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{{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.

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Camming links master and slave axes by a cam table. Camming has all the features of gearing, plus the cam table can have any number of points. The cam points are in x-y format so spacing can be provided independently. Multiple tables can be linked together, allowing you to build complex cam profiles from simpler tables. There is a cycle counter that lets you specify how many cycles to run a cam before ending.
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softMC features Servotronix advanced control algorithms embedded in a qualified off-the-shelf industrial PC, for an open and modular machine control environment. Its powerful and realtime programming language enables preemptive multitasking at user program level.

softMC is integrated with Servotronix drive-motor systems.

Key features:
*Open, modular, and modern machine control environment
*Ethernet machine interface
*Support for EtherCAT and CANopen motion buses (Sercos III upon request)
*Controls up to 64 interpolated axes
*Extensive capabilities for both standard and non-standard robotic kinematics

== softMC Firmware Version 0.4.17.2 == 
This wiki contains the documentation for softMC Firmware Version 0.4.17.2

Firmware Version 0.4.17.2 contains many new commands, functions, and properties. In some instances, the behavior of functions, commands, and properties found in previous versions of the firmware have changed. This documentation is not necessarily backward compatible with previous versions of the firmware. If you are using a previous version of the product, it is recommended that you also refer to the documentation that was supplied at the time your received your product.

To execute the examples described in this documentation, ControlStudio must be installed on your host computer.

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Some examples also require you to have a drive installed and connected to the softMC using the SERCOS Interface<sup>TM</sup> cables.

The key benefits of the product are:

*'''Motion Components Guaranteed to Work Together '''Danaher Motion can provide a complete motion control system,including controller, drives, and motors. All the components are supplied by DanaherMotion, and are tested and guaranteed to work together.

*'''Complete Digital System at an Affordable Price'''The softMC is fully digital, including communication with the drives. The analog interface is eliminated, but the price is competitive with analog systems.

*'''Local Field Bus for Simple Set up, Less Wiring, More Flexibility'''The softMC communicates via fiber-optic cables using an industrial field bus called SERCOS. SERCOS greatly simplifies system set-up and wiring, while improving system flexibility and reliability compared to its analog counterparts.

