Motion Project Example: Cartesian Robot/zh-hans

语言:	[[::Motion Project Example: Cartesian Robot|English]]  • [[::Motion Project Example: Cartesian Robot/zh-hans|中文（简体）‎]]

此示例项目演示如何使用softMC Configurator定义笛卡尔机器人属性，以及如何使用机器人进行画圆运动。

下载示例文件

概述	下载
下载ZIP示例项目文件，提取所有文件，然后使用ControlStudio打开并运行示例项目。请参阅下面的文件说明和说明。

系统设置

示例使用以下系统:

• softMC 7
• 三个CDHD驱动器连接到三个线性电机
• 笛卡尔机器人 (XYZ)
• 安装了ControlStudio和softMC Configurator的计算机.
• 示例文件 - 程序，设置，属性等（请参阅下面的说明）
• 接线如下图所示:
  

电机参数根据Excel文件中的制造规格进行计算。

	NOTE
	使用CDHD之外的驱动时，必须将电机制造商提供的电机节距值写入到softMC Configurator中，以获取合适的Position Factor。

softMC Configurator - 设置

使用sofMC Configurator打开示例 mcfg （cartXYZ.mdfg）文件。

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		−