Motion Project Example: Cartesian Robot/zh-hans
| 语言: | [[::Motion Project Example: Cartesian Robot|English]] • [[::Motion Project Example: Cartesian Robot/zh-hans|中文（简体）]] |
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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。
Contents
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。 | 
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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:
The motor parameters are calculated according to the manufacture specifications in the Excel file.
 | NOTE |
| When using drives other than CDHD, you must insert the motor pitch value, provided by the motor manufacture, to the softMC Configurator, to obtain a suitable Position Factor. |
softMC Configurator - Setup
Use the sofMC Configurator to open the example mcfg (cartXYZ.mdfg) file.
For more information on how to set up Cartesian robot parameters using softMC Configurator, refer to 3-Axis Group Setup in EtherCAT Network.
ControlStudio - Program Execution
Use ControlStudio to open the example .apj (cartXYZ.apj) file.
Once all required files are uploaded to your controller, use the ControlStudio terminal to enter the following instructions and run the example:
-->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
File Descriptions
| 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 | − | |