SoftMC-Wiki - User contributions [en]

Overview

2019-07-21T12:28:07Z

Dany:

{{Languages|Overview}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==

Following table present all softMC available items in term of language version and web site

{| class="wikitable"
|-
! scope="col" | Help
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| On line help
| web based help (Servotronix wiki)
| Y
| Y
|  
| Yes
|-
! scope="col" | Documentation/Manuals
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| softMC 301 Flyer
| Promotional flyer 2019 V1
| 1
| 1
| 1
| Yes
|-
| softMC 702 Flyer
| Promotional Flyer 2018
| 1
| 1
| 1
| Yes
|-
| softMC 703 Flyer
| Promotional Flyer 2018
| 1.2
| 1.2
| 1.2
| Yes
|-
| softMI HMI Flyer
| Promotional Flyer 2018
| 1
| 1
| 1
| Yes
|-
| softTP Teach pendant Flyer
| Promotional Flyer 2018
| 1
| 1
| 1
| Yes
|-
| Product Presentation
| Product Presentation 
| 4
|  
|  
| No
|-
| Features and Functions
| According to the various categories of controller functionality
| 1.3
|  
|  
| Yes
|-
| Installation Guide softMC 301
| Hardware installation, configuration and operation
| 3.3
|  
|  
| Yes
|-
| Installation Guide softMC 702
| Hardware installation, configuration and operation
| 3.1
|  
|  
| Yes
|-
| Installation Guide softMC 703
| Hardware installation, configuration and operation
| 1
|  
|  
| Yes
|-
| Installation Guide softMI HMI
| Hardware installation, configuration and operation
| 1
|  
|  
| Yes
|-
| Installation Guide softTP Teach pendant
| Hardware installation, configuration and operation
| 1.2
|  
|  
| Yes
|-
| Motion API Ref. Manual
| interface your machine controller with the softMC motion controller
| 1.0
|  
|  
| Yes
|-
| Simulator - User Guide
| procedure for installing the softMC Simulator
| 1.2
|  
|  
| Yes
|-
| Training Modules
| 11 Modules for softMC
| 1.0
|  
|  
| Yes
|-
! scope="col" | Mechanical drawing
! scope="col" | File format
! scope="col" | Ver
! scope="col" |  
! scope="col" |  
! scope="col" | Web site
|-
| softMC 301
| 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT
| 3
|  
|  
| Yes
|-
| softMC 702
| 2D; PDF, DXF 3D; EPRT IGS STEP
| 1
|  
|  
| Yes
|-
| softMC 703
| 2D; PDF, DXF 3D;3D; EPRT IGS STEP
| 1
|  
|  
| Yes
|-
! scope="col" | GUI (software)
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| ControlStudio
| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator
| CS 1.3(build3, sp 9) CFG 2.5.7.0 MB 1.3.5.0
| CS 1.3(build3, sp 9) CFG 2.5.7.0 MB 1.3.5.0
|  
| Yes
|-
| HMIStudio
| graphic user interface packaged to build your HMI interface
| 2.4
|  
|  
| Yes
|-
| TeachStudio
| Teach pendant graphic user interface packaged to direct manipulate robot '''required license'''
| 2.9.9
| 2.9.9
|  
| No
|-
! scope="col" | Software and Examples
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| API
| softMC Windows KMAPI DLL 32 bit
| 1.2(build1, sp 1)
|  
|  
| Yes
|-
| TP lib
| Teach pendant library for TeachStudio
| TBD
|  
|  
| Yes
|-
| Tool Chain softMC 7
| C compiler and linker
| 2011.03.1
|  
|  
| No
|-
| Simulator Software
| software package that allows you to work on a simulated softMC using only a PC
| 0.4.17.4
|  
|  
| Yes
|-
| Bundle for softMC 301 702
| Configurator bundle repository
| 0.4.17.4r6
|  
|  
| Yes
|-
| Bundle for softMC 703
| Configurator bundle repository
| 0.4.18.2r5
|  
|  
| Yes
|-
| Libraries and examples for softMC
| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG
| 0.4.16.7
|  
|  
| Yes
|-
| Library for CODESYS
| softMC Library for CODESYS
| 1.0.0.1
|  
|  
| Yes
|-
| CODESYS Examples
| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD
| 5
|  
|  
| Yes
|-
! scope="col" | Firmware Release
! scope="col" | Description
! scope="col" | Ver
! scope="col" |  
! scope="col" |  
! scope="col" | Web site
|-
| Firmware softMC 301
| For CANopen and the EtherCAT module
| 0.4.17.5r2-C2
|  
|  
| No
|-
| Firmware softMC 702
| Motion bus: Multi bus, CAN and EtherCAT “B”
| 0.4.17.5r2-C2
|  
|  
| No
|-
| Firmware softMC 703
| EtherCAT “E”
| 0.4.18.2
|  
|  
| No
|-
! scope="col" | Firmware Maintenance Customer only
! scope="col" | Description
! scope="col" | Ver
! scope="col" |  
! scope="col" |  
! scope="col" | Web site
|-
| Firmware softMC 702
| Motion bus: CANopen “C”
| 0.4.14.14
|  
|  
| No
|-
| Firmware softMC 702
| Motion bus: EtherCAT “E”
| 0.4.14.14
|  
|  
| No
|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Supported Devices by softMC

2019-04-08T05:58:01Z

Dany:

== Introduction ==
Following present supported devices that where validate with the softMC in our lab, but is not limited. many other devices as well can operate with the softMC.

== Input/Output ==

Following table present Input/output module that where validate with the softMC

{| class="wikitable"
|-
! scope="col" | Manufacture
! scope="col" | PN
! scope="col" | Description
! scope="col" | Vendor
! scope="col" | FieldBUS
|-
| Beckhoff
| EK1100
| EtherCAT Coupler
| 0x2
| EtherCAT
|-
| Beckhoff
| EL1008
| 8-channel digital input terminal 24 V DC, 3 ms
| 0x2
| EtherCAT
|-
| Beckhoff
| EL1088
| 8-channel digital input terminal 24 V DC, negative switching
| 0x2
| EtherCAT
|-
| Beckhoff
| EL2008
| 8-channel digital output terminal 24 V DC, 0.5 A
| 0x2
| EtherCAT
|-
| Beckhoff
| EL1809
| EtherCAT Terminal 16-channel digital, input 24 V DC
| 0x2
| EtherCAT
|-
| Beckhoff
| EL2809
| EtherCAT Terminal 16-channel digital output 24 V DC, 0.5 A
| 0x2
| EtherCAT
|-
| Beckhoff
| EL3356
| 1-channel precise load cell analysis (resistor bridge), 16 bit
| 0x2
| EtherCAT
|-
| Beckhoff
| EL2088
| 8-channel digital output terminal 24 V DC, negative switching
| 0x2
| EtherCAT
|-
| Beckhoff
| EL3064
| Analog Input Terminal; 4 and 8 channel, 12 bit, 0 V ... +10 V, single-ended inputs
| 0x2
| EtherCAT
|-
| Beckhoff
| EL2809
| 16-chanel digital output
| 0x2
| EtherCAT
|-
| Beckhoff
| EL4134
| 4x analog output / 16 bit -10...+10V / load >5 KOhm
| 0x2
| EtherCAT
|-
| esd
| ECX-DIO8
| EtherCAT® Digital I/O-Module 8 digital I/Os
| 0x17
| EtherCAT
|-
| Weidmuller
| UR20-FBC-EC
| Remote I/O coupler
| 0x00000230
| EtherCAT
|-
| Weidmuller
| UR20-16DI-N
| I/O module
| 0x00000230
| EtherCAT
|-
| WAGO
| FC 750
| module
| 0x00000021
| EtherCAT
|-
| PHOENIX
| BK EC
| Bus coupler - AXL F BK EC
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL F DI8/1 DO8/1 1H
| I/O module
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL F AI4 U 1H
| I/O module
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL F AI8 1F
| I/O module
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL F DO 16/1 1H
| I/O module
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL F DI 16/1 1H
| I/O module
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL F AO4 1H
| I/O module
| 0x84
| EtherCAT
|-
| PHOENIX
| AXL AI 8-ME
| I/O module
| 0x84
| EtherCAT
|-
| Empower
| EIM 9100
| EtherCAT coupler
| 0x1A
| EtherCAT
|-
| Empower
| EIM 1016
| 16 Digital inputs
| 0x1A
| EtherCAT
|-
| Empower
| EIM 1116
| 16 Digital inputs
| 0x1A
| EtherCAT
|-
| Empower
| EIM 2116
| 16 Digital outputs
| 0x1A
| EtherCAT
|-
| Empower
| EIM 3118
| 8 Analog inputs
| 0x1A
| EtherCAT
|-
| Empower
| EIM 4118
| 8 Analog outputs
| 0x1A
| EtherCAT
|-
| Empower
| EIM 5312
| PWM module
| 0x1A
| EtherCAT
|-
| Empower
| EIM 5322
| PWM module
| 0x1A
| EtherCAT
|-
| FESTO
| CTEU-EC 572556
| EtherCAT bus node
| 0x00000026
| EtherCAT
|-
| Optoforce
| HEX-70-XE
| Force Sensor
| 0x5D4
| EtherCAT
|}

== Cards ==
Following table present Cards that where validate with the softMC 
{| class="wikitable"
|-
! scope="col"|Manufacture || ! scope="col"| PN ||! scope="col"| Description ||! scope="col"| Vendor ||! scope="col"| FieldBUS
|-
|hilscher||CIFX 50-RE ||Communication Interface PCI Real-Time-Ethernet || || EtherCAT
|}

== HMI ==
Following table present HMI that where validate with the softMC 
{| class="wikitable"
|-
! scope="col"|Manufacture || ! scope="col"| PN ||! scope="col"| Description ||! scope="col"| Vendor ||! scope="col"| FieldBUS
|-
|Exor||+ESMA07MU301 ||7 eSMART07M" TFT 16:9 wide color display || || Modbus TCP/IP
|-
|M2i||XTOP07TW-LD-E ||7" 800x480 TFT color display || || Modbus TCP/IP
|-
|Samkon||SK-xxxAS ||5" 7.2" 10.2" with Ethernet || || Modbus TCP/IP
|-
|Kinco||MT4x3xT&TE ||4.3" 7" 10" with Ethernet || || Modbus TCP/IP
|}

Welcome/ko

2019-04-07T10:15:01Z

Dany:

{{Languages|Welcome}}

= softMC - 다축모션제어 =

{|style="text-align: center;"
|[[File:SERmoc HiRes.jpg|70px]]
|[[File:MC-Exx-702-0000_1.jpg|100px]]
|[[File:703.PNG| 80px]]

|-
|softMC 3
|softMC 702
|softMC 703
|}
 
다축 모션 제어 소프트웨어 및 하드웨어 패키지로, 다양한 자동화 및 로봇 어플리케이션에서 성공적으로 구현된 광범위한 프로그래밍 기능을 제공합니다.
softMC는 Servotronix의 서보 및 스테퍼 드라이브 - 모터 시스템과 완벽하게 통합되어, 비용효율이 높은 패키지로 완벽한 모션 솔루션을 제공하도록 설계되었습니다.

