4-Axis Delta robot Setup

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

I run my softMC simulator with my VM, i login using mc for System login and Password than i type ifconfig to find my softMC simulator IP address, in the following example IP is 192.168.56.103

Run ControlStudio

Run ControlStudio and make sure you run the approporiate firmware version in following example we run Firmware 0.4.17.2-C2

Creating and Running a CONFIG.PRG file

The Configurator does not generate a CONFIG.PRG file, which is a necessary file.
The most simple CONFIG.PRG file will look like this:

Sys.NumberAxes = 4
program
    Sys.Name = "DVG_Delta"         
    Print "system is running  -  " ; Sys.Name
    Sys.DoubleFormat = 1           ; viewing the watch number
end program

NOTE: It is important that Sys.NumberAxes will be at least 4 as the Delta robot needs 4 axes.
Before opening the Configurator, make sure to run the CONFIG.PRG file by uploading it to the softMC using "Save and Load" and sending ">reset all" in the terminal.

Run Configurator Open new project

Run configurator from ControlStudio and open new Project





Important Notes:

• You do not see any drive under Buses folder since you run in simulation
• Make sure you see 4 axis (A1 A2 A3 A4)

Create new Folder

Now we will create our folder and our configuration file, to do it we will use "Save As" create "New" folder and name our configurator file as Delta

Configuring Drive and Axes

Define Drives

Since we work with softMC simulation we do not have any drives and can skip to the next one

Create solution

Open Project (apj file)