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 2,160,000 [deg/sec]
Typical Jerk is 2,700,000 [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

Creating and Running a CONFIG.PRG file

The Configurator does not generate a CONFIG.PRG file, which is a necessary file.
The most simple CONFIG.PRG file will look like this:

Sys.NumberAxes = 4
program
    Sys.Name = "DVG_Delta"         
    Print "system is running  -  " ; Sys.Name
    Sys.DoubleFormat = 1           ; viewing the watch number
end program

NOTE: It is important that Sys.NumberAxes will be at least 4 as the Delta robot needs 4 axes.
Before opening the Configurator, make sure to run the CONFIG.PRG file by uploading it to the softMC using "Save and Load" and sending ">reset all" in the terminal.

Run Configurator Open new project

Run configurator from ControlStudio and open new Project





Important Notes:

• You do not see any drive under Buses folder since you run in simulation
• Make sure you see 4 axis (A1 A2 A3 A4)

Create new Folder

Now we will create our folder and our configuration file, to do it we will use "Save As" create "New" folder and name our configurator file as Delta

Configuring Drive and Axes

Define Drives

Since we work with softMC simulation we do not have any drives and can skip to the next one

Define Axes

Press on the first axis and its configuration window will show:

1. Choose the "Axis Type". Please choose: "Rotary Gear" for the Delta robot.
   
2. Set the Gear Ratio value to the correct value. we will keep value 1
   

Repeat the last steps for each used axis.


Hint:
If you have similar axis you can do all the setting than copy entire axis with right mouse clicking on the axis

The configuration window of the axes has few tabs.The "Properties" tab allows to set the axis properties. Set following properties appropriately to each axis
for a simulated robot, change the "Simulated Axis" property to "True"
velocity is 18,000 [deg/sec] 3000 [RPM]
max velocity is 30,000 [deg/sec]
Acceleration/Deceleration 720,000 [deg/sec]
Max Acceleration/Deceleration 900,000 [deg/sec]
Jerk is 2,160,000 [deg/sec]
max Jerk is 2,700,000 [deg/sec]
Position error max 10

Create Delta Robot

Right clik on Group icon and select Add Group



Select Robot
Group name DELTA
Select delta xyzr [rrrr]
Click on all four axis, note the frame color change from red to green

General

This tab allows to switch the axes which are linked to the group and to change the axes properties

Coupling

1. The coupling matrix for the robot (which usually shouldn't be changed for a delta robot).
   
2. The joints position limits.
   
   

Properties

This tab allows to set the robot properties, such as: position limits, speed limits, acceleration limits, etc.

Configuration

This tab has 3 sub-tabs:

Delta parameters

Here we set the Delta robot mechnical parameters:
Rbig = 110 [mm]
L1 = 100 [mm]
L2 = 270 [mm]
Rsmall = 40 [mm]

Build & Configure

Now we are ready to generate setup and communication files and run them on the softMC, click on "Build & Configure"

--->

Before Build & Configure	After Build & Configure

Close Configurator

Now exit the configurator we can go back to configurator later on

Create solution

To create solution we have to do the following:

• Open Project (apj file) created by Build & Configure
• Save it as Solution (asn file)
• Add Config.prg from the Controller to PC
• Copy any user previews programs to the folders using explorer
• Add File(s) to the Solution tree
  
  

Open Project (apj file)

Save it as Solution

Add Config.prg from the Controller to PC

Add File(s) to the Solution tree

Add watches

Lets look what we have from Terminal
-->?grouplist
DELTA:A1,A2,A3,A4
and Add Delta watch for Enable Position feedback and XYZR value

Run the Robot

Now we can run the robot
-->Delta.en=1
-->move delta {0,0,0,20}