Overview
| Language: | [[::Overview|English]] • [[::Overview/de|Deutsch]] • [[::Overview/zh-hans|中文（简体）]] |
|---|
Contents
Introduction
softMC multi-axis motion control firmware provides the features and performance required of today’s multi-axis controllers, and is designed for easy integration into motion control systems as well as simplicity of use.
softMC provides extensive programming capabilities for a variety of automation and robotic applications. softMC has motion and robotics functionalities for both standard robot types such as Delta, PUMA and SCARA, and non-standard robotic kinematics, such as traverse and scissors. Customized software solutions can also be designed for customer‘s hardware.
Gearing and Camming:
- You can slave any axis to any master. You can enable and disable gearing at any time. The softMC also supports simulated axes, which can be master or slave in gearing and camming applications and incremental moves run by any axis, master or slave, at any time.
softMC GUI Documents firmware version Table
Following table present all softMC available items in term of language version and web site
| Help | Description | EN | CN | DE | Web site |
|---|---|---|---|---|---|
| On line help | web based help (Servotronix wiki) | Y | Y | Yes | |
| Documentation/Manuals | Description | EN | CN | DE | Web site |
| softMC 301 Flyer | Promotional flyer 2018 | 1 | 1 | 1 | Yes |
| softMC 702 Flyer | Promotional Flyer 2018 | 1 | 1 | 1 | Yes |
| softMC 703 Flyer | Promotional Flyer 2018 | 1.2 | 1.2 | 1.2 | Yes |
| softMI HMI Flyer | Promotional Flyer 2018 | 1 | 1 | 1 | Yes |
| softTP Teach pendant Flyer | Promotional Flyer 2018 | 1 | 1 | 1 | Yes |
| Product Presentation | Product Presentation 2017 | 4 | No | ||
| Features and Functions | According to the various categories of controller functionality | 1.3 | Yes | ||
| Installation Guide softMC 301 | Hardware installation, configuration and operation | 3.3 | Yes | ||
| Installation Guide softMC 702 | Hardware installation, configuration and operation | 3.1 | Yes | ||
| Installation Guide softMC 703 | Hardware installation, configuration and operation | 1 | Yes | ||
| Installation Guide softMI HMI | Hardware installation, configuration and operation | 1 | Yes | ||
| Installation Guide softTP Teach pendant | Hardware installation, configuration and operation | 1.2 | Yes | ||
| Motion API Ref. Manual | interface your machine controller with the softMC motion controller | 1.0 | Yes | ||
| Simulator - User Guide | procedure for installing the softMC Simulator | 1.2 | Yes | ||
| Training Modules | 11 Modules for softMC | 1.0 | Yes | ||
| Mechanical drawing | File format | Ver | Web site | ||
| softMC 301 | 2D; PDF, DXF EDRW 3D; EPRT IGS STEP XT | 3 | Yes | ||
| softMC 702 | 2D; PDF, DXF 3D; EPRT IGS STEP | 1 | Yes | ||
| softMC 703 | 2D; PDF, DXF 3D;3D; EPRT IGS STEP | 1 | Yes | ||
| GUI (software) | Description | EN | CN | DE | Web site |
| ControlStudio | ControlStudio is a graphic user interface packaged enable setup, configuration and writing programs to the softMC. CS - ControlStudio, CFG - Confgurator, MB - Modbus configurator |
CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0 |
CS 1.3(build3, sp 9) CFG 2.5.5.0 MB 1.3.5.0 |
Yes | |
| HMIStudio | graphic user interface packaged to build your HMI interface | 2.4 | Yes | ||
| TeachStudio | Teach pendant graphic user interface packaged to direct manipulate robot required license | 2.9.9 | 2.9.9 | No | |
| Software and Examples | Description | EN | CN | DE | Web site |
| API | softMC Windows KMAPI DLL 32 bit | 1.2(build1, sp 1) | Yes | ||
| TP lib | Teach pendant library for TeachStudio | TBD | Yes | ||
| Tool Chain softMC 7 | C compiler and linker | 2011.03.1 | No | ||
| Simulator Software | software package that allows you to work on a simulated softMC using only a PC | 0.4.17.4 | Yes | ||
| Bundle for softMC | Configurator bundle repository | 0.4.17.4r6 | Yes | ||
| Libraries and examples for softMC | Communication, Motion, CAM and more libraries and programs examples *.LIB and *.PRG | 0.4.16.7 | Yes | ||
| Library for CODESYS | softMC Library for CODESYS | 1.0.0.1 | Yes | ||
| CODESYS Examples | CODESYS Project Examples, Flip Flop motion label machine in LD ST FBD | 5 | Yes | ||
| Firmware Release | Description | Ver | Web site | ||
| Firmware softMC 301 | For CANopen and the EtherCAT module | 0.4.17.4r8C2 | No | ||
