Overview

Introduction

Language:	[[::Overview|English]]  • [[::Overview/de|Deutsch]] • [[::Overview/zh-hans|中文（简体）‎]]

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.

softMC features Servotronix advanced control algorithms embedded in a qualified off-the-shelf industrial PC, for an open and modular machine control environment. Its powerful and realtime programming language enables preemptive multitasking at user program level.

softMC is integrated with Servotronix drive-motor systems.

Key features:

• Open, modular, and modern machine control environment
• Ethernet machine interface
• Support for EtherCAT and CANopen motion buses (Sercos III upon request)
• Controls up to 128 interpolated axes
• Extensive capabilities for both standard and non-standard robotic kinematics

softMC Firmware Version 0.4.16.7

This wiki contains the documentation for softMC Firmware Version 0.4.16.7

Firmware Version 0.4.16.7 contains many new commands, functions, and properties. In some instances, the behavior of functions, commands, and properties found in previous versions of the firmware have changed. This documentation is not necessarily backward compatible with previous versions of the firmware. If you are using a previous version of the product, it is recommended that you also refer to the documentation that was supplied at the time your received your product.

To execute the examples described in this documentation, ControlStudio must be installed on your host computer.

softMC GUI Documents firmware version Table

Following table present all available items for softMC and there version

Help	Description	EN	CN	DE	Web site
On line help	web based help wiki	Y			Yes
Documentation/Manuals	Description	EN	CN	DE	Web site
softMC 3 Flyer	Promotional flyer	3	3	3	Yes
softMC 7 Flyer	Promotional Flyer	4	4	4	Yes
Product Presentation	Product Presentation	11			No
Features and Functions	According to the various categories of controller functionality	1.2			Yes
Installation Guide softMC 3	Hardware installation, configuration and operation	3.3			Yes
Installation Guide softMC 7	Hardware installation, configuration and operation	3.1			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	1.1			Yes
Training Modules	11 Modules for softMC	1.0			Yes
I/O list	softMC Supported I/O Modules list	2.0			Yes
Configurator	softMC Configurator Setup Training	1.0			Yes

MC-Basic Language

See 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.

ControlStudio

ControlStudio software is a development tool for motion applications. It contains a programming editor, data recorder, debugger and monitoring tools.

• ControlStudio is the integrated development environment (IDE) for the softMC.
• Used to write programs (tasks), debug tasks, record data.
• Graphical user interface.
• Provides a command line interface (terminal) to the softMC

Configurator

Configurator

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/

API

The API software package allows you to communicate with softMC from popular programming languages, such as Visual Basic over TCP/IP and UDP. The API provides complete access to the command line interface of your system across a TCP/IP connection. Fast access to frequently changing data, such as axis set-points and feedback, is provided via a UDP connection, also called UDP fast data.

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