Difference between revisions of "Motion Project Example: Cartesian Robot"

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The following example show how to set a cartesian robot properties using [[softMC Configurator]] and how to make circular movement using it. <br>
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{{Languages|Motion_Project_Example:_Cartesian_Robot}}
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This example project shows how to define Cartesian robot properties using [[softMC_Configurator|softMC Configurator]] and how to make a circular movement with the robot.
  
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=Download Example Files=
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= Download Example Files =
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{|class="wikitable" style="text-align: left"
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|'''Description'''
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{| class="wikitable" style="text-align: left"
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|'''Download'''
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|-
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| '''Overview'''
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| '''Download'''
 
|-
 
|-
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|Download the '''ZIP''' example file, extract all the project files, open the project with ControlStudio, and run the example.<br/>
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| Download the '''ZIP''' example project file, extract all the files, and then use ControlStudio to open and run the example project.  
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Refer to the file descriptions and instructions in the following sections.
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Refer to the file descriptions and instructions below.
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|[[image:Download.png|90px|link=http://softmc.servotronix.com/img_auth.php/d/d1/cartXYZ.zip]]  
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| [[File:Download.png|90px|Download.png|link=http://softmc.servotronix.com/img_auth.php/d/d1/cartXYZ.zip]]
 
|}
 
|}
  
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=System Setup=
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= System Setup =
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In this example we used the following system: <br>
 
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* softMC 7.
 
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* Three CDHD drivers connected to three linear motors.
 
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* Cartesian robot (XYZ).
 
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* Computer with [[Control Studio|ControlStudio]] and [[softMC Configurator]]. <br>
 
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* Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)
 
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Wiring as showen: <br>
 
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[[image: cart_1.png| 300px]]
 
  
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The motor parameters calculate according to the manufacture formulas as it's appear in the Excel file.
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The example uses the following system:
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{{Note|When using other drivers then CDHD, it's important to insert the motor '''pitch''' value, as it provided from the motor manufacture, to the softMC Configurator, to get suitable [[MC-Basic:axis.POSITIONFACTOR|Position Factor]]
 
  
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=softMC Configurator=
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*softMC 7
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To upload the example setups to your sofMC Configurator, open the example '''.mcfg''' file from the softMC Configurator.
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*Three CDHD drives connected to three linear motors
 +
*Cartesian robot (XYZ)
 +
*Computer with [[Control_Studio|ControlStudio]] and [[softMC_Configurator|softMC Configurator]].
 +
*Example files - Programs, setups, properties and more (See below for descriptions)
 +
*Wiring as shown in the image below:
  
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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. <br>
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[[File:cart 1.png|300px|cart 1.png]]
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In this example we will make a circular movement with MC-Basic program, from ControlStudio terminal.
 
  
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For more information about how to setup Cartesian robot parameters using softMC Configurator - [[3-Axis Group Setup in EtherCAT Network|look here]] <br>
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The motor parameters are calculated according to the manufacture specifications in the Excel file.
  
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=Running The Program=
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{{Note|When using drives other than CDHD, you must insert the motor '''pitch''' value, provided by the motor manufacture, to the softMC Configurator, to obtain a suitable [[MC-Basic:axis.POSITIONFACTOR|Position Factor]].}}
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To upload the example setups to your ControlStudio, open the example '''.apj''' file from the Controlstudio.<br>
 
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When all relevant files upload to your controller, use the following code, from ControlStudio-terminal to run the example:  
 
  
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<syntaxhighlight lang='VB'>
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= softMC Configurator - Setup =
 +
 
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Use the sofMC Configurator to open the example '''mcfg''' (cartXYZ.mdfg) file.
 +
 
 +
For more information on how to set up Cartesian robot parameters using softMC Configurator, refer to [[3-Axis_Group_Setup_in_EtherCAT_Network|3-Axis Group Setup in EtherCAT Network]].<br/> <!--<strike> After creating all project files with softMC Configurator or uploading an existing project, you can run the robot from ControlStudio or from softMC Configurator.
 +
 
 +
This example generates a circular movement using an MC-Basic program, from the ControlStudio terminal.</strike> -->
 +
 
