Difference between revisions of "4-Axis Scara robot Setup"

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{{Languages}}
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This is a tutorial for 4 and 3 axes SCARA robot setup, using softMC Configurator. <br />
 +
----------------------------------------------------------------------------------------------------------------------------------------------
 +
== Creating and Running a CONFIG.PRG file ==
 +
The Configurator does not generate a CONFIG.PRG file, which is a necessary file. <br />
 +
The most simple CONFIG.PRG file will look like this:
 +
<syntaxhighlight lang="vb">
 +
Sys.NumberAxes = 7
 +
program
 +
    Sys.Name = "MC_SCARA"
 +
    Print "system is running  -  " ; Sys.Name
 +
end program
 +
</syntaxhighlight>
 +
NOTE: It is important that Sys.NumberAxes will be at least 3 as the scraa robot needs at least 3 axes. <br />
 +
Before opening the Configurator, please run the CONFIG.PRG file by uploading it to the softMC, followed by "reset all" command in the terminal.
 +
 
 +
== Opening The Configurator ==
 +
First, you need to open the configurator. One option is to open the configurator through the Control Studio.<br />
 +
Go to: tool → softMC Configurator.<br />
 +
[[File:open_configurator.png]] <br />
 +
<br />
 +
If the Control Studio is already connected to an MC, then you will see the following window. <br />
 +
Choose the New Project tab, and then choose the softMC version that is on your softMC.<br />
 +
[[File:new_project.png]] <br />
 +
<br />
 +
 
 +
If the ControlStudio was not connected to the softMC, the next window will be shown. <br />
 +
1. Choose the type of network connection <br />
 +
2. Press on "Scan for softMCs" <br />
 +
3. Choose your softMC<br />
 +
4. Press on the "start configuration" button<br />
 +
Then you will get to the previous explained window. Follow the previous instructions.<br />
 +
[[File:offline_configurator2.png]]<br />
 +
 
 +
== Configuring The Drive and Axes ==
 +
First, you need to configure the drives and axes. <br />
 +
In the project window, the left pane shows the recognized drives and axes. <br />
 +
'''Note:''' Only EtherCAT drives are recognized automatically, the CANopen drives should be added manually. <br />
 +
'''Note:''' If a simulative robot is being configured, ignore the drives configuration part. <br />
 +
<br />
 +
==='''Drives'''===
 +
Press on the first drive and its configuration window will show: <br />
 +
The minimum requirement are: <br />
 +
# Choose the "Initial Active OpMode". Please choose: "8 - cyclic_synchronous_position". <br />
 +
# Link the drive's corresponding axis. Choose the correct axis in "Link Driver To Axis". <br />
 +
# Lastly, press on the "Apply" button. <br />
 +
Repeat the last steps for each used drive. <br />
 +
[[File:drive_configuration_4units.png]]<br />
 +
<br />
 +
 
 +
==='''Axes'''===
 +
Press on the first axis and its configuration window will show: <br />
 +
The minimum requirement are: <br />
 +
# Choose the "Axis Type". Please choose: "Rotary Gear" for the SCARA robot. <br />
 +
# 3rd axis should be linear type, typically linear screw. <br />
 +
# Set the Gear Ratio value to the correct value. <br />
 +
Repeat the last steps for each used axis. <br />
 +
[[File:axis_configuration_4units.png]]<br />
 +
<br />
 +
 
 +
The configuration window of the axes has few tabs.<br />
 +
The "Properties" tab allows to set the axis properties. For example, this is how you can set the direction of each joint: <br />
 +
[[File:set_direction.png]]<br />
 +
<br />
 +
Please set the properties appropriately to each axis based on demands and manufacture instructions. <br />
 +
'''Note''': If the configuration is for a simulated robot, change the "Simulated Axis" property to "True" for all axes.<br />
 +
<br />
 +
 
 +
== Configuring The SCARA Robot ==
 +
Right click on the "Groups" icon in the left pane, and choose "Add Group". <br> <br />
 +
[[File:add_group.png]] <br> <br />
 +
 
 +
In the popup window, follow these steps: <br />
 +
# Choose "Robot" <br />
 +
# Set a "Group name" (in the example the name is SCARA) <br />
 +
# Choose the "scara xyzr" robot, or "scara xyz"<br />
 +
# Add the relevant axes to the "Assigned Axes" list by double-clicking on them. When a correct set of axes is chosen, the "Assigned Axes" box will become green <br />
 +
# Press the OK button <br />
 +
[[File:add_scara_instructions.png]] <br />
 +
<br />
 +
 