* 개방적이고 모듈구성의 모던한 머신제어환경
* 실시간 확장 기능을 갖춘 Linux 운영 체제
* 이더넷 머신인터페이스""
* EtherCAT® 과 CANopen® 모션버스 지원
* 최대 64축 보간 제어""
* 표준 및 비표준 로봇기구학을 위한 광범위한 기능"
* 선제적 멀티 태스킹 및 비동기 이벤트 응답을 지원하여, 모션 프로그램을 생성할 수있는 완벽한 유연성을 제공하는 풍부한 프로그래밍 언어
* CODESYS IEC61131 PLCopen 지원
* 맞춤형 소프트웨어 솔루션을 고객의 하드웨어에 임베드할 수 있습니다.

= 최근 변경 사항 / 추가 사항 하이라이트 (3개월) =
* [[Overview/zh-hans | 개요 - 한글]]
* [[Welcome/zh-hans | 환영합니다 - 한글]]
* [[Getting_Started_with_MC-Basic_and_ControlStudio| MC베이직과 ControlStudio - "신규"]]
* [[:Category:MC-Basic:Commands | 다수의 커멘드/속성 - 한글지원]]
* [[MC-Basic:WITHGLOBAL | 위드글로벌 - "신규"]]
* [[Work_Space_Limits | 워크스페이스 리미트 - "신규"]]
* [[Program_Examples:force_sensor | 프로그램예제 : force_sensor - "신규"]]
* [[Program Examples: PIPEMODE library and motion commands| | 프로그램예제 : PIPEMODE_라이브러리와 모션커멘드- "신규"]]
* [[MC-Basic:element.STOPTYPE| | 주어진 다른 StopType의 설명]]
* [[MC-Basic:element.PROFILERTYPE| 주어진 다른 모션프로파일들의 설명]]
* [[Motion_Project_Example:_Cartesian_Robot | Cartesian로봇(컨피규레이터+Control Studio)에 대한 전체 예제]]
* [[Motion_Project_Example:_Single_Axis_With_CDHD| 단축 CDHD프로젝트 - 완전한 예제(컨피규레이터+Control Studio)]]
* [[Modbus_Communication_API |모드버스-모드버스에 필요한 파일들 '''업데이트''']]
* [[Inverse_Dynamic_Model | 인버스_다이나믹_모델 - '''신규''']]
* [[Motion_Project_Example:_Scara_Robot_simulated | 모션프로젝트예제:Scara로봇 시뮬레이션-'''신규''']]

=연락처=
==글로벌 본사==
Servotronix Motion Control Ltd. 21C Yagia Kapayim Street, P.O.B. 3919 Petach Tikva 49130, Israel 
Tel: +97239273800 
Fax: +97239228075 
info@servotronix.com 
Website: www.servotronix.com 
Technical support: tech.support@servotronix.com

== China ==

Servotronix Motion Technology Development (Shenzhen) Ltd. Room 605, Building B2, Kexing Science Park, No.15 Keyuan Road, Nanshan District, Shenzhen 518057, China Tel: +8675586626603 Fax: +8675586626665 info_china@servotronix.com

==Europe==
Servotronix GmbH Dülkener Straße 5 D-41334 Nettetal, Germany 
Tel: +4921531398586

==Korea==
Servotronix Motion Control Korea 
IS BIZ Tower #1315, 57-1 Heungan-daero 427beon-gil 
Dongan-gu,Anyang-si,Gyeonggi-do (14059) South Korea 
whangsoon.joo@servotronix.com

Welcome/zh-hans

2019-04-07T10:14:01Z

Dany:

{{Languages|Welcome}}

= softMC - 多轴运动控制 =

{|style="text-align: center ;"width: 10px;" "align="center"
|[[File:SERmoc HiRes.jpg|center|100px]]
|
|[[File:703.PNG| center|100px]]
|
|[[File:MC-Exx-702-0000_1.jpg|center|150px]]
|-
|'''softMC 3 - 紧凑型运动控制器''' 其性能等级中最小的运动控制器, 通过EtherCAT或CANopen通讯支持1至6轴的同步协调运动||style="width: 7em;"|
|'''softMC 703 - 多轴运动控制器''' 紧凑型多轴控制软件和硬件包，支持1至64轴EtherCAT通信，适用于各种自动化和机器人应用||style="width: 7em;"|
|'''softMC 702 - 多轴运动控制器''' 多轴运动控制软件和硬件包，支持1到64轴EtherCAT和CANopen通信，适用于各种自动化和机器人应用||style="width: 30em;"|
|} 
多轴运动控制软件与硬件套装，提供可扩展的编程功能，并已成功应用到各种自动化与机器人应用领域。softMC是一种设计为与Servotronix伺服与步进驱动-电机系统无缝连接，旨在提供整套的高性价比的解决方案。

* '''开放，模块化以及现代化的机器控制环境'''
* '''具有实时补丁的Linux操作系统'''
* '''以太网机器接口'''
* '''支持EtherCAT® 和 CANopen® 运动控制总线'''
* '''最高支持同时控制64个插补轴'''
* '''支持标准与非标准机器人运动学模型扩展能力'''
* '''具有丰富的编程语言，可以完整地、灵活地创建优先抢占、多任务、异步事件响应的运动控制程序'''
* '''支持CODESYS IEC 61131 PLCopen标准'''
* '''可嵌入到客户自主硬件的客制化的软件解决方案'''

= 最近改变/新增的亮点 (近三个月) =
* [[Getting_Started_with_MC-Basic_and_ControlStudio|MC-Basic和ControlStudio入门 - '''new''']]
* [[:Category:MC-Basic:Commands | 现在有很多命令/属性有中文说明!]]
* [[MC-Basic:WITHGLOBAL | WITHGLOBAL - '''new''']]
* [[Work_Space_Limits | 工作空间限制 - '''new''']]
* [[Program_Examples:force_sensor | 程序示例：force_sensor - '''new''']]
* [[Program Examples: PIPEMODE library and motion commands| 程序示例: PIPEMODE库和运动命令- '''new''']]
* [[MC-Basic:element.STOPTYPE| StopType的解释]]
* [[MC-Basic:element.PROFILERTYPE| 运动规划的解释 ]]
* [[Motion_Project_Example:_Cartesian_Robot | 笛卡尔机器人的完整示例(configurator + Control Studio）]]
* [[Motion_Project_Example:_Single_Axis_With_CDHD| CDHD单轴 - 完整示例 (configurator + Control Studio）]]
* [[Modbus_Communication_API | Modbus - MB必需的文件 '''updated''']]
* [[Inverse_Dynamic_Model | 逆动力学 - '''new''' ]]
* [[Motion_Project_Example:_Scara_Robot_simulated | 运动工程示例:_Scara机器人仿真 - '''new''']]
* [[WorkSpace_areas | 工作空间区域 - '''new''']]
* [[Program_Examples:_WorkSpace_areas | 工作空间区域 '''示例 - new''']]

=联系我们=
==全球总部==
Servotronix Motion Control Ltd. 21C Yagia Kapayim Street, P.O.B. 3919 Petach Tikva 49130, Israel 
电话: +97239273800 
传真: +97239228075 
邮箱：info@servotronix.com 
网站: www.servotronix.com 
技术支持: tech.support@servotronix.com

== 中国 ==

高创传动技术开发(深圳)有限公司 中国广东省深圳市南山区科苑路15号科兴科学园B2栋605室，邮编：518057 电话: +8675586626603 传真: +8675586626665 邮箱：info_china@servotronix.com

==欧洲==
Servotronix GmbH Dülkener Straße 5 D-41334 Nettetal, Germany 
电话: +4921531398586

Welcome/de

2019-04-07T10:13:16Z

Dany:

{{Languages|Welcome}}

= Mehrachs-Motion-Controller softMC =

{|style="text-align: center;"
|[[File:SERmoc HiRes.jpg|70px]]
|[[File:MC-Exx-702-0000_1.jpg|100px]]
|[[File:703.PNG| 80px]]

|-
|softMC 3
|softMC 702
|softMC 703
|}
 
Software- und Hardwarepaket für die mehrachsige Bewegungssteuerung bietet umfassende Programmierungsfunktionen, die erfolgreich in zahlreiche Automatisierungs- und Robotikanwendungen implementiert wurden. Der softMC ist für die nahtlose Integration in Servoantriebs- und Schrittmotorsysteme von Servotronix ausgelegt, um eine umfassende Bewegungslösung in einem kostengünstigen Paket bieten zu können.

