Wiki source code of Wecon LX6C Parallel Robot Project

Last modified by nozzin on 2024/02/26 09:16

version	line-number	content
1.2	1	= 1 Introduction =
1.1	2
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.
1.1	4
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" %)
2.2	11	\|(% style="width:799px" %)(((
1.2	12	(% style="text-align:center" %)
2.2	13	(((
4.1	14	(% style="display:inline-block; width:334px;" %)
2.2	15	[[==== LX6C ====>>image:1708658932564-782.png\|\|height="319" width="334"]]
1.2	16	)))
2.2	17	)))\|(% style="width:823px" %)(((
3.1	18	(% style="text-align:center" %)
	19	(((
4.1	20	(% style="display:inline-block; width:513px;" %)
3.1	21	[[==== VD3E Servo ====>>image:1708666409644-249.png\|\|height="289" width="513"]]
2.2	22	)))
3.1	23	)))
1.2	24
	25	(% style="margin-left:auto; margin-right:auto" %)
3.1	26	\|=(% style="width: 801px;" %)NAME\|=(% style="width: 821px;" %)QUANTITY
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)
1.2	36
	37	= 3 Mechanical parameters =
	38
	39
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
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
8.1	67	Select “Tools”~-~->“Options”
1.2	68
	69	(% style="text-align:center" %)
	70	[[image:1708659282790-309.png]]
	71
	72
8.1	73	Set software language in “International Settings”
1.2	74
	75	(% style="text-align:center" %)
	76	[[image:1708659276549-637.png]]
	77
	78	== 4.2 Device file import ==
	79
8.1	80	Select “Tools“~-~->“Device Repository“
1.2	81
1.8	82	(% style="text-align:center" %)
1.2	83	[[image:1708659330267-186.png]]
	84
8.1	85	Install LX6C xml file.
1.2	86
1.8	87	(% style="text-align:center" %)
1.2	88	[[image:1708659348892-129.png]]
	89
8.1	90	Install VD3E xml file.
1.2	91
1.8	92	(% style="text-align:center" %)
1.2	93	[[image:1708659363849-556.png]]
	94
	95
6.1	96	\|(((
	97	(% style="text-align:center" %)
5.1	98	[[image:1708666791453-744.png]]
6.1	99	)))\|(((
	100	(% style="text-align:center" %)
5.1	101	[[image:1708666805375-462.png]]
6.1	102	)))
1.2	103
	104	= 5 Device connection =
	105
	106	== 5.1 New project ==
	107
9.1	108	Create a new standard project
1.2	109
1.8	110	(% style="text-align:center" %)
1.2	111	[[image:1708659481680-311.png]]
	112
9.1	113	Select device and programming language
1.2	114
1.8	115	(% style="text-align:center" %)
1.2	116	[[image:1708659504171-928.png]]
	117
	118	== 5.2 Connect LX6C ==
	119
10.1	120	Double click “Device” and select Scan Network
1.2	121
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)
1.2	123
1.8	124	(% style="text-align:center" %)
1.2	125	[[image:1708659630178-665.png]]
	126
10.1	127	Login device with account and password
1.2	128
1.8	129	(% style="text-align:center" %)
1.2	130	[[image:1708659646762-832.png]]
	131
	132	= 6 Project configuration =
	133
	134	== 6.1 Add Axis Group ==
	135
11.1	136	Right click Application, “Add Object” and select “Axis Group”
1.2	137
	138
1.7	139	(% style="text-align:center" %)
1.2	140	[[image:1708659668179-463.png]]
	141
11.1	142	Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
1.2	143
1.7	144	(% style="text-align:center" %)
1.2	145	[[image:1708659683686-935.png]]
	146
11.1	147	Fill in the mechanical parameters (Use the same user units)
1.2	148
1.7	149	(% style="text-align:center" %)
1.2	150	[[image:1708659724005-484.png]]
	151
11.1	152	Right click “Device” and add device
1.2	153
1.6	154	(% style="text-align:center" %)
1.2	155	[[image:1708659738998-621.png]]
	156
11.1	157	Add “EtherCAT Master SoftMotion”
1.2	158
1.6	159	(% style="text-align:center" %)
1.2	160	[[image:1708659810951-477.png]]
	161
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)
1.2	163
1.6	164	(% style="text-align:center" %)
1.3	165	[[image:1708659837241-566.png]]
1.2	166
1.6	167
	168	(% style="text-align:center" %)
1.3	169	[[image:1708659844978-946.png]]
1.2	170
11.1	171	Add 3 motion axis
1.2	172
1.6	173	(% style="text-align:center" %)
1.3	174	[[image:1708659868961-294.png]]
1.2	175
11.1	176	Set the correct resolution based on the motor encoder
1.2	177
1.6	178	(% style="text-align:center" %)
1.3	179	[[image:1708659882131-694.png]]
1.2	180
11.1	181	Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
1.2	182
1.6	183	(% style="text-align:center" %)
1.3	184	[[image:1708659902425-597.png]]
	185
11.1	186	Bind axis to robot.
1.3	187
1.5	188	(% style="text-align:center" %)
1.3	189	[[image:1708659921571-879.png]]
	190
11.1	191	Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
1.3	192
1.5	193	(% style="text-align:center" %)
1.3	194	[[image:1708660033766-909.png]]
	195
1.5	196	(% style="text-align:center" %)
1.3	197	[[image:1708660038539-524.png]]
	198
1.4	199	== 6.2 Demo program ==
1.3	200
11.1	201	Build a simple program for absolute move
1.3	202
1.5	203	(% style="text-align:center" %)
1.4	204	[[image:1708660054738-287.png]]
1.3	205
1.5	206	(% style="text-align:center" %)
1.4	207	[[image:1708660060148-798.png]]