| Firmware softMC 702 | Motion bus: Multi bus, CAN and EtherCAT “B” | 0.4.17.4r8C2 | No | ||
| Firmware softMC 703 | EtherCAT “E” | 0.4.18.2 | No | ||
| Firmware Maintenance Customer only |
Description | Ver | Web site | ||
| Firmware softMC 702 | Motion bus: CANopen “C” | 0.4.14.14 | No | ||
| Firmware softMC 702 | Motion bus: EtherCAT “E” | 0.4.14.14 | No |
MC-Basic Language
MC-Basic Language Compiler
The softMC uses MC-Basic, a language interpreter that semi-compiles commands so they typically execute in less than a microsecond. MC-Basic has familiar commands such as FOR…NEXT, IF…THEN, PRINTUSING, PEEK and POKE, as well as common string functions such as CHR$, INSTR, MID$, and STRING$. It allows arrays of up to 10 dimensions, with full support for double precision floating-point math.
MC-Basic is extended to provide support for functions required for motion systems control, such as point to point moves, circular and linear interpolation, camming, and gearing. In addition, it supports multitasking and event-driven programs.
Command and Property Categories
Each function opens a page with a list of links to all related MC-Basic commands and properties.
- Arithmetic Functions
- C-Interface
- Data Recording
- Debug Tools
- Declarations
- Error Handling
- Event Control
- File Management
- Flow Control Statements
- Libraries
- Points Handling
- Semaphore Handling
- String Manipulation
- Task Control
- System Properties
- EtherCAT Functions
- EtherCAT Advanced Functions
MC-Basic Language System
- MC-Basic System Properties - a list of the MC-Basic properties that are applicable to the system
- MC-Basic Predefined Constants
- File Operations
- Input/Output
- FAQ System - Ask the developers a question.
softMC Simulator
softMC Simulator is a software package that allows you to work on a simulated softMC using only a PC, without requiring any other hardware.
The package has three components:
- VirtualBox. An Oracle product, this is a cross-platform virtualization application for x86-based systems.
- Cross-platform means it installs on Windows, Linux, Mac OS X and Solaris x86 computers. Virtualization software means that you can create and run multiple virtual machines (VM), running different operating systems, on the same computer at the same time.
- Since the softMC is a Linux-based system, the Oracle VirtualBox allows you to simulate the softMC on a PC.
- softMC Controller Simulator (called softMC SIM). This is the virtual machine that simulates the softMC.
- ControlStudio software by Servotronix. This is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.
- This is the same software that is used with actual hardware. If it is already installed on your PC, you do not need to reinstall.
To download the software and installation instructions, go to the Downloads|Simulator section on the webpage:
http://servotronix.com/products/softmc-motion-controller/
Multitasking
The softMC is a fully multitasking system in which you can create multiple tasks and multiple elements (e.g., axes) that operate independently of one another. The API supports multiple applications communicating concurrently, thus allowing you to write one or more applications that have access to all of the tasks and elements.
The softMC supports multitasking of up to 256 tasks, running at up to 16 different priority levels. Each task can generate OnEvent(s), for code to be executed upon occurrence of events, such as switch tripping, a motor crossing a position, or just about any combination of factors.
User Communication
Ethernet and serial ports are used for ASCII data transfer. Non-printable characters are sent using CHR$. Data access is stream-oriented. There is no data framing. softMC Basic applications gain access to either a raw serial port or a TCP socket. The TCP socket guarantees error free data transfer, while the serial port does not offer error recovery. The transmitted data does not have any meaning in terms of directly controlling the softMC.
User communication provides the basic features of serial and TCP/IP data communication, which is not limited to a specific communication protocol, enabling the use of any protocol over serial or TCP/IP through a softMC application.
Refer to: Communication
Technical Support
If you need assistance with installation and configuration of softMC, contact technical support: Technical Support