Difference between revisions of "Overview"

From SoftMC-Wiki
Jump to: navigation, search
m (→‎softMC Firmware)
 
(124 intermediate revisions by 5 users not shown)
Line 1: Line 1:
−
{{Out-of-date}}
+
{{Languages|Overview}}
  
−
== Introducing the softMC ==
+
== Introduction ==
  
−
The '''softMC''' is a multi-axis motion controller. It 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.
 
  
−
The 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.
+
'''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 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 Linux-based programming language enables preemptive multitasking at user program level.
+
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.
 +
 
 +
<!--  @@@@@@@@@@@@@@@@@@@@
 +
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.
 +
@@@@@@@@@@@@@@@@@@@@ --!>
 +
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.
 
softMC is integrated with Servotronix drive-motor systems.
Line 15: Line 22:
 
*Ethernet machine interface
 
*Ethernet machine interface
 
*Support for EtherCAT and CANopen motion buses (Sercos III upon request)
 
*Support for EtherCAT and CANopen motion buses (Sercos III upon request)
−
*Controls up to 128 interpolated axes
+
*Controls up to 64 interpolated axes
 
*Extensive capabilities for both standard and non-standard robotic kinematics
 
*Extensive capabilities for both standard and non-standard robotic kinematics
  
−
== softMC Firmware ==  
+
== softMC Firmware Version 0.4.17.2 ==  
−
This wiki contains the documentation for the softMC controller and softMC firmware Version 5.0.0.
+
This wiki contains the documentation for softMC Firmware Version 0.4.17.2
  
−
Firmware Version 5.0.0 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.
+
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.
  
−
<font color="red">
+
To execute the examples described in this documentation, ControlStudio must be installed on your host computer.
−
To execute the examples described in this documentation, you must have softMC and BASIC Moves Development Studio<sup>®</sup> installed on your host computer. Some examples also require you to have a drive installed and connected to the softMC using the SERCOS Interface<sup>TM</sup> cables.<br/>
 
  
−
<s>The ''MC Installation Manual'' describes the procedures for all the necessary installations.
+
<!-- @@@@@@@@@@@@@@@@@@@@
−
The ''MC Reference Manual'' covers all versions of the firmware.
+
Some examples also require you to have a drive installed and connected to the softMC using the SERCOS Interface<sup>TM</sup> cables.
−
''MC'' ''Installation ManualMC'' ''BASIC Moves Development Studio ManualSC/MC API'' ''Reference ManualMC'' ''InstallationManual''
 
  
 
The key benefits of the product are:
 
The key benefits of the product are:
Line 39: Line 44:
  
 
'''Windows'''<sup>®</sup>'''-Based Software Supports Microsoft Visual Basic™, Visual C++™, and other Popular Languages'''.
 
'''Windows'''<sup>®</sup>'''-Based Software Supports Microsoft Visual Basic™, Visual C++™, and other Popular Languages'''.
−
</font>
+
@@@@@@@@@@@@@@@@@@@@ -->
−
</s>
+
 
 +
 
 +
 
 +
== 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 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&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]]
 +
<!--  @@@@@@@@@@@@@@@@@@@@
 +
 
  
 
== System Hardware ==
 
== System Hardware ==
 +
'''MC Controller Hardware Specifications'''
  
−
<font color="black">
+
'''System'''
−
Hardware:
+
:CPU: 1.86 GHz Intel® Atom™ N2800 dual-core processor
−
*Off-the-shelf industrial PC (based on specific product availability)
+
:Chipset: Intel® NM10
−
* Other platforms can be evaluated upon special request
+
:Memory: 1 x 2 GB 204-pin 1066 MHz DDR3 SO-DIMM (system max. 4 GB)
−
 
+
:Ethernet Controller: Dual GbE by Realtek RTL8111E controllers
−
General hardware requirements:
+
'''Storage'''
−
* x86 Intel CPU
+
:CompactFlash®: 1 x CompactFlash card slot
−
* RAM: minimum 256 MB
+
:SATA (not used): mSATA and SATA DOM support
−
* Storage: Compact Flash, minimum 512 MB
+
'''I/Os and Indicators'''
−
* 2 x LAN 100 MB / 1 GB , Realtek / Intel
+
:Ethernet: 2 x RJ45 ports
−
* At least 1 UART (RS232, RS422, RS485)
+
:RS232: 2 x DB9 serial ports with 3 kV isolation protection
−
* On-board or add-on card for CANopen
+
:RS422/RS485: 2 x DB9 serial ports with 3 kV isolation protection
−
</font>
+
: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)
  
−
<font color="red"><s>
 
 
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 softMC hardware is available in two types of implementation: a plug-in circuit board for a host computer, and a stand-alone model.
  
