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Version 9.1 by Mora Zhou on 2024/02/23 13:58
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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]]
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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
Mora Zhou 8.1 27 |(% style="text-align:center; width:801px" %)**LX6C-0808MT-DD**|(% style="text-align:center; width:821px" %)**1**
28 |(% style="text-align:center; width:801px" %)**VD3E-014SA1G**|(% style="text-align:center; width:821px" %)**3**
29 |(% style="text-align:center; width:801px" %)**WE80M-07530S-A1F**|(% style="text-align:center; width:821px" %)**3**
30 |(% style="text-align:center; width:801px" %)**Upper arm**|(% style="text-align:center; width:821px" %)**3**
31 |(% style="text-align:center; width:801px" %)**Lower arm**|(% style="text-align:center; width:821px" %)**6**
32 |(% style="text-align:center; width:801px" %)**Motor shaft connector**|(% style="text-align:center; width:821px" %)**3**
33 |(% style="text-align:center; width:801px" %)**Top plate**|(% style="text-align:center; width:821px" %)**1**
34 |(% style="text-align:center; width:801px" %)**Tool plate**|(% style="text-align:center; width:821px" %)**1**
35 |(% style="text-align:center; width:801px" %)**Hexagon socket screws**|(% style="text-align:center; 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
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53 Length of the lower arm **d2**: 600mm
54
55 Distance between lower arm in one pair **d3**: 20mm
56
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
Mora Zhou 8.1 67 **Select “Tools”~-~->“Options”**
Mora Zhou 1.2 68
69 (% style="text-align:center" %)
70 [[image:1708659282790-309.png]]
71
72
Mora Zhou 8.1 73 **Set software language in “International Settings”**
Mora Zhou 1.2 74
75 (% style="text-align:center" %)
76 [[image:1708659276549-637.png]]
77
78 == 4.2 Device file import ==
79
Mora Zhou 8.1 80 **Select “Tools“~-~->“Device Repository“**
Mora Zhou 1.2 81
Mora Zhou 1.8 82 (% style="text-align:center" %)
Mora Zhou 1.2 83 [[image:1708659330267-186.png]]
84
Mora Zhou 8.1 85 **Install LX6C xml file.**
Mora Zhou 1.2 86
Mora Zhou 1.8 87 (% style="text-align:center" %)
Mora Zhou 1.2 88 [[image:1708659348892-129.png]]
89
Mora Zhou 8.1 90 **Install VD3E xml file.**
Mora Zhou 1.2 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
104 = 5 Device connection =
105
106 == 5.1 New project ==
107
Mora Zhou 9.1 108 **Create a new standard project**
Mora Zhou 1.2 109
Mora Zhou 1.8 110 (% style="text-align:center" %)
Mora Zhou 1.2 111 [[image:1708659481680-311.png]]
112
Mora Zhou 9.1 113 **Select device and programming language**
Mora Zhou 1.2 114
Mora Zhou 1.8 115 (% style="text-align:center" %)
Mora Zhou 1.2 116 [[image:1708659504171-928.png]]
117
118 == 5.2 Connect LX6C ==
119
120 Double click “Device” and select Scan Network
121
122 Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
123
Mora Zhou 1.8 124 (% style="text-align:center" %)
Mora Zhou 1.2 125 [[image:1708659630178-665.png]]
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127 Login device with account and password
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Mora Zhou 1.8 129 (% style="text-align:center" %)
Mora Zhou 1.2 130 [[image:1708659646762-832.png]]
131
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
Mora Zhou 1.7 140 (% style="text-align:center" %)
Mora Zhou 1.2 141 [[image:1708659668179-463.png]]
142
143 Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
144
Mora Zhou 1.7 145 (% style="text-align:center" %)
Mora Zhou 1.2 146 [[image:1708659683686-935.png]]
147
148 Fill in the mechanical parameters (Use the same user units)
149
Mora Zhou 1.7 150 (% style="text-align:center" %)
Mora Zhou 1.2 151 [[image:1708659724005-484.png]]
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153 Right click “Device” and add device
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Mora Zhou 1.6 155 (% style="text-align:center" %)
Mora Zhou 1.2 156 [[image:1708659738998-621.png]]
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158 Add “EtherCAT Master SoftMotion”
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Mora Zhou 1.6 160 (% style="text-align:center" %)
Mora Zhou 1.2 161 [[image:1708659810951-477.png]]
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Mora Zhou 1.3 163 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)
Mora Zhou 1.2 164
Mora Zhou 1.6 165 (% style="text-align:center" %)
Mora Zhou 1.3 166 [[image:1708659837241-566.png]]
Mora Zhou 1.2 167
Mora Zhou 1.6 168
169 (% style="text-align:center" %)
Mora Zhou 1.3 170 [[image:1708659844978-946.png]]
Mora Zhou 1.2 171
Mora Zhou 1.3 172 Add 3 motion axis
Mora Zhou 1.2 173
Mora Zhou 1.6 174 (% style="text-align:center" %)
Mora Zhou 1.3 175 [[image:1708659868961-294.png]]
Mora Zhou 1.2 176
Mora Zhou 1.3 177 Set the correct resolution based on the motor encoder
Mora Zhou 1.2 178
Mora Zhou 1.6 179 (% style="text-align:center" %)
Mora Zhou 1.3 180 [[image:1708659882131-694.png]]
Mora Zhou 1.2 181
Mora Zhou 1.3 182 Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Mora Zhou 1.2 183
Mora Zhou 1.6 184 (% style="text-align:center" %)
Mora Zhou 1.3 185 [[image:1708659902425-597.png]]
186
187 Bind axis to robot.
188
Mora Zhou 1.5 189 (% style="text-align:center" %)
Mora Zhou 1.3 190 [[image:1708659921571-879.png]]
191
192 Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
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Mora Zhou 1.5 194 (% style="text-align:center" %)
Mora Zhou 1.3 195 [[image:1708660033766-909.png]]
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Mora Zhou 1.5 197 (% style="text-align:center" %)
Mora Zhou 1.3 198 [[image:1708660038539-524.png]]
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Mora Zhou 1.4 200 == 6.2 Demo program ==
Mora Zhou 1.3 201
Mora Zhou 1.4 202 Build a simple program for absolute move
Mora Zhou 1.3 203
Mora Zhou 1.5 204 (% style="text-align:center" %)
Mora Zhou 1.4 205 [[image:1708660054738-287.png]]
Mora Zhou 1.3 206
Mora Zhou 1.5 207 (% style="text-align:center" %)
Mora Zhou 1.4 208 [[image:1708660060148-798.png]]