Motion Project Example: Cartesian Robot

The following example show how to set a cartesian robot properties using softMC Configurator and how to make circular movement using it.

System Setup

In this example we used the following system:

• softMC 7.
• Three CDHD drivers.
• Cartesian robot (XYZ).
• Computer with ControlStudio and softMC Configurator.
  

Wiring as showen:

The motor parameters calculate according to the manufacture formulas as it's appear in the Excel file.

	NOTE
	When using other drivers then CDHD, it's important to inset the motor pitch value, as it provided from the motor manufacture, to the softMC Configurator

softMC Configurator

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

After creating all project files with softMC Configurator, the project ready to run from ControlStudio.
In this example you can upload the relevant files from the ZIP folder (see table bellow) and run it by yourself.

Running The Program

When all relevant files are at 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 CIRCLE.PRG
-->Stas CIRCLE.PRG     'when the program ends, your can find motion record file (CIRCLE.REC) at the controller

Example Files

User Files
File Name	Description
Properties table	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.
HOMING.PRG	Execute homing procedure for each axis.
AUTOEXEC.PRG	Execute startPRG.PRG program and HOMING.PRG program.
CIRCLE.PRG	Basic circular movement program

softMC Configurator files - DO NOT MAKE ANY CHANGE
File Name	Description
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