Wiki source code of Wecon LX6C Parallel Robot Project
Last modified by nozzin on 2024/02/26 09:16
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1.2 | 1 | = 1 Introduction = |
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1.1 | 2 | |
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12.1 | 3 | This project uses Wecon Codesys PLC LX6C and bus type servo VD3E for parallel robot control. Through simple debugging, the point-to-point interpolation motion of the delta robot is realized. |
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1.1 | 4 | |
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1.2 | 5 | = 2 Main kit composition = |
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| 7 | (% style="text-align:center" %) | ||
| 8 | [[image:1708658466693-778.png]] | ||
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| 10 | (% style="margin-left:auto; margin-right:auto" %) | ||
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2.2 | 11 | |(% style="width:799px" %)((( |
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1.2 | 12 | (% style="text-align:center" %) |
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2.2 | 13 | ((( |
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4.1 | 14 | (% style="display:inline-block; width:334px;" %) |
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2.2 | 15 | [[==== **LX6C** ====>>image:1708658932564-782.png||height="319" width="334"]] |
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1.2 | 16 | ))) |
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2.2 | 17 | )))|(% style="width:823px" %)((( |
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3.1 | 18 | (% style="text-align:center" %) |
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4.1 | 20 | (% style="display:inline-block; width:513px;" %) |
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3.1 | 21 | [[==== **VD3E Servo** ====>>image:1708666409644-249.png||height="289" width="513"]] |
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2.2 | 22 | ))) |
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3.1 | 23 | ))) |
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1.2 | 24 | |
| 25 | (% style="margin-left:auto; margin-right:auto" %) | ||
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3.1 | 26 | |=(% style="width: 801px;" %)NAME|=(% style="width: 821px;" %)QUANTITY |
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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)** | ||
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1.2 | 36 | |
| 37 | = 3 Mechanical parameters = | ||
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| 39 | |||
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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 | |||
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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 | ||
| 56 | |||
| 57 | Radius of circle where lower arm contact point is located **r1**: 50mm | ||
| 58 | |||
| 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 | |||
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8.1 | 67 | **Select “Tools”~-~->“Options”** |
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1.2 | 68 | |
| 69 | (% style="text-align:center" %) | ||
| 70 | [[image:1708659282790-309.png]] | ||
| 71 | |||
| 72 | |||
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8.1 | 73 | **Set software language in “International Settings”** |
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1.2 | 74 | |
| 75 | (% style="text-align:center" %) | ||
| 76 | [[image:1708659276549-637.png]] | ||
| 77 | |||
| 78 | == 4.2 Device file import == | ||
| 79 | |||
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8.1 | 80 | **Select “Tools“~-~->“Device Repository“** |
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1.2 | 81 | |
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1.8 | 82 | (% style="text-align:center" %) |
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1.2 | 83 | [[image:1708659330267-186.png]] |
| 84 | |||
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8.1 | 85 | **Install LX6C xml file.** |
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1.2 | 86 | |
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1.8 | 87 | (% style="text-align:center" %) |
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1.2 | 88 | [[image:1708659348892-129.png]] |
| 89 | |||
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8.1 | 90 | **Install VD3E xml file.** |
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1.2 | 91 | |
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1.8 | 92 | (% style="text-align:center" %) |
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1.2 | 93 | [[image:1708659363849-556.png]] |
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6.1 | 96 | |((( |
| 97 | (% style="text-align:center" %) | ||
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5.1 | 98 | [[image:1708666791453-744.png]] |
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6.1 | 99 | )))|((( |
| 100 | (% style="text-align:center" %) | ||
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5.1 | 101 | [[image:1708666805375-462.png]] |
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6.1 | 102 | ))) |
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1.2 | 103 | |
| 104 | = 5 Device connection = | ||
| 105 | |||
| 106 | == 5.1 New project == | ||
| 107 | |||
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9.1 | 108 | **Create a new standard project** |
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1.2 | 109 | |
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1.8 | 110 | (% style="text-align:center" %) |
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1.2 | 111 | [[image:1708659481680-311.png]] |
| 112 | |||
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9.1 | 113 | **Select device and programming language** |
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1.2 | 114 | |
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1.8 | 115 | (% style="text-align:center" %) |
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1.2 | 116 | [[image:1708659504171-928.png]] |
| 117 | |||
| 118 | == 5.2 Connect LX6C == | ||
| 119 | |||
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10.1 | 120 | **Double click “Device” and select Scan Network** |
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1.2 | 121 | |
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10.1 | 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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1.2 | 123 | |
