Difference between revisions of "4-Axis Delta robot Setup"
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'''This example is still under construction''' | '''This example is still under construction''' | ||
| − | In this example we will softMC simulator to create Delta Robot, run it from terminal watch some parameters and finally run it with roboDK | + | In this example we will use softMC simulator to create Delta Robot, run it from terminal watch some parameters and finally run it with roboDK<br/> |
| − | We select Delta robot from roboDK library, | + | We select Delta robot from roboDK library, robot parameters:<br/> |
| − | + | Rbig = 110 [mm]<br/> | |
| − | Rbig = 110 [mm] | + | L1 = 100 [mm]<br/> |
| − | L1 = 100 [mm] | + | L2 = 270 [mm] <br/> |
| − | L2 = 270 [mm] | + | Rsmall = 40 [mm] <br/> |
| − | Rsmall = 40 [mm] | + | Gear 1:1 <br/> |
| − | Gear 1:1 | + | Typical velocity is 18,000 [deg/sec] 3000 [RPM] <br/> |
| − | Typical velocity is 18,000 [deg/sec] 3000 [RPM] | + | Typical max velocity is 30,000 [deg/sec] <br/> |
| − | Typical max velocity is 30,000 [deg/sec] | + | Typical Acceleration/Deceleration 720,000 [deg/sec] <br/> |
| − | Typical Acceleration/Deceleration 720,000 [deg/sec] | + | <br/>Typical Max Acceleration/Deceleration 900,000 [deg/sec] <br/> |
| − | Typical Max Acceleration/Deceleration 900,000 [deg/sec] | + | Typical Jerk is 18,000 [deg/sec] 3000 [RPM] <br/> |
| − | Typical Jerk is 18,000 [deg/sec] 3000 [RPM] | + | Typical Jerk velocity is 30,000 [deg/sec] <br/> |
| − | Typical Jerk velocity is 30,000 [deg/sec] | ||
| − | Note: | + | Note: <br/> |
| − | Tool value is: tool = #{0,0,15,0} | + | Tool value is: tool = #{0,0,15,0} <br/> |
= Run softMC SIM = | = Run softMC SIM = | ||
Revision as of 10:55, 11 June 2017
Contents
- 1 Introduction
- 2 Run softMC SIM
- 3 Run ControlStudio
- 4 Creating and Running a CONFIG.PRG file
- 5 Run Configurator
- 6 Configuring The Drive and Axes
- 7 Configuring The Delta Robot
- 8 General tab
- 9 Coupling tab
- 10 Properties tab
- 11 Configuration tab
- 12 Build
- 13 Close Configurator
- 14 Create solution
- 15 Add watches
- 16 Run the Robot
- 17 Run Robot with roboDK
- 18 Robot Programs Example
Introduction
This example is still under construction
In this example we will use softMC simulator to create Delta Robot, run it from terminal watch some parameters and finally run it with roboDK
We select Delta robot from roboDK library, robot parameters:
Rbig = 110 [mm]
L1 = 100 [mm]
L2 = 270 [mm]
Rsmall = 40 [mm]
Gear 1:1
Typical velocity is 18,000 [deg/sec] 3000 [RPM]
Typical max velocity is 30,000 [deg/sec]
Typical Acceleration/Deceleration 720,000 [deg/sec]
Typical Max Acceleration/Deceleration 900,000 [deg/sec]
Typical Jerk is 18,000 [deg/sec] 3000 [RPM]
Typical Jerk velocity is 30,000 [deg/sec]
Note:
Tool value is: tool = #{0,0,15,0}
Run softMC SIM
Run ControlStudio
Creating and Running a CONFIG.PRG file
Run Configurator
Configuring The Drive and Axes
Define Drives
Define Axes
Configuring The Delta Robot
General tab
Coupling tab
Properties tab
Configuration tab
DH Parameters tab
Frames/Locations tab
Theta Parameters tab
Build
Close Configurator
Create solution
Open Project (apj file)