Motion Project Example: Single Axis With CDHD

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The following example show how to set a single axis with CDHD properties using softMC Configurator and how to make back and forth movement with increases velocity using it.

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.

System Setup

In this example we used the following system:

• softMC 7.
• single CDHD driver connected to single motors.
• Computer with ControlStudio and softMC Configurator.
  
• Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)

Wiring as showen:

	NOTE
	In this example, the axis setup made with rev/sec units

The motor parameters calculate according to the manufacture, you can find the parameters witch change in the Excel file. {{Note|When using other drivers then CDHD, it's important to insert the motor pitch value (if there is one), as it provided from the motor manufacture, to the softMC Configurator, to get suitable Position Factor

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 robot from ControlStudio or from the softMC Configurator itself.
In this example we will make back and forth movement with increases velocity using MC-Basic program, from ControlStudio terminal.

For more information about how to setup single axis with CDHD parameters using softMC Configurator - look here

Running The Program

To upload the example setups to your ControlStudio, open the example .apj file from the Controlstudio.
When all relevant files upload to your controller, use the following code, from ControlStudio-terminal to run the example:

-->reset all
-->load AUTOEXEC.PRG   'wait until the program will terminate
-->load MoveAX.PRG
-->Stas MoveAX.PRG

Files table With Description

User Files
File Name	Description	Upload to Controller
singleAxis_CDHD	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.	+
MoveAX.PRG	Back and forth movement with increases velocity program	+

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	+
singleAxis.apj	Project file - allowed to load an existing project from ControStudio.	−
singleAxis.mcfg	Project file - allowed to load an existing project from softMC Configurator.	−
singleAxis.dat	General project files	−
singleAxis.asn		−
singleAxis.pse		−