (% style="text-align:center" %)
121 [[image:1708659630178-665.png]]
122
123 Login device with account and password
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125 (% style="text-align:center" %)
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”
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135
136 (% style="text-align:center" %)
137 [[image:1708659668179-463.png]]
138
139 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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141 (% style="text-align:center" %)
142 [[image:1708659683686-935.png]]
143
144 Fill in the mechanical parameters (Use the same user units)
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146 (% style="text-align:center" %)
147 [[image:1708659724005-484.png]]
148
149 Right click “Device” and add device
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151 (% style="text-align:center" %)
152 [[image:1708659738998-621.png]]
153
154 Add “EtherCAT Master SoftMotion”
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156 (% style="text-align:center" %)
157 [[image:1708659810951-477.png]]
158
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)
160
161 (% style="text-align:center" %)
162 [[image:1708659837241-566.png]]
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164
165 (% style="text-align:center" %)
166 [[image:1708659844978-946.png]]
167
168 Add 3 motion axis
169
170 (% style="text-align:center" %)
171 [[image:1708659868961-294.png]]
172
173 Set the correct resolution based on the motor encoder
174
175 (% style="text-align:center" %)
176 [[image:1708659882131-694.png]]
177
178 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
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180 (% style="text-align:center" %)
181 [[image:1708659902425-597.png]]
182
183 Bind axis to robot.
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185 (% style="text-align:center" %)
186 [[image:1708659921571-879.png]]
187
188 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
189
190 (% style="text-align:center" %)
191 [[image:1708660033766-909.png]]
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193 (% style="text-align:center" %)
194 [[image:1708660038539-524.png]]
195
196 == 6.2 Demo program ==
197
198 Build a simple program for absolute move
199
200 (% style="text-align:center" %)
201 [[image:1708660054738-287.png]]
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203 (% style="text-align:center" %)
204 [[image:1708660060148-798.png]]