'''Windows'''<sup>®</sup>'''-Based Software Supports Microsoft Visual Basic™, Visual C++™, and other Popular Languages'''.
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== 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
| &nbsp;
| 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&nbsp;
| 4
| &nbsp;
| &nbsp;
| No
|-
| Features and Functions
| According to the various categories of controller functionality
| 1.3
| &nbsp;
| &nbsp;
| Yes
|-
| Installation Guide softMC 301
| Hardware installation, configuration and operation
| 3.3
| &nbsp;
| &nbsp;
| Yes
|-
| Installation Guide softMC 702
| Hardware installation, configuration and operation
| 3.1
| &nbsp;
| &nbsp;
| Yes
|-
| Installation Guide softMC 703
| Hardware installation, configuration and operation
| 1
| &nbsp;
| &nbsp;
| Yes
|-
| Installation Guide softMI HMI
| Hardware installation, configuration and operation
| 1
| &nbsp;
| &nbsp;
| Yes
|-
| Installation Guide softTP Teach pendant
| Hardware installation, configuration and operation
| 1.2
| &nbsp;
| &nbsp;
| Yes
|-
| Motion API Ref. Manual
| interface your machine controller with the softMC motion controller
| 1.0
| &nbsp;
| &nbsp;
| Yes
|-
| Simulator - User Guide
| procedure for installing the softMC Simulator
| 1.2
| &nbsp;
| &nbsp;
| Yes
|-
| Training Modules
| 11 Modules for softMC
| 1.0
| &nbsp;
| &nbsp;
| Yes
|-
! scope="col" | Mechanical drawing
! scope="col" | File format
! scope="col" | Ver
! scope="col" | &nbsp;
! scope="col" | &nbsp;
! scope="col" | Web site
|-
| softMC 301
| 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT
| 3
| &nbsp;
| &nbsp;
| Yes
|-
| softMC 702
| 2D; PDF, DXF 3D; EPRT IGS STEP
| 1
| &nbsp;
| &nbsp;
| Yes
|-
| softMC 703
| 2D; PDF, DXF 3D;3D; EPRT IGS STEP
| 1
| &nbsp;
| &nbsp;
| 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<br/> writing programs to the softMC.<br/> CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator
| CS 1.3(build3, sp 9)<br/> CFG 2.5.7.0<br/> MB 1.3.5.0
| CS 1.3(build3, sp 9)<br/> CFG 2.5.7.0<br/> MB 1.3.5.0
| &nbsp;
| Yes
|-
| HMIStudio
| graphic user interface packaged to build your HMI interface
| 2.4
| &nbsp;
| &nbsp;
| Yes
|-
| TeachStudio
| Teach pendant graphic user interface packaged to direct manipulate robot '''required license'''
| 2.9.9
| 2.9.9
| &nbsp;
| 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)
| &nbsp;
| &nbsp;
| Yes
|-
| TP lib
| Teach pendant library for TeachStudio
| TBD
| &nbsp;
| &nbsp;
| Yes
|-
| Tool Chain softMC 7
| C compiler and linker
| 2011.03.1
| &nbsp;
| &nbsp;
| No
|-
| Simulator Software
| software package that allows you to work on a simulated softMC using only a PC
| 0.4.17.4
| &nbsp;
| &nbsp;
| Yes
|-
| Bundle for softMC 301 702
| Configurator bundle repository
| 0.4.17.4r6
| &nbsp;
| &nbsp;
| Yes
|-
| Bundle for softMC 703
| Configurator bundle repository
| 0.4.18.2r5
| &nbsp;
| &nbsp;
| Yes
|-
| Libraries and examples for softMC
| Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG
| 0.4.16.7
| &nbsp;
| &nbsp;
| Yes
|-
| Library for CODESYS
| softMC Library for CODESYS
| 1.0.0.1
| &nbsp;
| &nbsp;
| Yes
|-
| CODESYS Examples
| CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD
| 5
| &nbsp;
| &nbsp;
| Yes
|-
! scope="col" | Firmware Release
! scope="col" | Description
! scope="col" | Ver
! scope="col" | &nbsp;
! scope="col" | &nbsp;
! scope="col" | Web site
|-
| Firmware softMC 301
| For CANopen and the EtherCAT module
| 0.4.17.5r2-C2
| &nbsp;
| &nbsp;
| No
|-
| Firmware softMC 702
| Motion bus: Multi bus, CAN and EtherCAT “B”
| 0.4.17.5r2-C2
| &nbsp;
| &nbsp;
| No
|-
| Firmware softMC 703
| EtherCAT “E”
| 0.4.18.2
| &nbsp;
| &nbsp;
| No
|-
! scope="col" | Firmware<br/> Maintenance Customer only
! scope="col" | Description
! scope="col" | Ver
! scope="col" | &nbsp;
! scope="col" | &nbsp;
! scope="col" | Web site
|-
| Firmware softMC 702
| Motion bus: CANopen “C”
| 0.4.14.14
| &nbsp;
| &nbsp;
| No
|-
| Firmware softMC 702
| Motion bus: EtherCAT “E”
| 0.4.14.14
| &nbsp;
| &nbsp;
| No
|}

== MC-Basic Language ==
See [[MC-Basic_Language_Fundamentals|MC-Basic Language]]
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== System Hardware ==
'''MC Controller Hardware Specifications'''

'''System'''
:CPU: 1.86 GHz Intel® Atom™ N2800 dual-core processor 
:Chipset: Intel® NM10
:Memory: 1 x 2 GB 204-pin 1066 MHz DDR3 SO-DIMM (system max. 4 GB)
:Ethernet Controller: Dual GbE by Realtek RTL8111E controllers
'''Storage'''
:CompactFlash®: 1 x CompactFlash card slot
:SATA (not used): mSATA and SATA DOM support
'''I/Os and Indicators'''
:Ethernet: 2 x RJ45 ports
:RS232: 2 x DB9 serial ports with 3 kV isolation protection
:RS422/RS485: 2 x DB9 serial ports with 3 kV isolation protection
:CAN Bus: 1 x Phoenix terminal block with 3 kV isolation protection (supports 2-port CAN bus)
:USB:  (not used)	4 x USB 2.0 ports
:Display:  (not used)	1 x VGA port (supports resolution up to 1920 x 1200@ 60Hz)
:Digital I/O:  (not used)	1 x Phoenix terminal block with 3 kV isolation protection (8-bit, 4-bit input/4-bit output)
:Interior Expansion: 	1 x PCIe Mini card slot (full size)
:Indicators: 	OLED
:Buttons: 	Power, Reset
'''Power'''
:Power Input: 	9V–28V DC (3-pin terminal block)	
:Power Consumption: 	12V@1.85A
:AT/ATX Mode: 	AT/ATX switch
'''Environmental and Mechanical'''
:Mounting: 	DIN rail, desktop
:Operating  Temp.: -25°C–65°C (with SSD)
:Storage Temp.: -25°C–70°C
:Humidity: 5%–95%, non-condensing
:Chassis Construction: 	Extruded aluminum alloy for fanless support
:Chassis Color: Black
:Operating Shock: Half-sine shock test 5G/11ms, 3 shocks per axis
:Operating Vibration: MIL-STD-810F 514.5 C-1 (HDD), MIL-STD-810F 514.5 C-2 (SSD)
:Safety: CE/FCC
:Weight(Net/Gross): 1 kg/2 kg
:Physical Dimensions:59.4 mm x 170 mm x 140 mm (WxHxD)

