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.
Contents
Download Example Files
| Description | Download |
| Download the ZIP example file, extract all the project files, open the project with ControlStudio, and run the example. Refer to the file descriptions and instructions in the following sections. |
|
System Setup
This example uses the following system:
- softMC 7
- Three CDHD drives connected to three linear motors
- Cartesian robot (XYZ)
- Computer with ControlStudio and softMC Configurator.
- Example files - Programs, setups, properties and more (See below for descriptions)
- Wiring as shown in image below:
The motor parameters are calculated according to the manufacture formulas as appear in the Excel file.
{{Note|When using drives other than CDHD, it is important to insert the motor pitch value, provided by the motor manufacture, to the softMC Configurator, to obtain a suitable Position Factor
softMC Configurator
To upload the example setups to sofMC Configurator, open the example .mcfg file from the softMC Configurator.
After creating all project files with softMC Configurator or uploading an existing project, you can run your robot from ControlStudio or from softMC Configurator.
This example generates a circular movement using an MC-Basic program, from the ControlStudio terminal.
For more information on how to set up 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
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 | − | |