Motion Project Example: Scara Robot DDHD
| Language: | English |
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Contents
Download Example Files
| Description | Download |
| It's recommended to download the example ZIP file, extract all the project files, open project with ControlStudio, and run the example by yourself. You will find files description table below (4.1). The instructions will be listed below. | 
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System Setup
In this example we used the following system:
- softMC 3 - for CANopen protocol (you can also use simulated sofMC).
- 2 DDHD Drivers, each driver can control two axes.
- Computer with ControlStudio and softMC Configurator.
- Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)
The motors parameters calculate according to the manufacture formulas as it's appear in the Excel file.
softMC Configurator
To upload the example setups to your sofMC Configurator, open the example .mcfg file from the softMC Configurator.
Another way to do so, is to open the project .APJ file, from ControlStudio, and then open sofMC Configurator.
After creating all project files with softMC Configurator or upload an existing project, you can run your Scara robot from ControlStudio or from the softMC Configurator itself.
In this example we will execute Pick and Place plan using MC-Basic program, from ControlStudio terminal.
For more information about how to setup Scara robot parameters using softMC Configurator - look here
Running The Program
To upload the example setups to your ControlStudio, open the example .apj file from the Controlstudio.
When all relevant files uploaded to your controller use the following code from ControlStudio terminal to run the example:
-->reset all
-->load AUTOEXEC.PRG 'wait until the program will terminate
-->load PnP.PRG 'Load Pick and Place program
-->Stas PnP.PRG
Files table With Description
| User Files | ||
|---|---|---|
| File Name | Description | Upload to Controller |
| Scara Properties | 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 ControlStudio and sofMC Configurator will work. | + |
| AUTOEXEC.PRG | Execute startPRG.PRG program. | + |
| PnP.PRG | Basic "Pick and Place" movement program. | + |
| softMC Configurator files - DO NOT MAKE ANY CHANGE | ||
|---|---|---|
| File Name | Description | Upload to Controller |
| AX_SETUP.PRG | Axes parameters setup program | + |
| CANSETUP.PRG | CANopen communication parameter setup program | + |
| ECCONFIG.PRG | EtherCat configuration 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 | + |
| Scara01.apj | Project file - allowed loading an existing project from ControStudio. | − |
| Scara01.mcfg | Project file - allowed loading an existing project from softMC Configurator. | − |
| Scara01.dat | General project files | − |
| Scara01.asn | − | |
| Scara01.pse | − | |