Difference between revisions of "4-Axis Delta robot Setup"

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(Define Axes)
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Typical max velocity is 30,000 [deg/sec] <br/>
 
Typical max velocity is 30,000 [deg/sec] <br/>
 
Typical Acceleration/Deceleration 720,000 [deg/sec] <br/>
 
Typical Acceleration/Deceleration 720,000 [deg/sec] <br/>
<br/>Typical Max Acceleration/Deceleration 900,000 [deg/sec] <br/>
+
Typical Max Acceleration/Deceleration 900,000 [deg/sec] <br/>
Typical Jerk is 18,000 [deg/sec] 3000 [RPM] <br/>
+
Typical Jerk is 2,160,000 [deg/sec] <br/>
Typical Jerk velocity is 30,000 [deg/sec] <br/>
+
Typical Jerk is 2,700,000 [deg/sec] <br/>
  
 
Note: <br/>
 
Note: <br/>
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The "Properties" tab allows to set the axis properties. <br />
 
The "Properties" tab allows to set the axis properties. <br />
 
Set following properties appropriately to each axis <br />
 
Set following properties appropriately to each axis <br />
 +
velocity is 18,000 [deg/sec] 3000 [RPM] <br/>
 +
max velocity is 30,000 [deg/sec] <br/>
 +
Acceleration/Deceleration 720,000 [deg/sec] <br/>
 +
Max Acceleration/Deceleration 900,000 [deg/sec] <br/>
 +
Jerk is 2,160,000 [deg/sec] <br/>
 +
max Jerk  is 2,700,000 [deg/sec] <br/>
 
'''Note''': for a simulated robot, change the "Simulated Axis" property to "True" for all axes.<br />
 
'''Note''': for a simulated robot, change the "Simulated Axis" property to "True" for all axes.<br />
  

Revision as of 12:48, 11 June 2017

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 2,160,000 [deg/sec]
Typical Jerk is 2,700,000 [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

DeltaEx01.JPG

DeltaEx02.JPG

Run ControlStudio

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

Delta2.jpg

Delta3.jpg

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

Delta5.jpg

Delta6.jpg

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)

Delta11.jpg

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

Delta7.jpg

Delta8.jpg

Delta9.jpg

Delta10.jpg

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

Define Axes

Press on the first axis and its configuration window will show:

  1. Choose the "Axis Type". Please choose: "Rotary Gear" for the Delta robot.
  2. Set the Gear Ratio value to the correct value. we will keep it 1

Repeat the last steps for each used axis.
Delta12.jpg

Hint:
If you have similar axis you can do all the setting than copy entire axis with right mouse clicking on the axis
The configuration window of the axes has few tabs.
The "Properties" tab allows to set the axis properties.
Set following properties appropriately to each axis
velocity is 18,000 [deg/sec] 3000 [RPM]
max velocity is 30,000 [deg/sec]
Acceleration/Deceleration 720,000 [deg/sec]
Max Acceleration/Deceleration 900,000 [deg/sec]
Jerk is 2,160,000 [deg/sec]
max Jerk is 2,700,000 [deg/sec]
Note: for a simulated robot, change the "Simulated Axis" property to "True" for all 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)

Add watches

Run the Robot

Run Robot with roboDK

Robot Programs Example