Wecon LX6C Parallel Robot Project
WECON Technology Co., Ltd.
Global provider of HMI & PLC & IIoT V-BOX & Inverter & Servo Control & Industrial Panel PC
1 Introduction
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 parallel?robot is realized.
2 Mainnbsp kit composition
3 Mechanical parameters
Length of the upper arm d1: 330mm
Length of the lower arm d2: 600mm
Distance between lower arm in one pair d3: 20mm
Radius of circle where lower arm contact point is located r1: 50mm
Radius of circle where motor shaft is located r2: 100mm
Maximum angle in ±?for?ball joints: 60°
4 Program preparation
4.1 Language settings
Select “Tools”-->“Options”
?Set software language in “International Settings”
4.2 Device file import
Select “Tools“-->“Device Repository“
Install LX6C xml file.
Install VD3E xml file.
5 Device connection
5.1 New project
Create a new standard project
Select device and programming langua
5.2 Connectnbsp;LX6C
Double click “Device” and select Scan Network
Select LX6C and click OK, make sure your PC and LX6C in the same LAN (LX6C default IP is 192.168.8.8)
Login?device with account and password
6 Project configuration
6.1 Add Axis Group
Right click Application, “Add Object” and select “Axis Group”
Click “Select?Kinematics” and select “TRAFO.Kin_Tripod_Rotary”
Fill in the mechanical parameters (Use the same user units)
Right click “Device” and?add device
Add “EtherCAT Master SoftMotion”
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)
Add 3 motion axis
Set the correct resolution based on the motor encoder
Double click “EtherCAT_Master_SoftMotion” and select network name “eth1” in “General”
Bind axis to robot
Move “PLC_PRG” from “MainTask” to “EtherCAT_Task”
6.2 Demonbsp;program
Build a simple program for absolute move