Motion Project Example: Scara Robot DDHD

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The following example show how to set a CANopen Scara robot properties using softMC Configurator and how to make Pick and Place method using it.
Scara Robot

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. Download.png

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