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1.8 | 124 | (% style="text-align:center" %) |
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1.2 | 125 | [[image:1708659630178-665.png]] |
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10.1 | 127 | **Login device with account and password** |
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1.2 | 128 | |
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1.8 | 129 | (% style="text-align:center" %) |
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1.2 | 130 | [[image:1708659646762-832.png]] |
| 131 | |||
| 132 | = 6 Project configuration = | ||
| 133 | |||
| 134 | == 6.1 Add Axis Group == | ||
| 135 | |||
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11.1 | 136 | **Right click Application, “Add Object” and select “Axis Group”** |
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1.2 | 137 | |
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1.7 | 139 | (% style="text-align:center" %) |
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1.2 | 140 | [[image:1708659668179-463.png]] |
| 141 | |||
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11.1 | 142 | **Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”** |
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1.2 | 143 | |
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1.7 | 144 | (% style="text-align:center" %) |
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1.2 | 145 | [[image:1708659683686-935.png]] |
| 146 | |||
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11.1 | 147 | **Fill in the mechanical parameters (Use the same user units)** |
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1.2 | 148 | |
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1.7 | 149 | (% style="text-align:center" %) |
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1.2 | 150 | [[image:1708659724005-484.png]] |
| 151 | |||
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11.1 | 152 | **Right click “Device” and add device** |
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1.2 | 153 | |
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1.6 | 154 | (% style="text-align:center" %) |
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1.2 | 155 | [[image:1708659738998-621.png]] |
| 156 | |||
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11.1 | 157 | **Add “EtherCAT Master SoftMotion”** |
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1.2 | 158 | |
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1.6 | 159 | (% style="text-align:center" %) |
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1.2 | 160 | [[image:1708659810951-477.png]] |
| 161 | |||
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11.1 | 162 | **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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1.2 | 163 | |
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1.6 | 164 | (% style="text-align:center" %) |
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1.3 | 165 | [[image:1708659837241-566.png]] |
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1.2 | 166 | |
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1.6 | 167 | |
| 168 | (% style="text-align:center" %) | ||
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1.3 | 169 | [[image:1708659844978-946.png]] |
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1.2 | 170 | |
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11.1 | 171 | **Add 3 motion axis** |
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1.2 | 172 | |
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1.6 | 173 | (% style="text-align:center" %) |
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1.3 | 174 | [[image:1708659868961-294.png]] |
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1.2 | 175 | |
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11.1 | 176 | **Set the correct resolution based on the motor encoder** |
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1.2 | 177 | |
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1.6 | 178 | (% style="text-align:center" %) |
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1.3 | 179 | [[image:1708659882131-694.png]] |
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1.2 | 180 | |
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11.1 | 181 | **Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”** |
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1.2 | 182 | |
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1.6 | 183 | (% style="text-align:center" %) |
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1.3 | 184 | [[image:1708659902425-597.png]] |
| 185 | |||
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11.1 | 186 | **Bind axis to robot.** |
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1.3 | 187 | |
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1.5 | 188 | (% style="text-align:center" %) |
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1.3 | 189 | [[image:1708659921571-879.png]] |
| 190 | |||
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11.1 | 191 | **Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”** |
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1.3 | 192 | |
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1.5 | 193 | (% style="text-align:center" %) |
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1.3 | 194 | [[image:1708660033766-909.png]] |
| 195 | |||
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1.5 | 196 | (% style="text-align:center" %) |
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1.3 | 197 | [[image:1708660038539-524.png]] |
| 198 | |||
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1.4 | 199 | == 6.2 Demo program == |
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1.3 | 200 | |
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11.1 | 201 | **Build a simple program for absolute move** |
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1.3 | 202 | |
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1.5 | 203 | (% style="text-align:center" %) |
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1.4 | 204 | [[image:1708660054738-287.png]] |
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1.3 | 205 | |
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1.5 | 206 | (% style="text-align:center" %) |
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1.4 | 207 | [[image:1708660060148-798.png]] |