Motion Project Example: Simulated Cartesian Robot
| Language: | English • 中文（简体） |
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The following example show how to set a simulated Cartesian robot properties using softMC Configurator and how to make circular movement using it.
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 bellow (4.1). The instructions will be listed below. | 
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System Setup
In this example we used the following system:
- softMC 7 (you can also use simulated sofMC).
- 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, although it's simulated system.
softMC Configurator
To upload the example setups to your sofMC Configurator, open the example .mcfg file from the softMC Configurator.
After creating all project files with softMC Configurator or upload an existing project, you can run your robot from ControlStudio or from the softMC Configurator itself.
In this example we will make a circular movement with MC-Basic program, from ControlStudio terminal.
For more information about how to setup Cartesian robot parameters using softMC Configurator - look here
Running The Program and Simulate With RoboDK
To upload the example setups to your ControlStudio, open the example .apj file from the Controlstudio.
When all relevant files upload to your controller, and you opened and connected the RoboDK file as explain HERE, use the following code, from ControlStudio-terminal to run the example:
-->reset all
-->load AUTOEXEC.PRG 'wait until the program will terminate
-->load SERVER.PRG 'After this command -> connect RoboDK model - double click on the Python script symbol - and proceed
-->load CIRCLE.PRG
-->Stas CIRCLE.PRG 'when the program ends, you can find motion record file (CIRCLE.REC) at the controller
Files table With Description
| User Files | ||
|---|---|---|
| File Name | Description | Upload to Controller |
| 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 | + |
| SERVER.PRG | Communication program between ControlStudio and RoboDK file. | + |
| cartXYZ - sim.rdk | RoboDK file. | + |
| 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 | + |
| 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 | + |
| cartXYZ - sim.apj | Project file - allowed to load an existing project from ControStudio. | − |
| cartXYZ - sim.mcfg | Project file - allowed to load an existing project from softMC Configurator. | − |
| cartXYZ - sim.dat | General project files | − |
| cartXYZ - sim.asn | − | |
| cartXYZ - sim.pse | − | |