Motion Project Example: Puma Robot CDHD

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The following example show how to set Puma robot properties using softMC Configurator and how to make Helix movement and Pick and Place method using it.

Download Example Files

Description	Download
It's recommended to download the example ZIP file, extract all the project files, open project with ControlStudio, and run the example by yourself. You will find files description table bellow (4.1). The instructions will be listed below.

System Setup

In this example we used the following system:

• softMC 7.
• Six CDHD drivers connected to six motors
• Computer with ControlStudio and softMC Configurator.
  
• Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)

Wiring as shown:

The motors parameters calculate according to the manufacture formulas as it's appear in the Excel file.

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 Puma robot from ControlStudio or from the softMC Configurator itself.
In this example we will make a helical movement and execute Pick and Place program with MC-Basic program, from ControlStudio terminal.

For more information about how to setup Puma 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 HELIX.PRG      'Load helical movement program
-->Stas HELIX.PRG 
-->load PnP.PRG        'Load Pick and Place program  
-->Stas PnP.PRG

Files table With Description

User Files
File Name	Description	Upload to Controller
Puma01_CDHD	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.	+
AUTOEXEC.PRG	Execute startPRG.PRG program and SERVER.PRG program.	+
HELIX.PRG	Basic helical movement program.	+
PnP.PRG	Basic "Pick and Place" 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	+
Puma01_CDHD.apj	Project file - allowed to load an existing project from ControStudio.	−
Puma01_CDHD.mcfg	Project file - allowed to load an existing project from softMC Configurator.	−
Puma01_CDHD.dat	General project files	−
Puma01_CDHD.asn		−
Puma01_CDHD.pse		−