Draft Handout

Working w

softMC simulator

ControlStudio

RoboDK

Procedure

Run softMC simulator

Run ControlStudio and connect to softMC simulator

Run RoboDK with pre define file HSR605.dk

From ControlStudio with relevant pre define programs

>Reset All

>load autoexec.prg

>load server.prg

>st server.prg

From RoboDK

Double click on Prog1

The simulation is ready

Note: the simulation is only one way from softMC simulator to the RoboDK

Note:

in ControlStudio message box after you run server.prg you should see

socket 1 is set

After your run prog1 in RoboDK you should see in ControlStudio message box

client is connected

To bring the robot to the starting position write in the terminal:

A2.en = 1

Move a2 -90

A3.en = 1

Move a3 180

Note:

Note:Wheel = Move

Wheel + Right click rotate

+Note:

Left

Windows

Right

Windows

1

2

3

MOVE

MOVES move straight

{ Joints }

{ XYZYPR }

Hsr605.here #{XYZYPR}

-->move hsr605 {0,-90,180,0,0,0}

-->move hsr605 {20,-30,170,0,0,0}

-->move hsr605 {90,-80,130,0,0,0}