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= ControlStudio - Program Execution =
 +
 
 +
Use ControlStudio to open the example '''.apj''' (cartXYZ.apj) file.
 +
 
 +
Once all required files are uploaded to your controller, use the ControlStudio terminal to enter the following instructions and run the example:
 +
 
 +
&nbsp;
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<syntaxhighlight lang="VB">
 
-->reset all
 
-->reset all
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-->load AUTOEXEC.PRG  'wait until the program will terminate
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-->load AUTOEXEC.PRG  'wait until the program terminates
 
-->load CIRCLE.PRG
 
-->load CIRCLE.PRG
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-->Stas CIRCLE.PRG    'when the program ends, your can find motion record file (CIRCLE.REC) at the controller  
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-->Stas CIRCLE.PRG    'when the program ends, you can find motion record file (CIRCLE.REC) in the controller  
 
</syntaxhighlight>
 
</syntaxhighlight>
  
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==Files table With Description==
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= File Descriptions =
  
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{|class="wikitable"
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{| class="wikitable"
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!colspan = "3"|'''<big>User Files</big>'''
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|-
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! colspan="3" | '''<big>User Files</big>'''
 
|-
 
|-
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!File Name
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! File Name
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!Description
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! Description
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!Upload to Controller  
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! Upload to Controller
 
|-
 
|-
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|Properties table
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| Properties table
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|Excel matrix that contain the information that you need to setup your robot.<br> Notice which information you need to import from your system.
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| Excel matrix that contains data for setting up your robot.<br/> Note which data you need to import from your system.
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|align="center" |'''−'''
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| align="center" | '''−'''
 
|-
 
|-
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|CONFIG.PRG
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| CONFIG.PRG
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|MC-Basic program that define the basic data so that ControlStudio and sofMC Configurator will work.
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| MC-Basic program that defines the basic data required for ControlStudio and sofMC Configurator operation.
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|HOMING.PRG
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| HOMING.PRG
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|Execute homing procedure for each axis.
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| Executes a homing procedure for each axis.
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|AUTOEXEC.PRG
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| AUTOEXEC.PRG
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|Execute startPRG.PRG program and HOMING.PRG program.
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| Executes startPRG.PRG program and HOMING.PRG program.
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|CIRCLE.PRG
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| CIRCLE.PRG
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|Basic circular movement program
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| MC-Basic circular movement program.
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|}
 
|}
  
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&nbsp;
  
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{|class = "wikitable"
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{| class="wikitable"
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!colspan = "3"| '''<big>softMC Configurator files - DO NOT MAKE ANY CHANGE</big>'''
 
 
|-
 
|-
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!File Name
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! colspan="3" | '''<big>softMC Configurator Files - DO NOT MAKE ANY CHANGES</big>'''
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!Description
 
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!Upload to Controller
 
 
|-
 
|-
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|AX_SETUP.PRG
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! File Name
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|Axes parameters setup program
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! Description
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|align="center" |'''+'''
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! Upload to Controller
 
|-
 
|-
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|CANSETUP.PRG
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| AX_SETUP.PRG
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|CANopen communication parameter setup program
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| Axes parameters setup program
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|align="center" |'''+'''
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| align="center" | '''+'''
 
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|-
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|EC_CDHD.LIB
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| CANSETUP.PRG
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|EtherCat communication function and subroutine with CDHD library file
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| CANopen communication parameter setup program
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|EC_USER.LIB
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| EC_CDHD.LIB
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|EtherCat communication function and subroutine library file
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| EtherCat communication function and subroutine with CDHD library file
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|ETHERCAT.LIB
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| EC_USER.LIB
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|EtherCat communication function and subroutine library file
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| EtherCat communication function and subroutine library file
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|ECCONFIG.PRG
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| ETHERCAT.LIB
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|EtherCat configuration program
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| EtherCat communication function and subroutine library file
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|EC_SETUP.PRG
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| ECCONFIG.PRG
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|EtherCat communication setup program
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| EtherCat configuration program
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|RobLib.LIB
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| EC_SETUP.PRG
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|Robot function and subroutine library file
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| EtherCat communication setup program
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|ROBOT.PRG
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| RobLib.LIB
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|Robot parameter setup program
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| Robot function and subroutine library file
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|STARTPRG.PRG
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| ROBOT.PRG
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|Program that runs all other softMC Configurator programs
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| Robot parameter setup program
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|align="center" |'''+'''
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| align="center" | '''+'''
 
