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Version 4.1 by Mora Zhou on 2024/02/23 13:38
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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 =
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; width:334px;" %)
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; width:513px;" %)
21 [[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]]
22 )))
23 )))
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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]]
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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°
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53 = 4 Program preparation =
54
55 == 4.1 Language settings ==
56
57 Select “Tools”~-~->“Options”
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59 (% style="text-align:center" %)
60 [[image:1708659282790-309.png]]
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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“
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72 (% style="text-align:center" %)
73 [[image:1708659330267-186.png]]
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75 Install LX6C xml file.
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77 (% style="text-align:center" %)
78 [[image:1708659348892-129.png]]
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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 = =
101
102 = =
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104 = 5 Device connection =
105
106 == 5.1 New project ==
107
108 Create a new standard project
109
110 (% style="text-align:center" %)
111 [[image:1708659481680-311.png]]
112
113 Select device and programming language
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115 (% style="text-align:center" %)
116 [[image:1708659504171-928.png]]
117
118 == 5.2 Connect LX6C ==
119
120 Double click “Device” and select Scan Network
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122 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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124 (% style="text-align:center" %)
125 [[image:1708659630178-665.png]]
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127 Login device with account and password
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129 (% style="text-align:center" %)
130 [[image:1708659646762-832.png]]
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132
133 = 6 Project configuration =
134
135 == 6.1 Add Axis Group ==
136
137 Right click Application, “Add Object” and select “Axis Group”
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139
140 (% style="text-align:center" %)
141 [[image:1708659668179-463.png]]
142
143 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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145 (% style="text-align:center" %)
146 [[image:1708659683686-935.png]]
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148 Fill in the mechanical parameters (Use the same user units)
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150 (% style="text-align:center" %)
151 [[image:1708659724005-484.png]]
152
153 Right click “Device” and add device
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155 (% style="text-align:center" %)
156 [[image:1708659738998-621.png]]
157
158 Add “EtherCAT Master SoftMotion”
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160 (% style="text-align:center" %)
161 [[image:1708659810951-477.png]]
162
163 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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165 (% style="text-align:center" %)
166 [[image:1708659837241-566.png]]
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169 (% style="text-align:center" %)
170 [[image:1708659844978-946.png]]
171
172 Add 3 motion axis
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174 (% style="text-align:center" %)
175 [[image:1708659868961-294.png]]
176
177 Set the correct resolution based on the motor encoder
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179 (% style="text-align:center" %)
180 [[image:1708659882131-694.png]]
181
182 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
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184 (% style="text-align:center" %)
185 [[image:1708659902425-597.png]]
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187 Bind axis to robot.
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189 (% style="text-align:center" %)
190 [[image:1708659921571-879.png]]
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192 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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194 (% style="text-align:center" %)
195 [[image:1708660033766-909.png]]
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197 (% style="text-align:center" %)
198 [[image:1708660038539-524.png]]
199
200 == 6.2 Demo program ==
201
202 Build a simple program for absolute move
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204 (% style="text-align:center" %)
205 [[image:1708660054738-287.png]]
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207 (% style="text-align:center" %)
208 [[image:1708660060148-798.png]]