Motion Project Example: Cartesian Robot

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The following example show how to set a Cartesian robot properties using softMC Configurator and how to make circular movement using it.

In this example - axes and robot properties setups made with softMC Configurator, using MC-7, three CDHD drivers, cartesian robot (XYZ) and ControlStudio.

Files Table

User Files
File Name Description
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
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
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