 +
Now, the robot/group configuration window will be shown. There are few tabs to look at:
 +
 
 +
=== General tab ===
 +
 
 +
This tab allows to switch the axes which are linked to the group and to change the axes properties <br />
 +
 
 +
=== Coupling tab ===
 +
 
 +
This tab allows to set: <br />
 +
# The coupling matrix for the robot. <br />
 +
# The joints position limits. <br />
 +
[[File:scara_coupling_tab.png]] <br />
 +
 
 +
=== Properties tab ===
 +
 
 +
This tab allows to set the robot properties, such as: position limits, speed limits, acceleration limits, etc.  <br />
 +
[[File:scara_properties_tab.png]] <br />
 +
 
 +
=== Configuration tab ===
 +
 
 +
This tab has 4 sub-tabs:  <br />
 +
 
 +
==== DH Parameters tab ====
 +
 
 +
This tab allows to set the DH parameters of the SCARA robot. Please set these values corresponding to the drawings supplied in this tab.  <br />
 +
[[File:scara_DH_parameters_tab.png]] <br />
 +
 
 +
==== Frames/Locations tab ====
 +
 
 +
This tab allows to set the SCARA robot location vectors, such as where the robot base is located, or the position of the tool relative to the 6th joint frame. <br />
 +
[[File:scara_Frames_tab.png]] <br />
 +
 
 +
==== Theta Parameters tab ====
 +
 
 +
This tab allows to set the SCARA zero location. The default zero location of the SCARA robot is as in the left image. <br />
 +
You can choose one of the other options for the zero location - just press on the desired image to set this configuration as the zero location. <br />
 +
You can also define a customized displacement to each axis in order to set a customized zero location. <br />
 +
[[File:scara_theta_parameters_tab.png]] <br />
 +
 
 +
==== Axis Flipping Parameter ====
 +
 
 +
Here you can flip the direction of Z axis <br />
 +
[[File:scara_flip_z_direction.png]] <br />
 +
 
 +
 
 +
== Generate and Run The Setup Files ==
 +
Finally, after the configuration is done, you can generate the setup files and run them on the MC by pressing on the "Build & Configure" icon (see image). <br />
 +
[[File:build_and_configure_icon_scara.png]] <br />
 +
<br />
 +
The generated files are: <br />
 +
[[File:configurator_generated_files.png]] <br />
 +
When pressing the "Build & Configure" icon, these files are automatically sent to the MC and being executed. Now the MC is loaded with your configuration and the robot is ready to be used. <br />
 +
After shutdown or reset of the MC, all you need to do in order to load your configuration is send: "reset all" and then "load startprg.prg" through the Control Studio's terminal. <br />
 +
 
 +
== Motion tab ==
 +
 
 +
This tab allows to move the robot and test the configuration only after the configuration files have been built and ran successfully. The GUI is similar to a TP GUI. <br />
 +
[[File:scara_motion_tab.png]] <br />
 +
<br />
 +
 
 +
== Robot Programs Example ==
 +
Now you are ready to run robot programs. <br />
 +
To learn about Control Studio and MC-Basic, visit: [[Getting_Started_with_MC-Basic_and_ControlStudio|Getting Started with MC-Basic and ControlStudio]]. <br />
 +
To learn about some basic robot programs, visit: [[Program_Examples_-_Robot_Pick_and_Place_(P%26P)|Robot Pick & Place]], [[Program_Examples:Robot_Circle_Command|Robot Circle]], [[Program_Examples_-_Robot_Helix_motion|Robot Helix]]<br />
 +
For more motion program examples, visit [[Program_Examples#Motion_Examples|Motion Examples]]

Revision as of 15:15, 31 July 2017

Language: [[::4-Axis Scara robot Setup|English]]

This is a tutorial for 4 and 3 axes SCARA robot setup, using softMC Configurator.

Creating and Running a CONFIG.PRG file

The Configurator does not generate a CONFIG.PRG file, which is a necessary file.
The most simple CONFIG.PRG file will look like this: 

Sys.NumberAxes = 7
program
    Sys.Name = "MC_SCARA"
    Print "system is running  -  " ; Sys.Name
end program

NOTE: It is important that Sys.NumberAxes will be at least 3 as the scraa robot needs at least 3 axes.
Before opening the Configurator, please run the CONFIG.PRG file by uploading it to the softMC, followed by "reset all" command in the terminal.

