Wecon LX6C Parallel Robot Project

= 1 Introduction =

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.

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"]]

)))

)))

(% style="margin-left:auto; margin-right:auto" %)

26

|=(% style="width: 801px;" %)NAME|=(% style="width: 821px;" %)QUANTITY

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)**

36

37

= 3 Mechanical parameters =

|(((

(% 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

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

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

82

(% style="text-align:center" %)

83

[[image:1708659330267-186.png]]

84

85

**Install LX6C xml file.**

86

87

(% style="text-align:center" %)

88

[[image:1708659348892-129.png]]

89

90

**Install VD3E xml file.**

91

92

(% style="text-align:center" %)

93

[[image:1708659363849-556.png]]

|(((

(% style="text-align:center" %)

98

[[image:1708666791453-744.png]]

99

)))|(((

100

(% style="text-align:center" %)

101

[[image:1708666805375-462.png]]

102

)))

103

104

= 5 Device connection =

105

106

== 5.1 New project ==

107

108

**Create a new standard project**

109

110

(% style="text-align:center" %)

111

[[image:1708659481680-311.png]]

112

113

**Select device and programming language**

114

115

(% style="text-align:center" %)

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

124

(% style="text-align:center" %)

125

[[image:1708659630178-665.png]]

126

127

**Login device with account and password**

128

129

(% style="text-align:center" %)

130

[[image:1708659646762-832.png]]

131

132

= 6 Project configuration =

133

134

== 6.1 Add Axis Group ==

135

136

**Right click Application, “Add Object” and select “Axis Group”**

137

138

139

(% style="text-align:center" %)

140

[[image:1708659668179-463.png]]

141

142

**Click “Select Kinematics” and select “TRAFO.Kin_Tripod_Rotary”**

143

144

(% style="text-align:center" %)

145

[[image:1708659683686-935.png]]

146

147

**Fill in the mechanical parameters (Use the same user units)**

148

149

(% style="text-align:center" %)

150

[[image:1708659724005-484.png]]

151

152

**Right click “Device” and add device**

153

154

(% style="text-align:center" %)

155

[[image:1708659738998-621.png]]

156

157

**Add “EtherCAT Master SoftMotion”**

158

159

(% style="text-align:center" %)

160

[[image:1708659810951-477.png]]

161

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)**

163

164

(% style="text-align:center" %)

165

[[image:1708659837241-566.png]]

166

167

168

(% style="text-align:center" %)

169

[[image:1708659844978-946.png]]

170