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

You can find all the example files attached Here
It's recommended to download the file attached, upload the relevant files to the controller and run the program.

Files table With Description

User Files
File Name	Description	Upload to Controller
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	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 - allowed to load an existing project from ControStudio.	−
cartXYZ.mcfg	Project file - allowed to load an existing project from softMC Configurator.	−
cartXYZ.dat	General project files	−
cartXYZ.asn		−
cartXYZ.pse		−