* '''Offene, modulare und moderne Maschinensteuerungsumgebung'''
* '''Linux mit Echtzeit-Erweiterungen als Betriebssystem'''
* '''Ethernet-Maschinenschnittstelle'''
* '''Unterstützung von EtherCAT®- und CANopen®-Motion-Bussen'''
* '''Regelt bis zu 64 interpolierte Achsen'''
* '''Umfassende Funktionen sowohl für standardmäßige als auch nicht standardmäßige Roboterkinematiken'''
* '''Reichhaltige Programmiersprache gewährt vollständige Flexibilität bei der Erstellung von Bewegungsprogrammen und bietet Support für präemptives Multitasking und asynchrone Ereignisreaktionen'''
* '''Unterstützung von IEC 61131 PLCopen mit CODESYS'''
* '''Benutzerdefinierte Softwarelösung kann in Kunden-Hardware eingebettet werden'''

= Kürzlich vorgenommene Änderungen/Ergänzungen (3 Monate) =

* [[Program_Examples:User_Kinematics | Programmbeispiele:_Benutzerkinematiken – Beispiel]]
* [[MC-Basic:element.ELEMENTSTATUS| ELEMENTSTATUS – Neuer Befehl]]
* [[MC-Basic:element.DoubleModePercentage| DoubleModePercentage – Neuer Befehl]]
* [[Project_Example:_Flip_Flop_(Structure_Text)| Projektbeispiel:_Flip-Flop_(Strukturierter_Text)]]
* [[Project_Example:_Label_Machine_(Structure_Text) | Projektbeispiel:_Etikettiermaschine_(Strukturierter_Text)]]
* [[Project_Example:_Main_Motion_(Structure_Text)| Projektbeispiel:_Hauptbewegung_(Strukturierter_Text)]]
* [[Operating_CODESYS_with_softMC_Guide_Line | Richtlinie_für_die_Verwendung_von_CODESYS_mit_softMC]]
* [[Program_Examples_-_Robot_Pick_and_Place_(P%26P) | Programmbeispiele – Bestückung durch Roboter '''neu''' ]]
* [[Supported_Devices_by_softMC | Liste der unterstützten E/A-Geräte]]
* [[Wiring|Verdrahtung]]
* [[Overview/zh-hans | Overview - Chinese]]
* [[Welcome/zh-hans | Welcome - Chinese]]

=Kontakt=
==Weltweiter Hauptsitz==
Servotronix Motion Control Ltd. 21C Yagia Kapayim Street, P.O.B. 3919 Petach Tikva 49130, Israel 
Tel: +97239273800 
Fax: +97239228075 
info@servotronix.com 
Website: www.servotronix.com 
Technischer Support: tech.support@servotronix.com

== China ==

Servotronix Motion Technology Development (Shenzhen) Ltd. Room 605, Building B2, Kexing Science Park, No.15 Keyuan Road, Nanshan District, Shenzhen 518057, China Tel: +8675586626603 Fax: +8675586626665 info_china@servotronix.com

==Europa==
Servotronix GmbH Dülkener Straße 5 D-41334 Nettetal, Deutschland 
Tel: +4921531398586

Welcome

2019-04-07T10:12:19Z

Dany:

{{Languages|Welcome}}
= softMC - Multi-axis motion control =

{| style=""
|-
| [[File:SERmoc HiRes.jpg|center|100px|SERmoc HiRes.jpg]]
|  
| [[File:703.PNG|center|100px|703.PNG]]
|  
| [[File:MC-Exx-702-0000 1.jpg|center|150px|MC-Exx-702-0000 1.jpg]]
|-
| '''softMC 3 - Compact Motion controller''' The smallest motion controller in its performance class, supports 1 to 6 axes of synchronized, coordinated motion with EtherCAT or CANopen communication
| style="width: 7em;" |  
| '''softMC 703 - Multi Axis Motion Controller''' Compact multi-axis control software and hardware package, that supports 1 to 64 axes with EtherCAT communication, for a variety of automation and robotics applications
| style="width: 7em;" |  
| '''softMC 702 - Multi Axis Motion Controller''' Multi-axis motion control software and hardware package, that supports 1 to 64 axes with EtherCAT and CANopen communication, for a variety of automation and robotics applications
| style="width: 30em;" |  
|}

 Multi axis motion control software and hardware package, offering extensive programming capabilities that have been successfully implemented in a variety of automation and robotic applications. softMC is designed to seamlessly integrate with Servotronix’s servo and stepper drive-motor systems to provide a complete motion solution in a cost effective package.

 

*'''Open, modular, and modern machine control environment'''
*'''Linux operating system with real-time extensions'''
*'''Ethernet machine interface'''
*'''Support for EtherCAT® and CANopen® motion buses'''
*'''Controls up to 64 interpolated axes'''
*'''Extensive capabilities for both standard and non-standard robotic kinematics'''
*'''Rich programming language that allows complete flexibility to create motion programs, with support for pre-emptive multi-tasking and asynchronous event response'''
*'''Support IEC 61131 PLCopen wwith CODESYS'''
*'''Customized software solution can be embedded into the customer‘s hardware'''

= Highlight of Recent Changes/Additions (3 months) = 
*[[MC-Basic:WITHGLOBAL|WITHGLOBAL - '''new''']]
*[[Work_Space_Limits|Workspace limits - '''new''']]
*[[Program_Examples:force_sensor|Program_Examples:force_sensor - '''new''']]
*[[Program_Examples:_PIPEMODE_library_and_motion_commands|Program_Examples: PIPEMODE_library_and_motion_commands- '''new''']]
*[[MC-Basic:element.STOPTYPE|Explanation of different StopType's given]]
*[[MC-Basic:element.PROFILERTYPE|Explanation of different motion profiles given]]
*[[Motion_Project_Example:_Cartesian_Robot|Full example for a cartesian robot (configurator + Control Studio]]
*[[Motion_Project_Example:_Single_Axis_With_CDHD|Single Axis With CDHD project - complete example (configurator + Control Studio]]
*[[Modbus_Communication_API|Modbus - MB Requred files '''updated''']]
*[[Inverse_Dynamic_Model|Inverse_Dynamic_Model- '''new''']]
*[[Motion_Project_Example:_Scara_Robot_simulated|Motion_Project_Example:_Scara_Robot_simulated - '''new''']]
*[[WorkSpace_areas|Work-Space areas - '''new''']]
*[[Program_Examples:_WorkSpace_areas|Work-Space areas '''example - new''']]
*[[MC-Basic:robot.VELOCITYTRANSVALUE|'''VelocityTransValue - new''']]
*[[MC-Basic:robot.VELOCITYROTVALUE|'''VelocityRotValue - new''']]
*[[DELTA_robot_-_linear_model|New DELTA (linear) kinematics model added - '''new''']]

= Contact =

== Global Headquarters ==

Servotronix Motion Control Ltd. 21C Yagia Kapayim Street, P.O.B. 3919 Petach Tikva 49130, Israel Tel: +97239273800 Fax: +97239228075 info@servotronix.com Website: www.servotronix.com Technical support: tech.support@servotronix.com

== China ==

Servotronix Motion Technology Development (Shenzhen) Ltd. Room 605, Building B2, Kexing Science Park, No.15 Keyuan Road, Nanshan District, Shenzhen 518057, China Tel: +8675586626603 Fax: +8675586626665 info_china@servotronix.com

== Europe ==

Servotronix GmbH Dülkener Straße 5 D-41334 Nettetal, Germany Tel: +4921531398586

== Korea ==

Servotronix Motion Control Korea IS BIZ Tower #1315, 57-1 Heungan-daero 427beon-gil Dongan-gu,Anyang-si,Gyeonggi-do (14059) South Korea whangsoon.joo@servotronix.com

Overview

2019-02-04T11:47:42Z

Dany:

{{Languages|Overview}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==

Following table present all softMC available items in term of language version and web site

{| class="wikitable"
|-
! scope="col" | Help
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| On line help
| web based help (Servotronix wiki)
| Y
| Y
|  
| Yes
|-
! scope="col" | Documentation/Manuals
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| softMC 301 Flyer
| Promotional flyer 2018
| 1
| 1
| 1
| Yes
|-
| softMC 702 Flyer
| Promotional Flyer 2018
| 1
| 1
| 1
| Yes
|-
| softMC 703 Flyer
| Promotional Flyer 2018
| 1.2
| 1.2
| 1.2
| Yes
|-
| softMI HMI Flyer
| Promotional Flyer 2018
| 1
| 1
| 1
| Yes
|-
| softTP Teach pendant Flyer
| Promotional Flyer 2018
| 1
| 1
| 1
| Yes
|-
| Product Presentation
| Product Presentation 
| 4
|  
|  
| No
|-
| Features and Functions
| According to the various categories of controller functionality
| 1.3
|  
|  
| Yes
|-
| Installation Guide softMC 301
| Hardware installation, configuration and operation
| 3.3
|  
|  
| Yes
|-
| Installation Guide softMC 702
| Hardware installation, configuration and operation
| 3.1
|  
|  
| Yes
|-
| Installation Guide softMC 703
| Hardware installation, configuration and operation
| 1
|  
|  
| Yes
|-
| Installation Guide softMI HMI
| Hardware installation, configuration and operation
| 1
|  
|  
| Yes
|-
| Installation Guide softTP Teach pendant
| Hardware installation, configuration and operation
| 1.2
|  
|  
| Yes
|-
| Motion API Ref. Manual
| interface your machine controller with the softMC motion controller
| 1.0
|  
|  
| Yes
|-
| Simulator - User Guide
| procedure for installing the softMC Simulator
| 1.2
|  
|  
| Yes
|-
| Training Modules
| 11 Modules for softMC
| 1.0
|  
|  
| Yes
|-
! scope="col" | Mechanical drawing
! scope="col" | File format
! scope="col" | Ver
! scope="col" |  
! scope="col" |  
! scope="col" | Web site
|-
| softMC 301
| 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT
| 3
|  
|  
| Yes
|-
| softMC 702
| 2D; PDF, DXF 3D; EPRT IGS STEP
| 1
|  
|  
| Yes
|-
| softMC 703
| 2D; PDF, DXF 3D;3D; EPRT IGS STEP
| 1
|  
|  
| Yes
|-
! scope="col" | GUI (software)
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| ControlStudio
| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator
| CS 1.3(build3, sp 9) CFG 2.5.7.0 MB 1.3.5.0
| CS 1.3(build3, sp 9) CFG 2.5.7.0 MB 1.3.5.0
|  
| Yes
|-
| HMIStudio
| graphic user interface packaged to build your HMI interface
| 2.4
|  
|  
| Yes
|-
| TeachStudio
| Teach pendant graphic user interface packaged to direct manipulate robot '''required license'''
| 2.9.9
| 2.9.9
|  
| No
|-
! scope="col" | Software and Examples
! scope="col" | Description
! scope="col" | EN
! scope="col" | CN
! scope="col" | DE
! scope="col" | Web site
|-
| API
| softMC Windows KMAPI DLL 32 bit
| 1.2(build1, sp 1)
|  
|  
| Yes
|-
| TP lib
| Teach pendant library for TeachStudio
| TBD
|  
|  
| Yes
|-
| Tool Chain softMC 7
| C compiler and linker
| 2011.03.1
|  
|  
| No
|-
| Simulator Software
| software package that allows you to work on a simulated softMC using only a PC
| 0.4.17.4
|  
|  
| Yes
|-
| Bundle for softMC 301 702
| Configurator bundle repository
| 0.4.17.4r6
|  
|  
| Yes
|-
| Bundle for softMC 703
| Configurator bundle repository
| 0.4.18.2r5
|  
|  
| Yes
|-
| Libraries and examples for softMC
| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG
| 0.4.16.7
|  
|  
| Yes
|-
| Library for CODESYS
| softMC Library for CODESYS
| 1.0.0.1
|  
|  
| Yes
|-
| CODESYS Examples
| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD
| 5
|  
|  
| Yes
|-
! scope="col" | Firmware Release
! scope="col" | Description
! scope="col" | Ver
! scope="col" |  
! scope="col" |  
! scope="col" | Web site
|-
| Firmware softMC 301
| For CANopen and the EtherCAT module
| 0.4.17.5r2-C2
|  
|  
| No
|-
| Firmware softMC 702
| Motion bus: Multi bus, CAN and EtherCAT “B”
| 0.4.17.5r2-C2
|  
|  
| No
|-
| Firmware softMC 703
| EtherCAT “E”
| 0.4.18.2
|  
|  
| No
|-
! scope="col" | Firmware Maintenance Customer only
! scope="col" | Description
! scope="col" | Ver
! scope="col" |  
! scope="col" |  
! scope="col" | Web site
|-
| Firmware softMC 702
| Motion bus: CANopen “C”
| 0.4.14.14
|  
|  
| No
|-
| Firmware softMC 702
| Motion bus: EtherCAT “E”
| 0.4.14.14
|  
|  
| No
|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

