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.
System Setup
In this example we used the following system:
- softMC 7.
- Three CDHD drivers.
- Cartesian robot (XYZ).
- Computer with ControlStudio and softMC Configurator.
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 inset the motor pitch value, as it provided from the motor manufacture, to the softMC Configurator |
softMC Configurator
For more information about how to setup Cartesian robot parameters using softMC Configurator - look here
After creating all project files with softMC Configurator, the project ready to run from ControlStudio.
In this example you can upload the relevant files from the ZIP folder (see table bellow) and run it by yourself.
Running The Program
When all relevant files are at 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
| 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 | − | |