Difference between revisions of "Motion Project Example: Cartesian Robot/zh-hans"
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使用sofMC Configurator打开示例 '''mcfg''' （cartXYZ.mdfg）文件。 | 使用sofMC Configurator打开示例 '''mcfg''' （cartXYZ.mdfg）文件。 | ||
| − | + | 有关如何使用softMC Configurator设置笛卡尔机器人参数的更多信息，请参阅[[3-Axis Group Setup in EtherCAT Network|3-Axis Group Setup in EtherCAT Network]]. <br> | |
<!--<strike> After creating all project files with softMC Configurator or uploading an existing project, you can run the robot from ControlStudio or from softMC Configurator. | <!--<strike> After creating all project files with softMC Configurator or uploading an existing project, you can run the robot from ControlStudio or from softMC Configurator. | ||
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This example generates a circular movement using an MC-Basic program, from the ControlStudio terminal.</strike> --> | This example generates a circular movement using an MC-Basic program, from the ControlStudio terminal.</strike> --> | ||
| − | = ControlStudio - | + | = ControlStudio - 执行程序 = |
| − | + | 使用ControlStudio打开示例'''.apj''' (cartXYZ.apj)文件。 | |
| − | + | 一旦所有需要的文件上传到您的控制器，使用ControlStudio终端输入以下说明并运行示例: | |
<syntaxhighlight lang='VB'> | <syntaxhighlight lang='VB'> | ||
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</syntaxhighlight> | </syntaxhighlight> | ||
| − | = | + | =文件说明 = |
{|class="wikitable" | {|class="wikitable" | ||
Revision as of 15:49, 18 December 2017
| 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。
有关如何使用softMC Configurator设置笛卡尔机器人参数的更多信息，请参阅3-Axis Group Setup in EtherCAT Network.
ControlStudio - 执行程序
使用ControlStudio打开示例.apj (cartXYZ.apj)文件。
一旦所有需要的文件上传到您的控制器，使用ControlStudio终端输入以下说明并运行示例:
-->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
文件说明
| 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 | − | |