softMC as OPC UA Server

2019-01-14T09:13:55Z

Dany:

[[File:OPC 01.jpg|RTENOTITLE]]

= '''To enable softMC OPC UA you need:''' =

*Install '''ipk '''or '''rpm '''with OPC UA to your softMC controller, if you do not have the file contact servotronix support
*Copy '''OPC_UA.LIB''' file to your softMC controller , if you do not have the file contact servotronix support
*Load it from the '''config.prg''', see below
*Exctute it from '''autoexec.prg''', see below

= '''CONFIG.PRG''' =

program
<syntaxhighlight lang="vb">

Print "system is running"

Sys.DoubleFormat = 1

Load opc_ua.lib

end program

</syntaxhighlight>

= '''AUTOEXEC.PRG''' =

Program Continue

'''dim x as long'''

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load IND4.prg

StartTask IND4.prg

'''x =stop_start_server ; restart OPC UA server'''

End Program

 

= '''Example for servo drive Temperature and power mesurmen'''t =

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

softMC as OPC UA Server

2019-01-13T14:59:53Z

Dany:

[[File:OPC 01.jpg|RTENOTITLE]]

= '''To enable softMC OPC UA you need:''' =

*Install '''ipk '''or '''rpm '''with OPC UA to your softMC controller, if you do not have the file contact servotronix support
*Copy '''OPC_UA.LIB''' file to your softMC controller , if you do not have the file contact servotronix support
*Load it from the '''config.prg''', see below
*Exctute it from '''autoexec.prg''', see below

= '''CONFIG.PRG''' =

program

      Print "system is running  -  "

    Sys.DoubleFormat = 1

   '''Load opc_ua.lib'''

 end program

 

= '''AUTOEXEC.PRG''' =

Program Continue

'''dim x as long'''

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load IND4.prg

StartTask IND4.prg

'''x =stop_start_server ; restart OPC UA server'''

End Program

 

= '''Example for servo drive Temperature and power mesurmen'''t =

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

OPC UA Examples

2019-01-13T14:55:57Z

Dany:

= '''UA Expert''' =

A simple way to debug OPC UA is to use UA expert which can be download from the internet.     [[File:OPC 03 UA Expert.jpg|RTENOTITLE]]   [[File:OPC 02 UA Expert.jpg|RTENOTITLE]]                 

 

= '''Working with HMI''' =

Following example we used the HMI from indosoft

== Connect to the softMC IP Create TAGs ==

 

    [[File:OPC 04 HMI.jpg|RTENOTITLE]]  

 

== Set behavior to each tag ==

[[File:OPC 05 HMI.jpg|RTENOTITLE]]  

 

== Create the HMI   ==

[[File:OPC 06 HMI.jpg|RTENOTITLE]]    

OPC UA Examples

2019-01-13T14:52:48Z

Dany:

'''UA Expert'''

A simple way to debug OPC UA is to use UA expert which can be download from the internet.     [[File:OPC 03 UA Expert.jpg|RTENOTITLE]]   [[File:OPC 02 UA Expert.jpg|RTENOTITLE]]                 

 

'''Working with HMI'''

Following example we used the HMI from indosoft

*Connect to the softMC IP Create TAGs
*Set behavior to each tag
*Create the HMI  

    [[File:OPC 04 HMI.jpg|RTENOTITLE]]  

 

[[File:OPC 05 HMI.jpg|RTENOTITLE]]   [[File:OPC 06 HMI.jpg|RTENOTITLE]]

OPC UA Examples

2019-01-13T14:28:46Z

Dany:

'''UA Expert'''

A simple way to debug OPC UA is to use UA expert which can be download from the internet.     [[File:OPC 03 UA Expert.jpg|RTENOTITLE]]   [[File:OPC 02 UA Expert.jpg|RTENOTITLE]]                 

 

'''Working with HMI'''

*Following example we used the HMI from indosoft
*Connect to the softMC IP Create TAGs
*Set behavior to each tag
*Create the HMI  

    [[File:OPC 04 HMI.jpg|RTENOTITLE]]   [[File:OPC 05 HMI.jpg|RTENOTITLE]]   [[File:OPC 06 HMI.jpg|RTENOTITLE]]

OPC UA Examples

2019-01-13T14:28:12Z

Dany:

'''UA Expert''' A simple way to debug OPC UA is to use UA expert which can be download from the internet.     [[File:OPC 03 UA Expert.jpg|RTENOTITLE]]   [[File:OPC 02 UA Expert.jpg|RTENOTITLE]]                  '''Working with HMI'''
*Following example we used the HMI from indosoft
*Connect to the softMC IP Create TAGs
*Set behavior to each tag
*Create the HMI  

    [[File:OPC 04 HMI.jpg|RTENOTITLE]]   [[File:OPC 05 HMI.jpg|RTENOTITLE]]   [[File:OPC 06 HMI.jpg|RTENOTITLE]]

OPC UA Examples

2019-01-13T14:26:43Z

Dany:

'''UA Expert''' A simple way to debug OPC UA is to use UA expert which can be download from the internet.     [[File:OPC 03 UA Expert.jpg|RTENOTITLE]]   [[File:OPC 02 UA Expert.jpg|RTENOTITLE]]                Working with HMI Following example we used the HMI from indosoft Connect to the softMC IP Create TAGs Set behavior to each tag Create the HMI   [[File:OPC 04 HMI.jpg|RTENOTITLE]]   [[File:OPC 05 HMI.jpg|RTENOTITLE]]   [[File:OPC 06 HMI.jpg|RTENOTITLE]]

OPC UA Introduction

2019-01-13T14:22:36Z

Dany:

OPC UA is the vertical communication in production floor used for m2m (machine to Machine) and from controller all the way up to the cloud.

'''softMC is OPC UA server''', any OPC UA client can connect to softMC via TCP/IP and explore all softMC global variables

This is the main method to implement Industrie 4.0 m2m with the softMC.

[[File:OPC UA Logo (Color Small).jpg|RTENOTITLE]]

For example user can read power or temperature of any servo drive via the softMC and take action.

 

OPC UA is an open and royalty free set of standards designed as a universal communication protocol key advantages:

– A state of art security model.

– A fault tolerant communication protocol.

– An information modelling framework that allows application developers to represent their data in a way

that makes sense to them.

 

OPC UA has a broad scope which delivers for economies of scale for application developers. This means that

a larger number of high quality applications at a reasonable cost are available.

The OPC UA model is scalable from small devices to ERP systems. OPC UA Servers process information

locally and then provide that data in a consistent format to any application requesting data - ERP, MES, PMS,

Maintenance Systems, HMI, Smartphone or a standard Browser, for examples.

Basics of OPC UA

As an open standard, OPC UA is based on standard internet technologies, like TCP/IP, HTTP, Web Sockets.

As an extensible standard, OPC UA provides a set of Services and a basic information

model framework. This framework provides an easy manner for creating and exposing vendor defined

information in a standard way. More importantly all OPC UA Clients are expected to be able to discover and

use vendor-defined information. This means OPC UA users can benefit from the economies of scale that

come with generic visualization and historian applications. This specification is an example of an OPC UA

Information Model designed to meet the needs of developers and users.

OPC UA Clients can be any consumer of data from another device on the network to browser based thin clients and ERP systems.

File:OPC UA Logo (Color Small).jpg

2019-01-13T14:21:07Z

Dany: OPC UA logo

OPC UA logo

File:OPC 06 HMI.jpg

2019-01-13T14:18:13Z

Dany: indusoft screen

indusoft screen

File:OPC 05 HMI.jpg

2019-01-13T14:17:45Z

Dany: indusoft Tag

indusoft Tag

File:OPC 04 HMI.jpg

2019-01-13T14:17:14Z

Dany: indusoft connection

indusoft connection

File:OPC 03 UA Expert.jpg

2019-01-13T14:16:47Z

Dany: UA Expert icon

UA Expert icon

File:OPC 02 UA Expert.jpg

2019-01-13T14:16:24Z

Dany: UA expert window

UA expert window

OPC UA Examples

2019-01-13T14:14:50Z

Dany:

UA Expert A simple way to debug OPC UA is to use UA expert which can be download from the internet.                 HMI InduSoft TBD

softMC as OPC UA Server

2019-01-13T14:13:16Z

Dany:

[[File:OPC 01.jpg|RTENOTITLE]]

'''To enable softMC OPC UA you need:'''

*Install ipk or rpm with OPC UA to your softMC controller, if you do not have the file contact servotronix support
*Copy OPC_UA.LIB file to your softMC controller , if you do not have the file contact servotronix support
*Load it from the config.prg, see below
*Exctute it from autoexec.prg, see below

'''CONFIG.PRG'''

program

      Print "system is running  -  "

    Sys.DoubleFormat = 1

   '''Load opc_ua.lib'''

 end program

 

'''AUTOEXEC.PRG'''

Program Continue

'''dim x as long'''

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load IND4.prg

StartTask IND4.prg

'''x =stop_start_server ; restart OPC UA server'''

End Program

 

'''Example for servo drive Temperature and power mesurmen'''t

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

softMC as OPC UA Server

2019-01-13T14:11:56Z

Dany:

[[File:OPC 01.jpg|RTENOTITLE]]

'''To enable softMC OPC UA you need:'''

*Install ipk or rpm with OPC UA to your softMC controller, if you do not have the file contact servotronix support
*Copy OPC_UA.LIB file to youe softMC controller , if you do not have the file contact servotronix support
*Load it from the config.prg, see below
*Exctute it from autoexec.prg, see below

'''CONFIG.PRG'''

program

      Print "system is running  -  "

    Sys.DoubleFormat = 1

   '''Load opc_ua.lib'''

 end program

 

'''AUTOEXEC.PRG'''

Program Continue

'''dim x as long'''

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load IND4.prg

StartTask IND4.prg

'''x =stop_start_server ; restart OPC UA server'''

End Program

 

'''Example for servo drive Temperature and power mesurmen'''t

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

OPC UA Introduction

2019-01-13T14:00:06Z

Dany:

OPC UA is the vertical communication in production floor used for m2m (machine to Machine) and from controller all the way up to the cloud.

