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• Configure for a different robot (section Update the Firmware Parameter of the Motor Modules)
  to /Data/Robots/YourRobot/. Choose the according firmware parameter .dat file, e.g. AmpParam_RL-DP-5.dat for a DP-5 robot arm Now the parameter are uploaded
  3 KB (481 words) - 17:25, 8 March 2023
• Define the zero position offsets (section Backup the Current Firmware Parameter)
  firmware parameter from the electronic modules: Start CPRog and "Connect" with the robot control electronics. Most of the green LEDs of the robot control
  5 KB (752 words) - 11:03, 16 August 2023
• Circular Motion
  your robot the easiest way is to program by teach-in: Move the robot to the start position of the curve and add a linear instruction. Move the robot to any
  6 KB (891 words) - 16:16, 19 December 2023
• Joystick and Gamepad
  Debug mode is available since V13-040. To enable the debug mode change the parameter "Debug" to "True": <Joypad Bias="10.0" Debug="True"> Note that some
  8 KB (1,229 words) - 13:49, 7 February 2024
• Configuration for a linear Axis (section Change Encoder Direction)
  checkbox Save the parameter by pressing "Write to board", wait for 5 seconds Close ModuleCtrl and switch the control off. This parameter change works only after
  5 KB (727 words) - 09:46, 13 September 2022
• Swap Axis Direction
  should be solved now. The motion direction can be changed by negating the GearScale parameter in the Robot Configuration File: Find the line for the axis
  3 KB (494 words) - 17:48, 8 March 2023
• Noise on Motion Start and Stop
  Restore the original parameters and restart the robot You can try to increase CSStart and CSIdle but make sure to test the robot for a while and observe
  2 KB (317 words) - 12:39, 27 June 2022
• Control Interfaces
  Enabling/Disabling the robot Referencing Starting/Stopping/Pausing the program Shutting down the embedded robot control Initializing the robot and starting the
  5 KB (699 words) - 14:55, 4 March 2024
• Referencing Configuration
  generally need to be referenced so that the robot control knows the correct positions. All standard robot axes come pre-configured but external axes do
  6 KB (913 words) - 12:29, 11 December 2023
• External Linear Axis in CPRog v980-10-XXX
  the line starting with <Robot Name=.... <ExternalAxis Name="igus_LinearAxis" Type="igus_LinearAxis"/> This will call up a robot file in the located here:
  4 KB (657 words) - 16:13, 2 November 2020
• Project Configuration File (section Embedded Robot Control (real robot))
  embedded control. Change the file with a basic text editor Write it back to the robot by clicking "Write..." Restart the robot to apply changes If that does
  3 KB (285 words) - 10:26, 16 August 2023
• