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Version 5.1 by Mora Zhou on 2024/02/23 13:40
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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 =
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 (((
Mora Zhou 4.1 14 (% style="display:inline-block; width:334px;" %)
Mora Zhou 2.2 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 (((
Mora Zhou 4.1 20 (% style="display:inline-block; width:513px;" %)
Mora Zhou 3.1 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]]
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85
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Mora Zhou 5.1 87 [[image:1708666791453-744.png]]
Mora Zhou 1.2 88
Mora Zhou 5.1 89 [[image:1708666805375-462.png]]
Mora Zhou 1.2 90
91 = 5 Device connection =
92
93 == 5.1 New project ==
94
95 Create a new standard project
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Mora Zhou 1.8 97 (% style="text-align:center" %)
Mora Zhou 1.2 98 [[image:1708659481680-311.png]]
99
100 Select device and programming language
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Mora Zhou 1.8 102 (% style="text-align:center" %)
Mora Zhou 1.2 103 [[image:1708659504171-928.png]]
104
105 == 5.2 Connect LX6C ==
106
107 Double click “Device” and select Scan Network
108
109 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 1.8 111 (% style="text-align:center" %)
Mora Zhou 1.2 112 [[image:1708659630178-665.png]]
113
114 Login device with account and password
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Mora Zhou 1.8 116 (% style="text-align:center" %)
Mora Zhou 1.2 117 [[image:1708659646762-832.png]]
118
119
120 = 6 Project configuration =
121
122 == 6.1 Add Axis Group ==
123
124 Right click Application, “Add Object” and select “Axis Group”
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126
Mora Zhou 1.7 127 (% style="text-align:center" %)
Mora Zhou 1.2 128 [[image:1708659668179-463.png]]
129
130 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
131
Mora Zhou 1.7 132 (% style="text-align:center" %)
Mora Zhou 1.2 133 [[image:1708659683686-935.png]]
134
135 Fill in the mechanical parameters (Use the same user units)
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Mora Zhou 1.7 137 (% style="text-align:center" %)
Mora Zhou 1.2 138 [[image:1708659724005-484.png]]
139
140 Right click “Device” and add device
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Mora Zhou 1.6 142 (% style="text-align:center" %)
Mora Zhou 1.2 143 [[image:1708659738998-621.png]]
144
145 Add “EtherCAT Master SoftMotion”
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Mora Zhou 1.6 147 (% style="text-align:center" %)
Mora Zhou 1.2 148 [[image:1708659810951-477.png]]
149
Mora Zhou 1.3 150 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 1.2 151
Mora Zhou 1.6 152 (% style="text-align:center" %)
Mora Zhou 1.3 153 [[image:1708659837241-566.png]]
Mora Zhou 1.2 154
Mora Zhou 1.6 155
156 (% style="text-align:center" %)
Mora Zhou 1.3 157 [[image:1708659844978-946.png]]
Mora Zhou 1.2 158
Mora Zhou 1.3 159 Add 3 motion axis
Mora Zhou 1.2 160
Mora Zhou 1.6 161 (% style="text-align:center" %)
Mora Zhou 1.3 162 [[image:1708659868961-294.png]]
Mora Zhou 1.2 163
Mora Zhou 1.3 164 Set the correct resolution based on the motor encoder
Mora Zhou 1.2 165
Mora Zhou 1.6 166 (% style="text-align:center" %)
Mora Zhou 1.3 167 [[image:1708659882131-694.png]]
Mora Zhou 1.2 168
Mora Zhou 1.3 169 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Mora Zhou 1.2 170
Mora Zhou 1.6 171 (% style="text-align:center" %)
Mora Zhou 1.3 172 [[image:1708659902425-597.png]]
173
174 Bind axis to robot.
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Mora Zhou 1.5 176 (% style="text-align:center" %)
Mora Zhou 1.3 177 [[image:1708659921571-879.png]]
178
179 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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Mora Zhou 1.5 181 (% style="text-align:center" %)
Mora Zhou 1.3 182 [[image:1708660033766-909.png]]
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Mora Zhou 1.5 184 (% style="text-align:center" %)
Mora Zhou 1.3 185 [[image:1708660038539-524.png]]
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Mora Zhou 1.4 187 == 6.2 Demo program ==
Mora Zhou 1.3 188
Mora Zhou 1.4 189 Build a simple program for absolute move
Mora Zhou 1.3 190
Mora Zhou 1.5 191 (% style="text-align:center" %)
Mora Zhou 1.4 192 [[image:1708660054738-287.png]]
Mora Zhou 1.3 193
Mora Zhou 1.5 194 (% style="text-align:center" %)
Mora Zhou 1.4 195 [[image:1708660060148-798.png]]