'''softMC is OPC UA server''', any OPC UA client can connect to softMC via TCP/IP and explore all softMC global variables

This is the main method to implement Industrie 4.0 m2m with the softMC.

 

For example user can read power or temperature of any servo drive via the softMC and take action.

 

OPC UA is an open and royalty free set of standards designed as a universal communication protocol key advantages:

– A state of art security model.

– A fault tolerant communication protocol.

– An information modelling framework that allows application developers to represent their data in a way

that makes sense to them.

 

OPC UA has a broad scope which delivers for economies of scale for application developers. This means that

a larger number of high quality applications at a reasonable cost are available.

The OPC UA model is scalable from small devices to ERP systems. OPC UA Servers process information

locally and then provide that data in a consistent format to any application requesting data - ERP, MES, PMS,

Maintenance Systems, HMI, Smartphone or a standard Browser, for examples.

Basics of OPC UA

As an open standard, OPC UA is based on standard internet technologies, like TCP/IP, HTTP, Web Sockets.

As an extensible standard, OPC UA provides a set of Services and a basic information

model framework. This framework provides an easy manner for creating and exposing vendor defined

information in a standard way. More importantly all OPC UA Clients are expected to be able to discover and

use vendor-defined information. This means OPC UA users can benefit from the economies of scale that

come with generic visualization and historian applications. This specification is an example of an OPC UA

Information Model designed to meet the needs of developers and users.

OPC UA Clients can be any consumer of data from another device on the network to browser based thin clients and ERP systems.

softMC as OPC UA Server

2019-01-13T13:28:07Z

Dany:

[[File:OPC 01.jpg|RTENOTITLE]]

To enable softMC OPC UA you need:

OPC_UA.LIB , if you do not have the file contact servotronix support

Load it from the config.prg

CONFIG.PRG

program

    ..

    Print "system is running  -  "

    Sys.DoubleFormat = 1

    Load opc_ua.lib

    ..

end program

AUTOEXEC.PRG

Program Continue

dim x as long

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load .prg

StartTask OPC_GL.prg

Print "OPC UA Global value ready"

 

x =stop_start_server

…

End Program

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

softMC as OPC UA Server

2019-01-13T13:03:04Z

Dany:

[[File:OPC 01.jpg|RTENOTITLE]]

 

CONFIG.PRG

program

    ..

    Print "system is running  -  "

    Sys.DoubleFormat = 1

    Load opc_ua.lib

    ..

end program

AUTOEXEC.PRG

Program Continue

dim x as long

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load OPC_GL.prg

StartTask OPC_GL.prg

Print "OPC UA Global value ready"

 

x =stop_start_server

…

End Program

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

File:OPC 01.jpg

2019-01-13T13:01:19Z

Dany: softMC OPC UA server

softMC OPC UA server

OPC UA Introduction

2019-01-13T12:57:59Z

Dany:

OPC UA serve as the vertical communication for the softMC.

'''softMC is OPC UA server''', any OPC UA client can connect to softMC via TCP/IP and explore all softMC global variables

This is the main method to implement Industrie 4.0 m2m with the softMC.

 

For example user can read power or temperature of any servo drive via the softMC and take action.

 

OPC UA is an open and royalty free set of standards designed as a universal communication protocol key advantages:

– A state of art security model.

– A fault tolerant communication protocol.

– An information modelling framework that allows application developers to represent their data in a way

that makes sense to them.

 

OPC UA has a broad scope which delivers for economies of scale for application developers. This means that

a larger number of high quality applications at a reasonable cost are available.

The OPC UA model is scalable from small devices to ERP systems. OPC UA Servers process information

locally and then provide that data in a consistent format to any application requesting data - ERP, MES, PMS,

Maintenance Systems, HMI, Smartphone or a standard Browser, for examples.

Basics of OPC UA

As an open standard, OPC UA is based on standard internet technologies, like TCP/IP, HTTP, Web Sockets.

As an extensible standard, OPC UA provides a set of Services and a basic information

model framework. This framework provides an easy manner for creating and exposing vendor defined

information in a standard way. More importantly all OPC UA Clients are expected to be able to discover and

use vendor-defined information. This means OPC UA users can benefit from the economies of scale that

come with generic visualization and historian applications. This specification is an example of an OPC UA

Information Model designed to meet the needs of developers and users.

OPC UA Clients can be any consumer of data from another device on the network to browser based thin clients and ERP systems.

Communication

2019-01-13T12:56:45Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

'''[[OPC_UA_Introduction|OPC UA Introduction]]'''

'''[[softMC_as_OPC_UA_Server|softMC as OPC UA Server]]'''

'''[[OPC_UA_Examples|OPC UA Examples]]'''

Communication

2019-01-13T12:56:04Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

'''[[OPC_UA_Introduction|OPC_UA_Introduction]]'''

'''[[softMC_as_OPC_UA_Server|softMC_as_OPC_UA_Server]]'''

'''[[OPC_UA_Examples|OPC UA Examples]]'''

Communication

2019-01-13T12:55:03Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

'''[[OPC_UA_Introduction|OPC_UA_Introduction]]'''

'''[[softMC_as_OPC_UA_Server|softMC_as_OPC_UA_Server]]'''

[[OPC_UA_Examples|OPC_UA_Examples]]

OPC UA Examples

2019-01-13T12:54:10Z

Dany: Created page with "UA Expert TBD   HMI InduSoft TBD"

UA Expert TBD   HMI InduSoft TBD

Communication

2019-01-13T12:53:36Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

'''[[OPC_UA_Introduction|OPC_UA_Introduction]]'''

[[softMC_as_OPC_UA_Server|softMC_as_OPC_UA_Server]]

'''OPC UA Examples'''

softMC as OPC UA Server

2019-01-13T12:52:33Z

Dany: Created page with " CONFIG.PRG program     ..     Print "system is running  -  "     Sys.DoubleFormat = 1     Lo..."

CONFIG.PRG

program

    ..

    Print "system is running  -  "

    Sys.DoubleFormat = 1

    Load opc_ua.lib

    ..

end program

AUTOEXEC.PRG

Program Continue

dim x as long

Load startprg.prg

while startprg.prg.state <> 10

    sleep 500

end while

..

Load OPC_GL.prg

StartTask OPC_GL.prg

Print "OPC UA Global value ready"

 

x =stop_start_server

…

End Program

IND4.PRG

common shared A1_PWRTEMP as long

common shared A1_POWER  as long

common shared A1_Cycle as long

common shared A2_PWRTEMP as long

common shared A2_POWER  as long

common shared A2_Cycle as long

 

program

A1_Cycle = 2

A2_Cycle = 4

while 1

 A1_PWRTEMP=ec_sdo_read(a1.dadd,0x2044,2)

 A1_POWER = abs(a1.TFb) * abs(a1.vfb) / 1000

 A2_PWRTEMP=ec_sdo_read(a2.dadd,0x2044,2)

 A2_POWER = a2.TFb * a2.vfb / 1000

 sleep 10

end while

end program

Communication

2019-01-13T12:49:14Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

'''[[OPC_UA_Introduction|OPC_UA_Introduction]]'''

'''softMC as OPC UA Server'''

'''OPC UA Examples'''

Communication

2019-01-13T12:48:10Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

[[OPC_UA_Introduction|OPC_UA_Introduction]]

'''softMC as OPC UA Server'''

'''OPC UA Examples'''

OPC UA Introduction

2019-01-13T12:47:15Z

Dany: Created page with " OPC UA serve as the vertical communication for the softMC. softMC is OPC UA server, any OPC UA client can connec..."

OPC UA serve as the vertical communication for the softMC.

softMC is OPC UA server, any OPC UA client can connect to softMC via TCP/IP and explore all global variables, this is the main method to implement Industrie 4.0 m2m with the softMC.

 

For example user can read power or temperature of any servo drive via the softMC and take action.

 

OPC UA is an open and royalty free set of standards designed as a universal communication protocol key advantages:

– A state of art security model.

– A fault tolerant communication protocol.

– An information modelling framework that allows application developers to represent their data in a way

that makes sense to them.

 

OPC UA has a broad scope which delivers for economies of scale for application developers. This means that

a larger number of high quality applications at a reasonable cost are available.

The OPC UA model is scalable from small devices to ERP systems. OPC UA Servers process information

locally and then provide that data in a consistent format to any application requesting data - ERP, MES, PMS,

Maintenance Systems, HMI, Smartphone or a standard Browser, for examples.

Basics of OPC UA

As an open standard, OPC UA is based on standard internet technologies, like TCP/IP, HTTP, Web Sockets.

As an extensible standard, OPC UA provides a set of Services and a basic information

model framework. This framework provides an easy manner for creating and exposing vendor defined

information in a standard way. More importantly all OPC UA Clients are expected to be able to discover and

use vendor-defined information. This means OPC UA users can benefit from the economies of scale that

come with generic visualization and historian applications. This specification is an example of an OPC UA

Information Model designed to meet the needs of developers and users.