Opening The Configurator

First, you need to open the configurator. One option is to open the configurator through the Control Studio.
Go to: tool → softMC Configurator.
open configurator.png

If the Control Studio is already connected to an MC, then you will see the following window.
Choose the New Project tab, and then choose the softMC version that is on your softMC.
new project.png

If the ControlStudio was not connected to the softMC, the next window will be shown.
1. Choose the type of network connection
2. Press on "Scan for softMCs"
3. Choose your softMC
4. Press on the "start configuration" button
Then you will get to the previous explained window. Follow the previous instructions.
offline configurator2.png

Configuring The Drive and Axes

First, you need to configure the drives and axes.
In the project window, the left pane shows the recognized drives and axes.
Note: Only EtherCAT drives are recognized automatically, the CANopen drives should be added manually.
Note: If a simulative robot is being configured, ignore the drives configuration part.

Drives

Press on the first drive and its configuration window will show:
The minimum requirement are:

  1. Choose the "Initial Active OpMode". Please choose: "8 - cyclic_synchronous_position".
  2. Link the drive's corresponding axis. Choose the correct axis in "Link Driver To Axis".
  3. Lastly, press on the "Apply" button.

Repeat the last steps for each used drive.
drive configuration 4units.png

Axes

Press on the first axis and its configuration window will show:
The minimum requirement are:

  1. Choose the "Axis Type". Please choose: "Rotary Gear" for the SCARA robot.
  2. 3rd axis should be linear type, typically linear screw.
  3. Set the Gear Ratio value to the correct value.

Repeat the last steps for each used axis.
axis configuration 4units.png

The configuration window of the axes has few tabs.
The "Properties" tab allows to set the axis properties. For example, this is how you can set the direction of each joint:
set direction.png

Please set the properties appropriately to each axis based on demands and manufacture instructions.
Note: If the configuration is for a simulated robot, change the "Simulated Axis" property to "True" for all axes.

Configuring The SCARA Robot

Right click on the "Groups" icon in the left pane, and choose "Add Group".

add group.png

In the popup window, follow these steps:

  1. Choose "Robot"
  2. Set a "Group name" (in the example the name is SCARA)
  3. Choose the "scara xyzr" robot, or "scara xyz"
  4. Add the relevant axes to the "Assigned Axes" list by double-clicking on them. When a correct set of axes is chosen, the "Assigned Axes" box will become green
  5. Press the OK button

add scara instructions.png

Now, the robot/group configuration window will be shown. There are few tabs to look at:

General tab

This tab allows to switch the axes which are linked to the group and to change the axes properties

Coupling tab

This tab allows to set:

  1. The coupling matrix for the robot.
  2. The joints position limits.

scara coupling tab.png

Properties tab

This tab allows to set the robot properties, such as: position limits, speed limits, acceleration limits, etc.
scara properties tab.png

Configuration tab

This tab has 4 sub-tabs:

DH Parameters tab

This tab allows to set the DH parameters of the SCARA robot. Please set these values corresponding to the drawings supplied in this tab.
scara DH parameters tab.png

Frames/Locations tab

This tab allows to set the SCARA robot location vectors, such as where the robot base is located, or the position of the tool relative to the 6th joint frame.
scara Frames tab.png

Theta Parameters tab

This tab allows to set the SCARA zero location. The default zero location of the SCARA robot is as in the left image.
You can choose one of the other options for the zero location - just press on the desired image to set this configuration as the zero location.
You can also define a customized displacement to each axis in order to set a customized zero location.
scara theta parameters tab.png

Axis Flipping Parameter

Here you can flip the direction of Z axis
scara flip z direction.png


Generate and Run The Setup Files

Finally, after the configuration is done, you can generate the setup files and run them on the MC by pressing on the "Build & Configure" icon (see image).
build and configure icon scara.png

The generated files are:
configurator generated files.png
When pressing the "Build & Configure" icon, these files are automatically sent to the MC and being executed. Now the MC is loaded with your configuration and the robot is ready to be used.
After shutdown or reset of the MC, all you need to do in order to load your configuration is send: "reset all" and then "load startprg.prg" through the Control Studio's terminal.

Motion tab

This tab allows to move the robot and test the configuration only after the configuration files have been built and ran successfully. The GUI is similar to a TP GUI.
scara motion tab.png

Robot Programs Example

Now you are ready to run robot programs.
To learn about Control Studio and MC-Basic, visit: Getting Started with MC-Basic and ControlStudio.
To learn about some basic robot programs, visit: Robot Pick & Place, Robot Circle, Robot Helix
For more motion program examples, visit Motion Examples

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