Difference between revisions of "Motion Project Example: Puma Robot simulated"

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{{Languages|Motion_Project_Example:_Puma_Robot_simulated}}
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The following example show how to set a simulated Puma robot properties using [[softMC Configurator]] and how to make Helix movement and Pick and Place method using it. [[File:Puma Simulated2.PNG|right|250px|Puma Simulated]]<br>
 +
 
 +
=Download Example Files=
 +
{|class="wikitable" style="text-align: center"
 +
|'''Description'''
 +
|'''Download'''
 +
|-
 +
|It's recommended to download the example '''ZIP''' file, extract all the project files, open project with ControlStudio, and run the example by yourself. You will find files description table bellow (4.1). The instructions will be listed below.
 +
|[[image:Download.png|90px|link=http://softmc.servotronix.com/img_auth.php/7/73/Puma01_Simulated.zip]]
 +
|}
 +
 
 +
=System Setup=
 +
In this example we used the following system: <br>
 +
* softMC 7 (you can also use simulated sofMC).
 +
* Computer with [[Control Studio|ControlStudio]], [[softMC Configurator]] and RoboDk. <br>
 +
* Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)
 +
 
 +
The motors parameters calculate according to the manufacture formulas as it's appear in the Excel file, although it's simulated system.
 +
 
 +
=softMC Configurator=
 +
To upload the example setups to your sofMC Configurator, open the example '''.mcfg''' file from the softMC Configurator.
 +
 
 +
After creating all project files with softMC Configurator or upload an existing project, you can run your Puma robot from ControlStudio or from the softMC Configurator itself. <br>
 +
In this example we will make a helical movement and execute Pick and Place program with MC-Basic program, from ControlStudio terminal.
 +
 
 +
For more information about how to setup Puma robot parameters using softMC Configurator - [[6-Axis Puma robot Setup|look here]] <br>
 +
 
 +
=Running The Program and Simulate With RoboDK=
 +
To upload the example setups to your ControlStudio, open the example '''.apj''' file from the Controlstudio.<br>
 +
When all relevant files upload to your controller, and you opened and connected the RoboDK file as explain [[Motion Project Examples| HERE]], use the following code, from ControlStudio-terminal to run the example:
 +
 
 +
<syntaxhighlight lang='VB'>
 +
-->reset all
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-->load AUTOEXEC.PRG  'wait until the program will terminate, and connect between RoboDK model and ControlStudio (as explained).
 +
-->load HELIX.PRG      'Load helical movement program
 +
-->Stas HELIX.PRG
 +
-->load PnP.PRG        'Load Pick and Place program 
 +
-->Stas PnP.PRG 
 +
</syntaxhighlight>
 +
 
 +
==Files table With Description==
 +
 
 +
{|class="wikitable"
 +
!colspan = "3"|'''<big>User Files</big>'''
 +
|-
 +
!File Name
 +
!Description
 +
!Upload to Controller
 +
|-
 +
|Puma01_simulated
 +
|Excel matrix that contain the information that you need to setup your robot.<br> Notice which information you need to import from your system.
 +
|align="center" |'''−'''
 +
|-
 +
|CONFIG.PRG
 +
|MC-Basic program that define the basic data so that ControlStudio and sofMC Configurator will work.
 +
|align="center" |'''+'''
 +
|-
 +
|AUTOEXEC.PRG
 +
|Execute startPRG.PRG program and SERVER.PRG program.
 +
|align="center" |'''+'''
 +
|-
 +
|HELIX.PRG
 +
|Basic helical movement program.
 +
|align="center" |'''+'''
 +
|-
 +
|PnP.PRG
 +
|Basic "Pick and Place" movement program.
 +
|align="center" |'''+'''
 +
|-
 +
|SERVER.PRG
 +
|Communication program between ControlStudio and RoboDK file.
 +
|align="center" |'''+'''
 +
|-
 +
|Puma01_Simulated.rdk
 +
|RoboDK file.
 +
|align="center" |'''+'''
 +
|}
 +
 