OPC UA Clients can be any consumer of data from another device on the network to browser based thin clients and ERP systems.

Communication

2019-01-13T12:32:28Z

Dany:

{{Languages|Communication}}
= LAN =

*[[IP_Address|'''IP Address''']]
*[[Socket_keep-alive_timeouts|'''Keepalive''']]
*[[Communication/FastData|'''UDP FastData''']]
*'''[[:File:FTPSCRN.PNG|FTP]]''' standard ftp file accesses

 

= Motion Bus =

*[[CANopen_Protocol|'''CANopen''']] - ''Functions are available since version'' SOCKCAN 0.4.11.2rc8 / CANOPEN 0.4.11.2rc8
**[[:Category:CANopen:Firmware_Functions|CANopen Firmware Functions Reference]] - CANopen functions provided by firmware
**[[:Category:CANopen:Functions|CANopen Functions Reference]] - A list of CANopen functions
**[[:Category:CANOpen:Setup|CANopen Setup]] - How to setup can open network and device(s)
**[[Program_Examples:CANOpen:DS402_CAN_Drive_Setup|DS402 CAN Drive Setup]] - program example

 

*'''[[EtherCAT|EtherCAT]]'''
**[[:Category:EtherCAT:ECAT_GENERAL_GUIDE|EtherCAT - General Guide]]
**[[:Category:EtherCAT:EC_SETUP|Setup EtherCAT]] - How to setup EtherCAT
**[[:Category:EtherCAT:Functions|EtherCAT Functions Reference]] - A list of basic EtherCAT functions
**[[:Category:EtherCAT:Advanced_Functions|Advanced EtherCAT Functions Reference]] - A list of advanced EtherCAT functions
**[[:EtherCAT:DIGITAL-IOS|Digital IOs]] - Associate between System Digital IOs and drives and IO Modules IOs
**[[:EtherCAT:Drive_Control_Bits|Drive Control Bits]] - Implementation of Drive Control Bits under EtherCAT
**[[:EtherCAT:EC_INSTALL_STX_CDHD|EC_INSTALL_STX_CDHD]] - How to configure CDHD drives

 

= Serial =

[[Serial_Communication|'''Serial Communication''']]

= Modbus =

[[Modbus_Communication_API|'''Modbus Communication''']]

= Web Server =

[[Basic_Web_Server|'''Basic Web Server''']] [[webAPI_for_softMC|'''webAPI for softMC''']]

 

= OPC UA =

'''OPC UA Introduction'''

'''softMC as OPC UA Server'''

'''OPC UA Examples'''

Overview

2018-10-07T13:59:47Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages|Overview}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator|| CS 1.3(build3, sp 9) CFG 2.5.7.0 MB 1.3.5.0||CS 1.3(build3, sp 9) CFG 2.5.7.0 MB 1.3.5.0 || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software and Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows KMAPI DLL 32 bit ||1.2(build1, sp 1)|| || || Yes
|-
|TP lib ||Teach pendant library for TeachStudio ||TBD|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC 301 702|| Configurator bundle repository|| 0.4.17.4r6|| || || Yes
|-
|Bundle for softMC 703|| Configurator bundle repository|| 0.4.18.2r5|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-08-29T09:25:30Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator|| CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0||CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0 || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software and Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows KMAPI DLL 32 bit ||1.2(build1, sp 1)|| || || Yes
|-
|TP lib ||Teach pendant library for TeachStudio ||TBD|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC 301 702|| Configurator bundle repository|| 0.4.17.4r6|| || || Yes
|-
|Bundle for softMC 703|| Configurator bundle repository|| 0.4.18.2r5|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-08-29T09:21:27Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator|| CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0||CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0 || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software and Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows KMAPI DLL 32 bit ||1.2(build1, sp 1)|| || || Yes
|-
|TP lib ||Teach pendant library for TeachStudio ||TBD|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC|| Configurator bundle repository|| 0.4.17.4r6|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-08-29T06:15:18Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator|| CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0||CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0 || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software and Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows KMAPI DLL 32 bit ||1.2(build1, sp 1)|| || || Yes
|-
|TP lib ||Teach pendant library for TeachStudio ||TBD|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC|| Configurator bundle repository|| 0.4.17.4r3|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-08-29T06:14:15Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio CFG - Confgurator, MB - Modbus configurator|| CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0||CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0 || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software and Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows KMAPI DLL 32 bit ||1.2(build1, sp 1)|| || || Yes
|-
|TP lib ||Teach pendant library for TeachStudio ||TBD|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC|| Configurator bundle repository|| 0.4.17.4r3|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-06-17T09:12:11Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged to enable setup, configuration and writing programs to the softMC. Include: Modbus configurator, '''configurator ''', API DLL|| 1.3(build3, sp 9)||1.3(build3, sp 9) || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software and Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows KMAPI DLL 32 bit ||1.2(build1, sp 1)|| || || Yes
|-
|TP lib ||Teach pendant library for TeachStudio ||TBD|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC|| Configurator bundle repository|| 0.4.17.4r3|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-06-17T09:05:03Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI (software)|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio|| ControlStudio is a graphic user interface packaged to enable setup, configuration and writing programs to the softMC. Include: Modbus configurator, '''configurator ''', API DLL|| 1.3(build3, sp 9)||1.3(build3, sp 9) || || Yes
|-
|HMIStudio|| graphic user interface packaged to build your HMI interface|| 2.4|| || || Yes
|-
|TeachStudio|| Teach pendant graphic user interface packaged to direct manipulate robot '''required license''' || 2.9.9||2.9.9 || || No
|-
! scope="col"|Software Examples|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|API ||softMC Windows API DLL ||1.2(build1, sp 1)|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC|| Configurator bundle repository|| 0.4.17.4r3|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview

2018-06-17T08:34:00Z

Dany: /* softMC GUI Documents firmware version Table */

{{Languages}}

== Introduction ==

'''softMC''' multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.

softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as '''Delta''', '''PUMA''' and '''SCARA''', and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.

Gearing and Camming:
* You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.



== softMC GUI Documents firmware version Table ==
Following table present all softMC available items in term of language version and web site 
{| class="wikitable"
|-
! scope="col"|Help || ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| On line help || web based help (Servotronix wiki) || Y || Y || || Yes
|-
! scope="col"|Documentation/Manuals|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
| softMC 301 Flyer || Promotional flyer 2018 || 1 || 1|| 1|| Yes
|-
|softMC 702 Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softMC 703 Flyer|| Promotional Flyer 2018|| 1.2|| 1.2|| 1.2|| Yes
|-
|softMI HMI Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|softTP Teach pendant Flyer|| Promotional Flyer 2018|| 1|| 1|| 1|| Yes
|-
|Product Presentation|| Product Presentation 2017 || 4 || || || No
|-
|Features and Functions|| According to the various categories of controller functionality|| 1.3|| || || Yes
|-
|Installation Guide softMC 301|| Hardware installation, configuration and operation|| 3.3|| || || Yes
|-
|Installation Guide softMC 702|| Hardware installation, configuration and operation|| 3.1|| || ||Yes
|-
|Installation Guide softMC 703|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softMI HMI|| Hardware installation, configuration and operation|| 1|| || ||Yes
|-
|Installation Guide softTP Teach pendant|| Hardware installation, configuration and operation|| 1.2|| || ||Yes
|-
|Motion API Ref. Manual|| interface your machine controller with the softMC motion controller|| 1.0|| || || Yes
|-
|Simulator - User Guide|| procedure for installing the softMC Simulator|| 1.2|| || ||Yes
|-
|Training Modules|| 11 Modules for softMC ||1.0|| || ||Yes
|-
! scope="col"|Mechanical drawing|| ! scope="col"| File format ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
| softMC 301 || 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT || 3 || || || Yes
|-
|softMC 702 || 2D; PDF, DXF 3D; EPRT IGS STEP || 1|| || || Yes
|-
|softMC 703 || 2D; PDF, DXF 3D;3D; EPRT IGS STEP|| 1|| || || Yes
|-
! scope="col"|GUI/software|| ! scope="col"| Description ||! scope="col"| EN ||! scope="col"| CN ||! scope="col"| DE ||! scope="col"| Web site
|-
|ControlStudio (GUI)|| ControlStudio is a graphic user interface packaged to enable setup, configuration and writing programs to the softMC. Include: Modbus configurator, '''configurator ''', API DLL|| 1.3(build3, sp 9)||1.3(build3, sp 9) || || Yes
|-
|API ||softMC Windows API DLL ||1.2(build1, sp 1)|| || || Yes
|-
||Tool Chain softMC 7 ||C compiler and linker|| 2011.03.1 || || || No
|-
|Simulator Software|| software package that allows you to work on a simulated softMC using only a PC ||0.4.17.4|| || || Yes
|-
|Bundle for softMC|| Configurator bundle repository|| 0.4.17.4r3|| || || Yes
|-
|Libraries and examples for softMC|| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG|| 0.4.16.7 || || ||Yes
|-
|Library for CODESYS|| softMC Library for CODESYS|| 1.0.0.1|| || || Yes
|-
|CODESYS Examples|| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD ||5|| || || Yes
|-
! scope="col"|Firmware Release || ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 301|| For CANopen and the EtherCAT module|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 702 ||Motion bus: Multi bus, CAN and EtherCAT “B”|| 0.4.17.4r8C2|| || || No
|-
|Firmware softMC 703 || EtherCAT “E”|| 0.4.18.2|| || || No
|-
! scope="col"|Firmware Maintenance Customer only|| ! scope="col"| Description ||! scope="col"| Ver ||! scope="col"| ||! scope="col"| ||! scope="col"| Web site
|-
|Firmware softMC 702|| Motion bus: CANopen “C” ||0.4.14.14|| || || No
|-
|Firmware softMC 702 ||Motion bus: EtherCAT “E” ||0.4.14.14|| || || No

|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]


== MC-Basic Language Compiler ==
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.

MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.

=== Command and Property Categories ===
Each function opens a page with a list of links to all related MC-Basic commands and properties.