|-
 
|-
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|cartXYZ.apj
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| STARTPRG.PRG
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|Project file - allowed to load an existing project from ControStudio.
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| Program that runs all other softMC Configurator programs
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|align="center" |'''−'''
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| align="center" | '''+'''
 
|-
 
|-
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|cartXYZ.mcfg
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| cartXYZ.apj
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|Project file - allowed to load an existing project from softMC Configurator.
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| Project file - used to load an existing project from ControStudio
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|align="center" |'''−'''
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| align="center" | '''−'''
 
|-
 
|-
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|cartXYZ.dat
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| cartXYZ.mcfg
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|rowspan="3" align="center"|General project files
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| Project file - used to load an existing project from softMC Configurator
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|align="center" |'''−'''
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| align="center" | '''−'''
 
|-
 
|-
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|cartXYZ.asn
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| cartXYZ.dat
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|align="center" |'''−'''
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| align="center" rowspan="3" | General project files
 +
| align="center" | '''−'''
 
|-
 
|-
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|cartXYZ.pse
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| cartXYZ.asn
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|align="center" |'''−'''
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| align="center" | '''−'''
 +
|-
 +
| cartXYZ.pse
 +
| align="center" | '''−'''
 
|}
 
|}
 +
 +
[[Category:Robot Models]]

Latest revision as of 01:09, 11 April 2022

Language: English  • 中文（简体）‎

This example project shows how to define Cartesian robot properties using softMC Configurator and how to make a circular movement with the robot.

Download Example Files

Overview Download
Download the ZIP example project file, extract all the files, and then use ControlStudio to open and run the example project.

Refer to the file descriptions and instructions below.

Download.png

System Setup

The example uses the following system:

  • softMC 7
  • Three CDHD drives connected to three linear motors
  • Cartesian robot (XYZ)
  • Computer with ControlStudio and softMC Configurator.
  • Example files - Programs, setups, properties and more (See below for descriptions)
  • Wiring as shown in the image below:

cart 1.png

The motor parameters are calculated according to the manufacture specifications in the Excel file.

NOTE-Info.svgNOTE
When using drives other than CDHD, you must insert the motor pitch value, provided by the motor manufacture, to the softMC Configurator, to obtain a suitable Position Factor.

softMC Configurator - Setup

Use the sofMC Configurator to open the example mcfg (cartXYZ.mdfg) file.

For more information on how to set up Cartesian robot parameters using softMC Configurator, refer to 3-Axis Group Setup in EtherCAT Network.

ControlStudio - Program Execution

Use ControlStudio to open the example .apj (cartXYZ.apj) file.

Once all required files are uploaded to your controller, use the ControlStudio terminal to enter the following instructions and run the example:

  

-->reset all
-->load AUTOEXEC.PRG   'wait until the program terminates
-->load CIRCLE.PRG
-->Stas CIRCLE.PRG     'when the program ends, you can find motion record file (CIRCLE.REC) in the controller

File Descriptions

User Files
File Name Description Upload to Controller
Properties table Excel matrix that contains data for setting up your robot.
Note which data you need to import from your system. 		−
CONFIG.PRG MC-Basic program that defines the basic data required for ControlStudio and sofMC Configurator operation. +
HOMING.PRG Executes a homing procedure for each axis. +
AUTOEXEC.PRG Executes startPRG.PRG program and HOMING.PRG program. +
CIRCLE.PRG MC-Basic circular movement program. +

 

softMC Configurator Files - DO NOT MAKE ANY CHANGES
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 +
cartXYZ.apj Project file - used to load an existing project from ControStudio −
cartXYZ.mcfg Project file - used to load an existing project from softMC Configurator −
cartXYZ.dat General project files −
cartXYZ.asn −
cartXYZ.pse −
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