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Version 7.1 by Mora Zhou on 2024/02/23 13:46
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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
Mora Zhou 7.1 40 |(((
41 (% style="text-align:center" %)
42 [[image:1708659158007-639.png]]
43 )))|(((
44 (% style="text-align:center" %)
45 [[image:1708659191216-488.png]]
46 )))|(((
47 (% style="text-align:center" %)
48 [[image:1708659202564-503.png]]
49 )))
50
Mora Zhou 1.2 51 Length of the upper arm **d1**: 330mm
52
53 Length of the lower arm **d2**: 600mm
54
55 Distance between lower arm in one pair **d3**: 20mm
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57 Radius of circle where lower arm contact point is located **r1**: 50mm
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59 Radius of circle where motor shaft is located **r2**: 100mm
60
61 Maximum angle in ± for ball joints: 60°
62
63 = 4 Program preparation =
64
65 == 4.1 Language settings ==
66
67 Select “Tools”~-~->“Options”
68
69 (% style="text-align:center" %)
70 [[image:1708659282790-309.png]]
71
72
73 Set software language in “International Settings”
74
75 (% style="text-align:center" %)
76 [[image:1708659276549-637.png]]
77
78 == 4.2 Device file import ==
79
80 Select “Tools“~-~->“Device Repository“
81
Mora Zhou 1.8 82 (% style="text-align:center" %)
Mora Zhou 1.2 83 [[image:1708659330267-186.png]]
84
85 Install LX6C xml file.
86
Mora Zhou 1.8 87 (% style="text-align:center" %)
Mora Zhou 1.2 88 [[image:1708659348892-129.png]]
89
90 Install VD3E xml file.
91
Mora Zhou 1.8 92 (% style="text-align:center" %)
Mora Zhou 1.2 93 [[image:1708659363849-556.png]]
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95
Mora Zhou 6.1 96 |(((
97 (% style="text-align:center" %)
Mora Zhou 5.1 98 [[image:1708666791453-744.png]]
Mora Zhou 6.1 99 )))|(((
100 (% style="text-align:center" %)
Mora Zhou 5.1 101 [[image:1708666805375-462.png]]
Mora Zhou 6.1 102 )))
Mora Zhou 1.2 103
Mora Zhou 6.1 104
Mora Zhou 1.2 105 = 5 Device connection =
106
107 == 5.1 New project ==
108
109 Create a new standard project
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Mora Zhou 1.8 111 (% style="text-align:center" %)
Mora Zhou 1.2 112 [[image:1708659481680-311.png]]
113
114 Select device and programming language
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Mora Zhou 1.8 116 (% style="text-align:center" %)
Mora Zhou 1.2 117 [[image:1708659504171-928.png]]
118
119 == 5.2 Connect LX6C ==
120
121 Double click “Device” and select Scan Network
122
123 Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
124
Mora Zhou 1.8 125 (% style="text-align:center" %)
Mora Zhou 1.2 126 [[image:1708659630178-665.png]]
127
128 Login device with account and password
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Mora Zhou 1.8 130 (% style="text-align:center" %)
Mora Zhou 1.2 131 [[image:1708659646762-832.png]]
132
133
134 = 6 Project configuration =
135
136 == 6.1 Add Axis Group ==
137
138 Right click Application, “Add Object” and select “Axis Group”
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140
Mora Zhou 1.7 141 (% style="text-align:center" %)
Mora Zhou 1.2 142 [[image:1708659668179-463.png]]
143
144 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
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Mora Zhou 1.7 146 (% style="text-align:center" %)
Mora Zhou 1.2 147 [[image:1708659683686-935.png]]
148
149 Fill in the mechanical parameters (Use the same user units)
150
Mora Zhou 1.7 151 (% style="text-align:center" %)
Mora Zhou 1.2 152 [[image:1708659724005-484.png]]
153
154 Right click “Device” and add device
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Mora Zhou 1.6 156 (% style="text-align:center" %)
Mora Zhou 1.2 157 [[image:1708659738998-621.png]]
158
159 Add “EtherCAT Master SoftMotion”
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Mora Zhou 1.6 161 (% style="text-align:center" %)
Mora Zhou 1.2 162 [[image:1708659810951-477.png]]
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Mora Zhou 1.3 164 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 1.2 165
Mora Zhou 1.6 166 (% style="text-align:center" %)
Mora Zhou 1.3 167 [[image:1708659837241-566.png]]
Mora Zhou 1.2 168
Mora Zhou 1.6 169
170 (% style="text-align:center" %)
Mora Zhou 1.3 171 [[image:1708659844978-946.png]]
Mora Zhou 1.2 172
Mora Zhou 1.3 173 Add 3 motion axis
Mora Zhou 1.2 174
Mora Zhou 1.6 175 (% style="text-align:center" %)
Mora Zhou 1.3 176 [[image:1708659868961-294.png]]
Mora Zhou 1.2 177
Mora Zhou 1.3 178 Set the correct resolution based on the motor encoder
Mora Zhou 1.2 179
Mora Zhou 1.6 180 (% style="text-align:center" %)
Mora Zhou 1.3 181 [[image:1708659882131-694.png]]
Mora Zhou 1.2 182
Mora Zhou 1.3 183 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Mora Zhou 1.2 184
Mora Zhou 1.6 185 (% style="text-align:center" %)
Mora Zhou 1.3 186 [[image:1708659902425-597.png]]
187
188 Bind axis to robot.
189
Mora Zhou 1.5 190 (% style="text-align:center" %)
Mora Zhou 1.3 191 [[image:1708659921571-879.png]]
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193 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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Mora Zhou 1.5 195 (% style="text-align:center" %)
Mora Zhou 1.3 196 [[image:1708660033766-909.png]]
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Mora Zhou 1.5 198 (% style="text-align:center" %)
Mora Zhou 1.3 199 [[image:1708660038539-524.png]]
200
Mora Zhou 1.4 201 == 6.2 Demo program ==
Mora Zhou 1.3 202
Mora Zhou 1.4 203 Build a simple program for absolute move
Mora Zhou 1.3 204
Mora Zhou 1.5 205 (% style="text-align:center" %)
Mora Zhou 1.4 206 [[image:1708660054738-287.png]]
Mora Zhou 1.3 207
Mora Zhou 1.5 208 (% style="text-align:center" %)
Mora Zhou 1.4 209 [[image:1708660060148-798.png]]