The softMC hardware is available in two types of implementation: a plug-in circuit board for a host computer, and a stand-alone model.

The PCI plug-in board hardware installs in a host computer (typically a PC), running the Windows NT 4.0, Windows 2000/XP operating systems. The softMC contains a fully-independent computer system., so it does not compete with the host processor system for resources. The softMC uses Pentium 233 MHz or faster microprocessor to provide the power your system needs today, and the x86 upgrade path allows for future enhancement. The softMC includes large on-board memory with ample capacity for your programs and enough space for expansion. There is also an onboard Flashdisk for storage of your programs.

The stand-alone model of the softMC is designed for installation as a component part in industrial equipment. It consists of the PCI version plug-in board and a power supply in an enclosure. The stand-alone model does not have a host CPU to provide a Windows operating system and environment, so it can not directly provide an operator interface. For interactive operation of the stand-alone softMC, you will need a host computer running BASIC Moves Development Studio software and communicating with the softMC ''via'' Ethernet or serial communications with Windows NT, Windows 2000/XP operating system. For additional information concerning communications configuration refer to the ''MC Installation Manual''.

All implementation models of the softMC are functionally equivalent for servo motion control.

==  Operating System == 
The operating system provides a stable platform for the softMC software.

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== MC-Basic Language Compiler == 
<font color="black">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.</font>

=== 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]]
<br/>

=== 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]]
<br/>


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

<!-- @@@@@@@@@@@@@@@@@@@@
== I/O ==
The softMC provides 23 optically-isolated inputs and 20 optically-isolated outputs as standard features, in addition to limit switches and other drive I/O points that are connected directly to the drives and transferred to the softMC via SERCOS. Additionally, each drive provides hardware for six I/O points: three digital inputs, one digital output, a 14-bit analog input, and a 12-bit analog output. An auxiliary encoder can also be connected to any drive.

If you need more I/O, the softMC includes a PC104 bus. Each softMC can accommodate as many as two PC104 cards. You can also add I/O to your PC bus or other field buses such as DeviceNet and ProfiBus, and your application controls it all. The figure below shows the various possible I/O options.

[[Image:Axsystems;UserManual-1-IO.png|caption|600px]]

== SERCOS ==
softMC supports SERCOS<sup>®</sup> (Serial Real-time Communications System), an internationally-approved communication standard for motion control (IEC 61491, previously IEC 1491). This communication network is designed for high-speed serial communication of standardized closed-loop data, in real-time, over a noise-immune fiber-optic cable.

The SERCOS interface™ provides an alternative to the analog interface for communication between motion controllers and drives. All signals are transmitted between controller and drives on two fiber optic cables. This eliminates grounding noise and other types of electro-mechanical conductance (EMC) and electro-mechanical interference (EMI).

Because SERCOS is digital, it can transmit signals such as velocity and position commands with high resolution. The softMC and accompanying drives (CD series), support 32-bit velocity commands. This provides a much higher resolution than can be achieved with the analog interface. The most common SERCOS functions are provided in such a way that you do not have to be an expert to gain the benefits.
@@@@@@@@@@@@@@@@@@@@  -->

==  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:<br/>
http://servotronix.com/products/softmc-motion-controller/
<br/>

==  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.
<!-- [[Image:Axsystems;UserManual-2-Multi-tasking.png|caption|600px]] -->

==  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]]