Motion Project Example: Cartesian Robot

The following example show how to set a cartesian robot properties using softMC Configurator and how to make circular movement 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:

• softMC 7.
• Three CDHD drivers connected to three linear motors.
• Cartesian robot (XYZ).
• Computer with ControlStudio and softMC Configurator.
  
• Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)

Wiring as showen:

The motor parameters calculate according to the manufacture formulas as it's appear in the Excel file. {{Note|When using other drivers then CDHD, it's important to insert the motor pitch value, as it provided from the motor manufacture, to the softMC Configurator, to get suitable Position Factor

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 robot from ControlStudio or from the softMC Configurator itself.
In this example we will make a circular movement with MC-Basic program, from ControlStudio terminal.

For more information about how to setup Cartesian 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 CIRCLE.PRG
-->Stas CIRCLE.PRG     'when the program ends, your can find motion record file (CIRCLE.REC) at the controller

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 and run the program.

Files table With Description

User Files
File Name	Description	Upload to Controller
Properties table	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.	+
HOMING.PRG	Execute homing procedure for each axis.	+
AUTOEXEC.PRG	Execute startPRG.PRG program and HOMING.PRG program.	+
CIRCLE.PRG	Basic circular 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	+
cartXYZ.apj	Project file - allowed to load an existing project from ControStudio.	−
cartXYZ.mcfg	Project file - allowed to load an existing project from softMC Configurator.	−
cartXYZ.dat	General project files	−
cartXYZ.asn		−
cartXYZ.pse		−