Line 65: Line 406:
 
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''.
 
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
+
All implementation models of the softMC are functionally equivalent for servo motion control.
  
−
</font></s>
+
==  Operating System ==
 +
The operating system provides a stable platform for the softMC software.
  
−
== Operating System ==
+
@@@@@@@@@@@@@@@@@@@@ -->
−
<font color="red">
 
−
The softMC is based on the VxWorks<sup>®</sup> Realtime Operating System (RTOS), providing a stable platform for the softMC software. VxWorks is produced by Wind River Systems, Incorporated. VxWorks is continuously evolving, providing a clear path for future upgrades to the softMC.
 
−
</font>
 
  
 
== MC-Basic Language Compiler ==  
 
== 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 5 microseconds. 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$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.  
+
<font color="black">The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, 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>
 
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>
  
−
<font color="red">
+
=== Command and Property Categories ===
−
'''Heading ?'''
+
Each function opens a page with a list of links to all related MC-Basic commands and properties.
  
−
Gearing and camming have the versatility required for motion control. You can slave any axis to any master. You can enable and disable gearing at any time. The gear ratio is expressed as a double-precision value. 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.
+
* [[: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/>
  
−
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.
+
=== 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/>
  
−
'''Heading ?'''
 
  
−
The softMC supports multitasking with up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed when events occur, such as switches tripping, a motor crossing a position, or just about any combination of factors.
+
* [[FAQ System|'''FAQ''' System]] - Ask the developers a question.
−
</font>
 
  
 +
<!-- @@@@@@@@@@@@@@@@@@@@
 
== I/O ==
 
== 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.
 
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.
Line 103: Line 463:
 
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).
 
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).
  
−
<font color="red">
 
 
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.
 
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.
−
</font>
+
@@@@@@@@@@@@@@@@@@@@  -->
 +
 
 +
==  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.
  
−
<font color="red">
+
To download the software and installation instructions, go to the '''Downloads|Simulator''' section on the webpage:<br/>
−
= API =
+
http://servotronix.com/products/softmc-motion-controller/
−
API is a software package that allows you to communicate with the softMC from popular programming languages, such as Visual Basic. The API provides complete access to all the elements of your system across dual-port RAM.
+
<br/>
  
−
<font color="red">
+
==  Multitasking ==
−
See the ''MC API Reference Manual'' for more information.
+
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.
−
</font>
 
  
−
= Multitasking =
+
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.
−
The softMC is a fully multitasking system (see figure below) in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. Also, because the API supports multiple applications communicating concurrently, you can write one or more applications that have access to all of the tasks and elements.
+
<!-- [[Image:Axsystems;UserManual-2-Multi-tasking.png|caption|600px]] -->
  
−
[[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 =
+
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.
−
The Ethernet and serial ports of the softMC 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 raw serial port or TCP socket. The TCP socket guaranties 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 usage of any protocol over serial or TCP/IP through an softMC application.
+
Refer to: '''[[Communication|Communication]]'''
  
−
Refer to: [[Axystems: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:Axystems:softMC Firmware|Overview]]
+
[[Category:softMC Firmware|Overview]]

Latest revision as of 12:28, 21 July 2019

Language: English  • Deutsch • 中文（简体）‎

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

Help Description EN CN DE Web site
On line help web based help (Servotronix wiki) Y Y   Yes
Documentation/Manuals Description EN CN DE 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
Mechanical drawing File format Ver     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
GUI (software) Description EN CN DE 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
Software and Examples Description EN CN DE 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
Firmware Release Description Ver     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
Firmware
Maintenance Customer only 		Description Ver     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

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.


MC-Basic Language System




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

Technical Support

If you need assistance with installation and configuration of softMC, contact technical support: Technical Support

Retrieved from "http://softmc.servotronix.com/index.php?title=Overview&oldid=133250"