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

Create solution

Open Project (apj file)