Difference between revisions of "Motion Project Example: Puma Robot CDHD"

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The following example show how to set Puma robot properties using [[softMC Configurator]] and how to make Helix movement and Pick and Place method using it. <br>
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'''NOTICE''' - You can [[media:Puma01 CDHD.zip|download]] the example files, open the project with ControlStudio, and you'll have all the initial files to run this example. The instructions will be listed below.
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 +
 
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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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* Six CDHD drivers connected to six motors
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* Computer with [[Control Studio|ControlStudio]] and [[softMC Configurator]]. <br>
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* [[media:Puma01 CDHD.zip| Example files]] - Programs, setups, properties and more. You can find files description down bellow (4.1)
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Wiring as shown: <br>
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[[image:puma 1.png |600px]] <br>
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The motors parameters calculate according to the manufacture formulas as it's appear in the Excel file.
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=softMC Configurator=
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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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After creating all project files with softMC Configurator or upload an existing project, you can run your Puma robot from ControlStudio or from the softMC Configurator itself. <br>
 +
In this example we will make a helical movement and execute Pick and Place program with MC-Basic program, from ControlStudio terminal.
 +
 
 +
For more information about how to setup Puma robot parameters using softMC Configurator - [[6-Axis Puma robot Setup|look here]] <br>
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=Running The Program=
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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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-->reset all
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-->load AUTOEXEC.PRG  'wait until the program will terminate
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-->load HELIX.PRG      'Load helical movement program
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-->Stas HELIX.PRG
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-->load PnP.PRG        'Load Pick and Place program 
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-->Stas PnP.PRG 
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</syntaxhighlight>
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=Example Files=
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You can find all the example files attached [[media:Puma01 CDHD.zip|Here]] <br>
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It's recommended to download the file attached, upload the relevant files to the controller, connect between RoboDK and ControlStudio, and run the program.
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==Files table With Description==
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{|class="wikitable"
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!colspan = "3"|'''<big>User Files</big>'''
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|-
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!File Name
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!Description
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!Upload to Controller
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|-
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|Puma01_CDHD
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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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|align="center" |'''−'''
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|-
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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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|align="center" |'''+'''
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|-
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|AUTOEXEC.PRG
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|Execute startPRG.PRG program and SERVER.PRG program.
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|align="center" |'''+'''
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|-
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|HELIX.PRG
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|Basic helical movement program.
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|align="center" |'''+'''
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|-
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|PnP.PRG
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|Basic "Pick and Place" movement program.
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|align="center" |'''+'''
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|}
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 +
 
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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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|-
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!File Name
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!Description
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!Upload to Controller
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|-
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|AX_SETUP.PRG
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|Axes parameters setup program
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|align="center" |'''+'''
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|-
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|CANSETUP.PRG
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|CANopen communication parameter setup program
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|align="center" |'''+'''
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|-
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|EC_CDHD.LIB
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|EtherCat communication function and subroutine with CDHD library file
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|align="center" |'''+'''
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|-
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|EC_USER.LIB
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|EtherCat communication function and subroutine library file
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|align="center" |'''+'''
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|-
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|ETHERCAT.LIB
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|EtherCat communication function and subroutine library file
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|align="center" |'''+'''
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|-
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|ECCONFIG.PRG
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|EtherCat configuration program
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|align="center" |'''+'''
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|-
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|EC_SETUP.PRG
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|EtherCat communication setup program
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|align="center" |'''+'''
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|-
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|RobLib.LIB
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|Robot function and subroutine library file
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|align="center" |'''+'''
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|-
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|ROBOT.PRG
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|Robot parameter setup program
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|align="center" |'''+'''
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|-
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|STARTPRG.PRG
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|Program that runs all other softMC Configurator programs
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|align="center" |'''+'''
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|-
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|Puma01_CDHD.apj
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|Project file - allowed to load an existing project from ControStudio.
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|align="center" |'''−'''
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|-
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|Puma01_CDHD.mcfg
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|Project file - allowed to load an existing project from softMC Configurator.
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|align="center" |'''−'''
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|-
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|Puma01_CDHD.dat
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|rowspan="3" align="center"|General project files
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|align="center" |'''−'''
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|-
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|Puma01_CDHD.asn
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|align="center" |'''−'''
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|-
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|Puma01_CDHD.pse
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|align="center" |'''−'''
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|}

Revision as of 07:21, 11 October 2017

The following example show how to set Puma robot properties using softMC Configurator and how to make Helix movement and Pick and Place method using it.


NOTICE - You can download the example files, open the project with ControlStudio, and you'll have all the initial files to run this example. The instructions will be listed below.


System Setup

In this example we used the following system:

Wiring as shown:
puma 1.png
The motors parameters calculate according to the manufacture formulas as it's appear in the Excel file.

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 Puma robot from ControlStudio or from the softMC Configurator itself.
In this example we will make a helical movement and execute Pick and Place program with MC-Basic program, from ControlStudio terminal.

For more information about how to setup Puma robot 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 HELIX.PRG      'Load helical movement program
-->Stas HELIX.PRG 
-->load PnP.PRG        'Load Pick and Place program  
-->Stas PnP.PRG

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, connect between RoboDK and ControlStudio, and run the program.

Files table With Description

User Files
File Name Description Upload to Controller
Puma01_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 and SERVER.PRG program. +
HELIX.PRG Basic helical movement program. +
PnP.PRG Basic "Pick and Place" 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 +
Puma01_CDHD.apj Project file - allowed to load an existing project from ControStudio. −
Puma01_CDHD.mcfg Project file - allowed to load an existing project from softMC Configurator. −
Puma01_CDHD.dat General project files −
Puma01_CDHD.asn −
Puma01_CDHD.pse −
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