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Version 5.1 by Mora Zhou on 2024/02/23 13:40
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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]]
9
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 )))
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
42
43 Length of the lower arm **d2**: 600mm
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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
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]]
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85
86
87 [[image:1708666791453-744.png]]
88
89 [[image:1708666805375-462.png]]
90
91 = 5 Device connection =
92
93 == 5.1 New project ==
94
95 Create a new standard project
96
97 (% style="text-align:center" %)
98 [[image:1708659481680-311.png]]
99
100 Select device and programming language
101
102 (% style="text-align:center" %)
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)
110
111 (% style="text-align:center" %)
112 [[image:1708659630178-665.png]]
113
114 Login device with account and password
115
116 (% style="text-align:center" %)
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
127 (% style="text-align:center" %)
128 [[image:1708659668179-463.png]]
129
130 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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132 (% style="text-align:center" %)
133 [[image:1708659683686-935.png]]
134
135 Fill in the mechanical parameters (Use the same user units)
136
137 (% style="text-align:center" %)
138 [[image:1708659724005-484.png]]
139
140 Right click “Device” and add device
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142 (% style="text-align:center" %)
143 [[image:1708659738998-621.png]]
144
145 Add “EtherCAT Master SoftMotion”
146
147 (% style="text-align:center" %)
148 [[image:1708659810951-477.png]]
149
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)
151
152 (% style="text-align:center" %)
153 [[image:1708659837241-566.png]]
154
155
156 (% style="text-align:center" %)
157 [[image:1708659844978-946.png]]
158
159 Add 3 motion axis
160
161 (% style="text-align:center" %)
162 [[image:1708659868961-294.png]]
163
164 Set the correct resolution based on the motor encoder
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166 (% style="text-align:center" %)
167 [[image:1708659882131-694.png]]
168
169 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
170
171 (% style="text-align:center" %)
172 [[image:1708659902425-597.png]]
173
174 Bind axis to robot.
175
176 (% style="text-align:center" %)
177 [[image:1708659921571-879.png]]
178
179 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
180
181 (% style="text-align:center" %)
182 [[image:1708660033766-909.png]]
183
184 (% style="text-align:center" %)
185 [[image:1708660038539-524.png]]
186
187 == 6.2 Demo program ==
188
189 Build a simple program for absolute move
190
191 (% style="text-align:center" %)
192 [[image:1708660054738-287.png]]
193
194 (% style="text-align:center" %)
195 [[image:1708660060148-798.png]]