* [[:Category:MC-Basic:Arithmetic Functions|Arithmetic Functions]]
* [[:Category:MC-Basic:C-Interface|C-Interface]]
* [[:Category:MC-Basic:Data Recording|Data Recording]]
* [[:Category:MC-Basic:Debug Tools|Debug Tools]]
* [[:Category:MC-Basic:Declarations|Declarations]]
* [[:Category:MC-Basic:Error Handling|Error Handling]]
* [[:Category:MC-Basic:Event Control|Event Control]]
* [[:Category:MC-Basic:File Management|File Management]]
* [[:Category:MC-Basic:Flow Control Statements|Flow Control Statements]]
* [[:Category:MC-Basic:Libraries|Libraries]]
* [[:Category:MC-Basic:Points Handling|Points Handling]]
* [[:Category:MC-Basic:Semaphore Handling|Semaphore Handling]]
* [[:Category:MC-Basic:String Manipulation|String Manipulation]]
* [[:Category:MC-Basic:Task Control|Task Control]]
* [[:Category:MC-Basic:System|System Properties]]
* [[:Category:EtherCAT:Functions|EtherCAT Functions]]
* [[:Category:EtherCAT:Advanced Functions|EtherCAT Advanced Functions]]
 

=== MC-Basic Language System ===
* [[:Category:MC-Basic:System|MC-Basic System Properties]] - a list of the MC-Basic properties that are applicable to the system
* [[MC-Basic Constants|MC-Basic Predefined Constants]]
* [[File Operations|File Operations]]
* [[Input/Output|Input/Output]]
 

* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.



== softMC Simulator ==

softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.

The package has three components:

* '''VirtualBox'''. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
:Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
:Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.

*'''softMC Controller Simulator''' (called softMC SIM). This is the virtual machine that simulates the softMC.

* '''ControlStudio''' software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

: This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.

To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage: 
http://servotronix.com/products/softmc-motion-controller/
 

== Multitasking ==
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.

The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.


== User Communication ==
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using '''CHR$'''. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.

User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.

Refer to: '''[[Communication|Communication]]'''

== Technical Support ==
If you need assistance with installation and configuration of softMC, contact technical support:
[mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview/zh-hans

2018-06-17T08:23:09Z

Dany: /* softMC 固件版本 0.4.17.2 */

{{Languages|Overview}}

==系统概述==

简介
softMC多轴运动控制固件可提供当今多轴控制器所需的特征和性能，而且经过精心设计，能够轻松集成于运动控制系统中，且易于使用。
softMC可为各种自动化和机器人应用提供广泛的编程功能。softMC拥有运动控制和机器人控制功能，适用于标准机器人类型——例如Delta、PUMA 和SCARA，以及非标准机器人运动学模型——例如摇臂和剪刀机器人。
此外，还可以为客户的硬件定制软件解决方案。
softMC是Servotronix以内嵌于工业计算机中的高级控制算法为一大特色，适用于开放式和模块化的机械控制环境。其功能强大且实时的编程语言可支持在用户层的抢占优先多任务处理。
softMC集成Servotronix驱动-电机系统。
关键特性：
* 开放式、模块化和现代的机器控制环境
* 以太网机器接口
* 支持EtherCAT和CANopen运动总线（可应要求提供Sercos III）
* 可控制多达64个插补轴
* 适用于标准和非标准机器人运动的广泛功能

==softMC 固件版本 ==
[[Overview#softMC GUI Documents firmware version Table|Go to the English version]]


==softMC 图形用户界面文档固件版本表格==
[[Overview#softMC GUI Documents firmware version Table|Go to the English version]]



==MC-Basic 语言编译器==
softMC使用MC-Basic，这种语言解译程序可预编译命令，以便在一微秒内执行这些命令。MC-Basic拥有许多常见的命令——例如FOR…NEXT、IF…THEN、PRINTUSING、PEEK 和POKE，
以及常见的字符串函数——例如CHR$、INSTR、MID$和 STRING$。其支持多达10维阵列，而且完全支持双精度浮点运算。
MC-Basic经过扩展，可以为运动系统控制所需的功能提供支持，例如：点到点的运动、圆弧和直线插补、凸轮以及齿轮传动。此外，其支持多任务处理和事件驱动型程序。

==ControlStudio==
ControlStudio软件是运动应用程序的开发工具。其包含程序编辑器、数据记录器、调试器以及监测工具。
* ControlStudio是softMC的集成开发环境（IDE）。
* 用于编写程序（任务）、调试任务和记录数据。
* 图形用户界面。
* 提供一个连接softMC的命令行接口（终端）。

[[File:ControlStudio_gui_components.png|800px]]



==softMC 仿真器==
softMC Simulator是一个软件包，通过该软件包，您只需使用一台计算机即可运行模拟的softMC，而无需任何其他硬件。
软件包有三个组件：

* VirtualBox。即一个Oracle 产品，这是基于x86的系统的一个跨平台虚拟化应用。
跨平台是指其安装在Windows、Linux、Mac OS X 和 Solaris x86 计算机上。虚拟化软件是指您可以创建并运行多台虚拟机（VM），同时在一台计算机上运行不同的操作系统。
由于softMC 是一套基于Linux的系统，因此Oracle VirtualBox支持您在计算机上模拟softMC。

* softMC Controller Simulator（也称为 softMC SIM）。这是可以模拟softMC的虚拟机。

* ControlStudio 软件，由 Servotronix提供。它是运动应用程序的开发工具。它包含程序编辑器、数据记录器、调试器和监测工具。
这是结合实际硬件一起使用的相同软件。如果已在计算机上安装了此软件，那么您无需重新安装。
如需下载软件和安装说明，请进入网页的下载|模拟器部分：
http://servotronix.com/products/softmc-motion-controller/

==API==
API软件包可支持您利用流行的编程语言与softMC 通信，例如通过TCP/IP和UDP的Visual Basic。API支持通过TCP/IP连接，提供完整权限来访问您系统的命令行接口。通过一个UDP连接，可以

快速访问频繁变化的数据——例如轴设定点和反馈，这也称为UDP快速数据。

==多任务处理==
softMC 是一个全面的多任务处理系统，通过该系统，您可以创建彼此独立运行的多个任务和多个元素（例如：轴）。API支持多个应用同时通信，这可允许您编写一个或者多个应用，访问所

有的任务和元素。
softMC 支持处理多达256个任务，且以最多16个不同的优先级运行。对在事件发生时将执行的代码，每个任务都会生成OnEvent，这些事件包括开关跳闸、电机穿过一个位置，或者任何因素的

组合。

==用户通信==
使用以太网和串口进行ASCII数据传输。使用CHR$发送非输出字符。数据存取是面向流的。softMC Basic 应用可以访问原始串行端口或者TCP套接字。TCP套接字可以确保无错误的数据传输，

而串行端口不提供错误恢复功能。传输的数据在直接控制softMC方面没有任何意义。
用户通信可以提供基本的串行和TCP/IP数据通信功能，而不局限于特定的通信协议，从而可支持通过一个softMC 应用，使用串行或者TCP/IP上的任何协议。

参考：'''[[Communication|通信]]'''

如需softMC安装和配置方面的协助，请联系技术支持处：[mailto:tech.support@servotronix.com 技术支持]

[[Category:softMC Firmware|Overview]]

Overview/de

2018-06-17T08:22:20Z

Dany: /* softMC Firmware Version 0.4.17.2 */

{{Languages|Overview}}

==Einleitung==

Die '''softMC'''-Firmware für die mehrachsige Bewegungssteuerung bietet die entsprechende Funktionalität und Leistungsfähigkeit, die in heutigen Mehrachs-Controllern erforderlich ist, und wurde für die einfache Integration in Bewegungssteuerungssysteme sowie für eine einfache Bedienung entwickelt.
softMC bietet umfangreiche Programmiermöglichkeiten für eine Vielzahl von Automatisierungs- und Roboteranwendungen. softMC stellt Bewegungs- und Roboter-Funktionalitäten sowohl für Standard-Robotertypen wie Delta, PUMA und SCARA als auch für nicht Standard-Roboter-Kinematiken wie Traversen und Scherensysteme bereit. Zudem können benutzerdefinierte Softwarelösungen für die Kundenhardware entwickelt werden.
softMC bietet moderne Regelalgorithmen von Servotronix in einem qualifizierten standardmäßigen Industrie-PC für eine offene und modulare Maschinensteuerungsumgebung. Die leistungsstarke und echtzeitfähige Programmiersprache ermöglicht präemptives Multitasking auf Benutzerprogrammebene.
softMC lässt sich nahtlos in die Servotronix-Antriebssysteme integrieren.

Hauptmerkmale:
* Offene, modulare, und moderne Maschinensteuerungsumgebung
* Ethernet-Maschinenschnittstelle
* Unterstützung von EtherCAT- und CANopen-Motion-Bussen (Sercos III auf Anfrage)
* Regelt bis zu 64 interpolierte Achsen
* Umfassende Funktionen sowohl für standardmäßige als auch nicht standardmäßige Roboterkinematiken

==softMC Firmware Version ==

[[Overview#softMC GUI Documents firmware version Table|Go to the English version]]

== Übersichtstabelle mit benutzeroberflächenbezogenen Dokumenten nach softMC-Firmwareversion ==
In der Tabelle unten sind alle verfügbaren softMC-Dokumente nach Sprachversion und Verfügbarkeit auf der Website aufgeführt. 
Siehe [[Overview#softMC GUI Documents firmware version Table|English version]]

== MC-Basic Language ==
Siehe [[MC-Basic_Language_Fundamentals|Sprache MC-Basic]]

==Compiler für die Sprache MC-Basic ==

Der softMC arbeitet mit MC-Basic, einem Sprach-Interpreter, der Befehle auf die Hälfte kompiliert, sodass sie in der Regel in weniger als einer Mikrosekunde ausgeführt werden. MC-Basic bietet gebräuchliche Befehle wie FOR…NEXT, IF…THEN, PRINTUSING, PEEK und POKE sowie gebräuchliche String-Funktionen wie CHR$, INSTR, MID$ und STRING$. MC-Basic ermöglicht Arrays mit bis zu 10 Dimensionen und unterstützt Gleitkommaoperationen mit doppelter Genauigkeit.
MC-Basic wurde erweitert, um die entsprechende Unterstützung für Bewegungssteuerungsfunktionen wie Punkt-zu-Punkt-Bewegungen, kreisförmige und lineare Interpolation sowie für Kurvenscheiben- und Getriebefunktionen bereitzustellen. Darüber hinaus unterstützt MC-Basic Multitasking und ereignisgesteuerte Programme.

