Hello, in this video, we will use the Eco Struxure Machine Expert Software.
At first, we want to open a new project.
In this case, we are using a project from example, select the Robotic Module Example.
It shows you a complete structure of a cartesian robot with three-axis for a PacDrive3 Controller.
Adapt the project name and the location.
If necessary, you can update the devices and libraries.
Now have a look at the device tree structure, in this "Sercos Master" are all relevant drives and the power supply prepared and parametrized for a cartesian robot.
In the visualized scheme there are some layers. The "Machine Layer" includes a program that controls in the "SubModules" action equipment modules.
In this project, the equipment module is a program of a robot.
The robot module program includes in the "SubModules" action a function block of the robot.
All configurations of the robot have to be defined in the 'Init_Robot' action, therefore we now open it.
This 'Standard Interface' is needed to set up your robot. This implementation is necessary for each robot type.
Now we need to configure a Schneider-Robot some additional libraries.
One is the 'Schneider_Electric_Robotics_Parameters' and the other one is the 'Schneider_Electric_Robotics' library.
The 'stRobotInterface' contains all the module-specific parameters and return values for the 'FB_RoboticModule'.
To avoid that the interface is empty there is an IF-condition implemented.
Here you can see the implementation of your robot kinematic, in this case, a cartesian three-axis robot is implemented.
Now we have to change and add some code to configure a P4 delta robot successfully.
One is the "Schneider_Electric_Robotics_Parameters” and the other one is the "Schneider_Electric_Robotics" library.
Here is an overview of the type codes of the delta robots. For example, we will choose a robot type P4 with a rotational axis.
The chosen type code we now use here.
If the output 'xRotationalAxisRequired' is true, there is a following initialization of the auxiliary axis executed.
To configure a Schneider-Robot you have to call an additional Schneider Electric configuration method.
All the robot axis has to be assigned to the listed 'Sercos_Master' drives.
To modify the coordinate system of the Schneider-Robot correctly you need an additional method 'GetCoordinateSystem'.
Because an internal calculation is done in the function block of the P-Series robot.
This auxiliary axis is not used anymore because of the call before.
The next step is to configure parameters in case of an emergency stop.
Now the configuration is done, and we have to call the config done method.
In the next IF-condition is ensured that the config done was successful if not the controller should throw an exception.
In the end, all drives have to be initialized and the manual mode too.
In the case of the real axis, you have to do some changes at the drive parameters.
Here is an overview of the drive parameter changes of each robot type.
We have to use the first row.
At least we have to adapt the parameters of the drives, e.g. the gear ratio and the user max peak current.
All changes have to be done in the drive A, B, C, and auxiliary axis at the 'Sercos_Master'.
Change UserDrivePeakCurrent to value 7500 for A,B,C drive.
Change Gear in / Gear Out to value 2 and 77 for A, B, C drive.
Change the direction in A, B, C.
Change if required the FeedConstant to value 360.0 for A, B, C drive.
Change AbsEncoderOffset to value 500.0 for A,B,C drive.
Do the same for the auxiliary axis, see therefore the overview again.
After all these steps a P4 delta robot is configured.