View source for 4-Axis Scara robot Setup

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This is a tutorial for 4 axes SCARA robot setup, using softMC Configurator. <br />
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== Creating and Running a CONFIG.PRG file ==
The Configurator does not generate a CONFIG.PRG file, which is a necessary file. <br />
The most simple CONFIG.PRG file will look like this: 
<syntaxhighlight lang="vb">
Sys.NumberAxes = 7
program
    Sys.Name = "MC_SCARA"
    Print "system is running  -  " ; Sys.Name
end program
</syntaxhighlight>
NOTE: It is important that Sys.NumberAxes will be at least 3 as the scraa robot needs at least 3 axes. <br />
Before opening the Configurator, please run the CONFIG.PRG file by uploading it to the softMC, followed by "reset all" command in the terminal.

== Opening The Configurator ==
First, you need to open the configurator. One option is to open the configurator through the Control Studio.<br />
Go to: tool → softMC Configurator.<br />
[[File:open_configurator.png]] <br />
<br />
If the Control Studio is already connected to an MC, then you will see the following window. <br />
Choose the New Project tab, and then choose the softMC version that is on your softMC.<br />
[[File:new_project.png]] <br />
<br />

If the ControlStudio was not connected to the softMC, the next window will be shown. <br />
1. Choose the type of network connection <br />
2. Press on "Scan for softMCs" <br />
3. Choose your softMC<br />
4. Press on the "start configuration" button<br />
Then you will get to the previous explained window. Follow the previous instructions.<br />
[[File:offline_configurator2.png]]<br />

== Configuring The Drive and Axes ==
First, you need to configure the drives and axes. <br />
In the project window, the left pane shows the recognized drives and axes. <br />
'''Note:''' Only EtherCAT drives are recognized automatically, the CANopen drives should be added manually. <br />
'''Note:''' If a simulative robot is being configured, ignore the drives configuration part. <br />
<br />
==='''Drives'''=== 
Press on the first drive and its configuration window will show: <br />
The minimum requirement are: <br /> 
# Choose the "Initial Active OpMode". Please choose: "8 - cyclic_synchronous_position". <br />
# Link the drive's corresponding axis. Choose the correct axis in "Link Driver To Axis". <br /> 
# Lastly, press on the "Apply" button. <br />
Repeat the last steps for each used drive. <br />
[[File:drive_configuration_4units.png]]<br />
<br />

==='''Axes'''=== 
Press on the first axis and its configuration window will show: <br />
The minimum requirement are: <br />
# Choose the "Axis Type". Please choose: "Rotary Gear" for the SCARA robot. <br />
# 3rd axis should be linear type, typically linear screw. <br />
# Set the Gear Ratio value to the correct value. <br /> 
Repeat the last steps for each used axis. <br />
[[File:axis_configuration_4units.png]]<br />
<br />

The configuration window of the axes has few tabs.<br />
The "Properties" tab allows to set the axis properties. For example, this is how you can set the direction of each joint: <br />
[[File:set_direction.png]]<br />
<br />
Please set the properties appropriately to each axis based on demands and manufacture instructions. <br />
'''Note''': If the configuration is for a simulated robot, change the "Simulated Axis" property to "True" for all axes.<br />
<br />

== Configuring The SCARA Robot ==
Right click on the "Groups" icon in the left pane, and choose "Add Group". <br> <br />
[[File:scara_add_group.png]] <br> <br />

In the popup window, follow these steps: <br />
# Choose "Robot" <br />
# Set a "Group name" (in the example the name is SCARA) <br />
# Choose the "scara xyzr" robot, or "scara xyz"<br />
# Add the relevant axes to the "Assigned Axes" list by double-clicking on them. When a correct set of axes is chosen, the "Assigned Axes" box will become green <br />
# Press the OK button <br />
[[File:add_scara_instructions.png]] <br />
<br />

Now, the robot/group configuration window will be shown. There are few tabs to look at:

=== General tab ===

This tab allows to switch the axes which are linked to the group and to change the axes properties <br />

=== Coupling tab ===

This tab allows to set: <br />
# The coupling matrix for the robot. <br />
# The joints position limits. <br />
[[File:scara_coupling_tab.png]] <br />

=== Properties tab ===

This tab allows to set the robot properties, such as: position limits, speed limits, acceleration limits, etc.  <br />
[[File:scara_properties_tab.png]] <br />

=== Configuration tab ===

This tab has 4 sub-tabs:  <br />

==== DH Parameters tab ====

This tab allows to set the DH parameters of the SCARA robot. Please set these values corresponding to the drawings supplied in this tab.  <br />
[[File:scara_DH_parameters_tab.png]] <br />

==== Frames/Locations tab ====

This tab allows to set the SCARA robot location vectors, such as where the robot base is located, or the position of the tool relative to the 6th joint frame. <br />
[[File:scara_Frames_tab.png]] <br />

==== Theta Parameters tab ====

This tab allows to set the SCARA zero location. The default zero location of the SCARA robot is as in the left image. <br />
You can choose one of the other options for the zero location - just press on the desired image to set this configuration as the zero location. <br />
You can also define a customized displacement to each axis in order to set a customized zero location. <br />
[[File:scara_theta_parameters_tab.png]] <br />

==== Axis Flipping Parameter ====

Here you can flip the direction of Z axis <br />
[[File:scara_flip_z_direction.png]] <br />


== Generate and Run The Setup Files ==
Finally, after the configuration is done, you can generate the setup files and run them on the MC by pressing on the "Build & Configure" icon (see image). <br />
[[File:build_and_configure_icon_scara.png]] <br />
<br />
The generated files are: <br />
[[File:configurator_generated_files.png]] <br />
When pressing the "Build & Configure" icon, these files are automatically sent to the MC and being executed. Now the MC is loaded with your configuration and the robot is ready to be used. <br />
After shutdown or reset of the MC, all you need to do in order to load your configuration is send: "reset all" and then "load startprg.prg" through the Control Studio's terminal. <br />

== Motion tab ==

This tab allows to move the robot and test the configuration only after the configuration files have been built and ran successfully. The GUI is similar to a TP GUI. <br />
[[File:scara_motion_tab.png]] <br />
<br />

== Robot Programs Example ==
Now you are ready to run robot programs. <br />
To learn about Control Studio and MC-Basic, visit: [[Getting_Started_with_MC-Basic_and_ControlStudio|Getting Started with MC-Basic and ControlStudio]]. <br />
To learn about some basic robot programs, visit: [[Program_Examples_-_Robot_Pick_and_Place_(P%26P)|Robot Pick & Place]], [[Program_Examples:Robot_Circle_Command|Robot Circle]], [[Program_Examples_-_Robot_Helix_motion|Robot Helix]]<br />
For more motion program examples, visit [[Program_Examples#Motion_Examples|Motion Examples]]