==ControlStudio==

Die ControlStudio-Software ist ein Entwicklungstool für Bewegungssteuerungsanwendungen. Es beinhaltet einen Programmier-Editor, Datenrekorder, Debugger sowie Überwachungstools.
* ControlStudio ist die integrierte Entwicklungsumgebung (IDE) für den softMC
* Wird verwendet, um Programme (Aufgaben) zu schreiben, Aufgaben zu debuggen und Daten aufzuzeichnen
* Grafische Benutzeroberfläche
* Beinhaltet eine Befehlszeilenschnittstelle (Terminal) für den softMC

[[File:ControlStudio_gui_components.png|800px]]

== softMC Simulator ==
softMC Simulator ist ein Softwarepaket für das Arbeiten an einem simulierten softMC ausschließlich am PC, ohne dass dafür jegliche zusätzliche Hardware erforderlich ist.
Das Paket besteht aus drei Komponenten:

* '''VirtualBox''': eine plattformübergreifende Virtualisierungsanwendung von Oracle für x86-basierte Systeme. Plattformübergreifend bedeutet, dass sie auf x86-Computern unter Windows, Linux, Mac OS X und Solaris installiert werden kann. Virtualisierungs-Software bedeutet, dass Sie mehrere virtuelle Maschinen (VM) mit unterschiedlichen Betriebssystemen gleichzeitig auf ihrem PC ausführen können. Da der softMC auf Linux basiert, kann der softMC dank Oracle VirtualBox auf einem PC simuliert werden
* '''softMC Controller Simulator'''(softMC SIM). Dies ist die virtuelle Maschine, die den softMC simuliert.
* '''ControlStudio'''-Software von Servotronix. Dies ist ein Entwicklungstool für Bewegungssteuerungsanwendungen. Es beinhaltet einen Programmier-Editor, Datenrekorder, Debugger sowie Überwachungstools.
Dabei handelt es sich um dieselbe Software, die auch in der tatsächlichen Hardware eingesetzt wird. Falls sie bereits auf ihrem PC installiert ist, brauchen Sie sie nicht erneut zu installieren.
Die Software und Installationsanleitung kann auf der Website im Bereich '''Downloads|Simulator''' heruntergeladen werden: http://servotronix.com/products/softmc-motion-controller/

==API==
Das API-Softwarepaket ermöglicht die Kommunikation mit dem softMC über TCP/IP und UDP in gängigen Programmiersprachen wie Visual Basic. Die API bietet vollständigen Zugriff auf die Befehlszeilenschnittstelle des Systems über eine TCP/IP-Verbindung. Der schnelle Zugriff auf sich häufig ändernde Daten, wie z.B. Achsensollwerte und Rückführungsdaten, wird über eine UDP-Verbindung bereitgestellt.

==Multitasking==

Der softMC ist ein vollständiges Multitasking-System in dem man mehrere Aufgaben und Elemente (z.B. Achsen) erstellen kann, die unabhängig voneinander arbeiten. Die API unterstützt mehrere Anwendungen, die gleichzeitig kommunizieren, sodass Sie eine oder mehr Anwendungen schreiben können, die Zugriff auf alle Aufgaben und Elemente haben.
Der softMC unterstützt Multitasking von bis zu 256 Aufgaben, die mit bis zu 16 verschiedenen Prioritätsstufen ausgeführt werden. Jede Aufgabe kann „OnEvent(s)“ für Code erzeugen, der beim Auftreten von Ereignissen ausgeführt wird, wie z.B. das Auslösen eines Schalters, wenn ein Motor eine Position überquert, oder jede andere Kombination aus verschiedenen Faktoren.

==Benutzerkommunikation ==

Ethernet und serielle Ports werden verwendet, um ASCII-Daten zu übertragen. Nicht druckbare Zeichen werden über '''CHR$''' gesendet. Der Datenzugriff erfolgt strombasiert. Es gibt keine Datenrahmen. softMC-Basic-Anwendungen erhalten Zugang entweder zu einer seriellen Rohdaten-Schnittstelle oder einem TCP-Socket. Der TCP-Socket ermöglicht eine fehlerfreie Datenübertragung, während die serielle Schnittstelle keine Fehlerkorrektur bietet. Die übertragenen Daten haben keine Auswirkungen auf die direkte Steuerung des softMC.
Die Benutzerkommunikation stellt die grundlegenden Funktionen von serieller und TCP/IP-Datenkommunikation bereit, die nicht auf ein bestimmtes Kommunikationsprotokoll begrenzt sind, wodurch über die serielle Verbindung oder TCP/IP-Verbindung nahezu jedes Protokoll für eine softMC-Anwendung verwendet werden kann.

Siehe: '''[[Communication|Kommunication]]'''

==Technischer Support==
Wenn Sie Unterstützung bei der Installation und Konfiguration von softMC benötigen, wenden Sie sich bitte an den technischen Support: [mailto:tech.support@servotronix.com Technical Support]

[[Category:softMC Firmware|Overview]]

Overview/zh-hans

2018-06-17T08:20:42Z

Dany: /* softMC 图形用户界面文档固件版本表格 */

{{Languages}}

==系统概述==

简介
softMC多轴运动控制固件可提供当今多轴控制器所需的特征和性能，而且经过精心设计，能够轻松集成于运动控制系统中，且易于使用。
softMC可为各种自动化和机器人应用提供广泛的编程功能。softMC拥有运动控制和机器人控制功能，适用于标准机器人类型——例如Delta、PUMA 和SCARA，以及非标准机器人运动学模型——例如摇臂和剪刀机器人。
此外，还可以为客户的硬件定制软件解决方案。
softMC是Servotronix以内嵌于工业计算机中的高级控制算法为一大特色，适用于开放式和模块化的机械控制环境。其功能强大且实时的编程语言可支持在用户层的抢占优先多任务处理。
softMC集成Servotronix驱动-电机系统。
关键特性：
* 开放式、模块化和现代的机器控制环境
* 以太网机器接口
* 支持EtherCAT和CANopen运动总线（可应要求提供Sercos III）
* 可控制多达64个插补轴
* 适用于标准和非标准机器人运动的广泛功能

==softMC 固件版本 0.4.17.2==
此wiki包含softMC固件版本0.4.17.2的文件。
固件版本0.4.17.2包含许多新的命令、功能和属性。在某些情况下，之前固件版本中的功能、命令和属性等操作已发生了改变。本文档未必向后兼容之前的固件版本。
如果您将使用之前的产品版本，建议您也参阅接收产品时随附的文件。
如需执行本文件中所述的示例，您必须在主机上安装ControlStudio软件。



==softMC 图形用户界面文档固件版本表格==
[[Overview#softMC GUI Documents firmware version Table|Go to the English version]]



==MC-Basic 语言编译器==
softMC使用MC-Basic，这种语言解译程序可预编译命令，以便在一微秒内执行这些命令。MC-Basic拥有许多常见的命令——例如FOR…NEXT、IF…THEN、PRINTUSING、PEEK 和POKE，
以及常见的字符串函数——例如CHR$、INSTR、MID$和 STRING$。其支持多达10维阵列，而且完全支持双精度浮点运算。
MC-Basic经过扩展，可以为运动系统控制所需的功能提供支持，例如：点到点的运动、圆弧和直线插补、凸轮以及齿轮传动。此外，其支持多任务处理和事件驱动型程序。

==ControlStudio==
ControlStudio软件是运动应用程序的开发工具。其包含程序编辑器、数据记录器、调试器以及监测工具。
* ControlStudio是softMC的集成开发环境（IDE）。
* 用于编写程序（任务）、调试任务和记录数据。
* 图形用户界面。
* 提供一个连接softMC的命令行接口（终端）。

[[File:ControlStudio_gui_components.png|800px]]



==softMC 仿真器==
softMC Simulator是一个软件包，通过该软件包，您只需使用一台计算机即可运行模拟的softMC，而无需任何其他硬件。
软件包有三个组件：

* VirtualBox。即一个Oracle 产品，这是基于x86的系统的一个跨平台虚拟化应用。
跨平台是指其安装在Windows、Linux、Mac OS X 和 Solaris x86 计算机上。虚拟化软件是指您可以创建并运行多台虚拟机（VM），同时在一台计算机上运行不同的操作系统。
由于softMC 是一套基于Linux的系统，因此Oracle VirtualBox支持您在计算机上模拟softMC。

* softMC Controller Simulator（也称为 softMC SIM）。这是可以模拟softMC的虚拟机。

* ControlStudio 软件，由 Servotronix提供。它是运动应用程序的开发工具。它包含程序编辑器、数据记录器、调试器和监测工具。
这是结合实际硬件一起使用的相同软件。如果已在计算机上安装了此软件，那么您无需重新安装。
如需下载软件和安装说明，请进入网页的下载|模拟器部分：
http://servotronix.com/products/softmc-motion-controller/

==API==
API软件包可支持您利用流行的编程语言与softMC 通信，例如通过TCP/IP和UDP的Visual Basic。API支持通过TCP/IP连接，提供完整权限来访问您系统的命令行接口。通过一个UDP连接，可以

快速访问频繁变化的数据——例如轴设定点和反馈，这也称为UDP快速数据。

==多任务处理==
softMC 是一个全面的多任务处理系统，通过该系统，您可以创建彼此独立运行的多个任务和多个元素（例如：轴）。API支持多个应用同时通信，这可允许您编写一个或者多个应用，访问所

有的任务和元素。
softMC 支持处理多达256个任务，且以最多16个不同的优先级运行。对在事件发生时将执行的代码，每个任务都会生成OnEvent，这些事件包括开关跳闸、电机穿过一个位置，或者任何因素的

组合。

==用户通信==
使用以太网和串口进行ASCII数据传输。使用CHR$发送非输出字符。数据存取是面向流的。softMC Basic 应用可以访问原始串行端口或者TCP套接字。TCP套接字可以确保无错误的数据传输，

而串行端口不提供错误恢复功能。传输的数据在直接控制softMC方面没有任何意义。
用户通信可以提供基本的串行和TCP/IP数据通信功能，而不局限于特定的通信协议，从而可支持通过一个softMC 应用，使用串行或者TCP/IP上的任何协议。

参考：'''[[Communication|通信]]'''

如需softMC安装和配置方面的协助，请联系技术支持处：[mailto:tech.support@servotronix.com 技术支持]

[[Category:softMC Firmware|Overview]]