 +
 
 +
{|class = "wikitable"
 +
!colspan = "3"| '''<big>softMC Configurator files - DO NOT MAKE ANY CHANGE</big>'''
 +
|-
 +
!File Name
 +
!Description
 +
!Upload to Controller
 +
|-
 +
|AX_SETUP.PRG
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|Axes parameters setup program
 +
|align="center" |'''+'''
 +
|-
 +
|CANSETUP.PRG
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|CANopen communication parameter setup program
 +
|align="center" |'''+'''
 +
|-
 +
|EC_CDHD.LIB
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|EtherCat communication function and subroutine with CDHD library file
 +
|align="center" |'''+'''
 +
|-
 +
|EC_USER.LIB
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|EtherCat communication function and subroutine library file
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|align="center" |'''+'''
 +
|-
 +
|ETHERCAT.LIB
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|EtherCat communication function and subroutine library file
 +
|align="center" |'''+'''
 +
|-
 +
|ECCONFIG.PRG
 +
|EtherCat configuration program
 +
|align="center" |'''+'''
 +
|-
 +
|EC_SETUP.PRG
 +
|EtherCat communication setup program
 +
|align="center" |'''+'''
 +
|-
 +
|RobLib.LIB
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|Robot function and subroutine library file
 +
|align="center" |'''+'''
 +
|-
 +
|ROBOT.PRG
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|Robot parameter setup program
 +
|align="center" |'''+'''
 +
|-
 +
|STARTPRG.PRG
 +
|Program that runs all other softMC Configurator programs
 +
|align="center" |'''+'''
 +
|-
 +
|Puma01_Simulated.apj
 +
|Project file - allowed to load an existing project from ControStudio.
 +
|align="center" |'''−'''
 +
|-
 +
|Puma01_Simulated.mcfg
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|Project file - allowed to load an existing project from softMC Configurator.
 +
|align="center" |'''−'''
 +
|-
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|Puma01_Simulated.dat
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|rowspan="3" align="center"|General project files
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|align="center" |'''−'''
 +
|-
 +
|Puma01_Simulated.asn
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|align="center" |'''−'''
 +
|-
 +
|Puma01_Simulated.pse
 +
|align="center" |'''−'''
 +
|}

Latest revision as of 13:12, 21 February 2018

Language: English  • 中文（简体）‎
The following example show how to set a simulated Puma robot properties using softMC Configurator and how to make Helix movement and Pick and Place method using it.
Puma Simulated

Download Example Files

Description Download
It's recommended to download the example ZIP file, extract all the project files, open project with ControlStudio, and run the example by yourself. You will find files description table bellow (4.1). The instructions will be listed below. Download.png

System Setup

In this example we used the following system:

  • softMC 7 (you can also use simulated sofMC).
  • Computer with ControlStudio, softMC Configurator and RoboDk.
  • Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)

The motors parameters calculate according to the manufacture formulas as it's appear in the Excel file, although it's simulated system.

softMC Configurator

To upload the example setups to your sofMC Configurator, open the example .mcfg file from the softMC Configurator.

After creating all project files with softMC Configurator or upload an existing project, you can run your Puma robot from ControlStudio or from the softMC Configurator itself.
In this example we will make a helical movement and execute Pick and Place program with MC-Basic program, from ControlStudio terminal.

For more information about how to setup Puma robot parameters using softMC Configurator - look here

Running The Program and Simulate With RoboDK

To upload the example setups to your ControlStudio, open the example .apj file from the Controlstudio.
When all relevant files upload to your controller, and you opened and connected the RoboDK file as explain HERE, use the following code, from ControlStudio-terminal to run the example: 

-->reset all
-->load AUTOEXEC.PRG   'wait until the program will terminate, and connect between RoboDK model and ControlStudio (as explained).
-->load HELIX.PRG      'Load helical movement program
-->Stas HELIX.PRG 
-->load PnP.PRG        'Load Pick and Place program  
-->Stas PnP.PRG

Files table With Description

User Files
File Name Description Upload to Controller
Puma01_simulated Excel matrix that contain the information that you need to setup your robot.
Notice which information you need to import from your system. 		−
CONFIG.PRG MC-Basic program that define the basic data so that ControlStudio and sofMC Configurator will work. +
AUTOEXEC.PRG Execute startPRG.PRG program and SERVER.PRG program. +
HELIX.PRG Basic helical movement program. +
PnP.PRG Basic "Pick and Place" movement program. +
SERVER.PRG Communication program between ControlStudio and RoboDK file. +
Puma01_Simulated.rdk RoboDK file. +


softMC Configurator files - DO NOT MAKE ANY CHANGE
File Name Description Upload to Controller
AX_SETUP.PRG Axes parameters setup program +
CANSETUP.PRG CANopen communication parameter setup program +
EC_CDHD.LIB EtherCat communication function and subroutine with CDHD library file +
EC_USER.LIB EtherCat communication function and subroutine library file +
ETHERCAT.LIB EtherCat communication function and subroutine library file +
ECCONFIG.PRG EtherCat configuration program +
EC_SETUP.PRG EtherCat communication setup program +
RobLib.LIB Robot function and subroutine library file +
ROBOT.PRG Robot parameter setup program +
STARTPRG.PRG Program that runs all other softMC Configurator programs +
Puma01_Simulated.apj Project file - allowed to load an existing project from ControStudio. −
Puma01_Simulated.mcfg Project file - allowed to load an existing project from softMC Configurator. −
Puma01_Simulated.dat General project files −
Puma01_Simulated.asn −
Puma01_Simulated.pse −
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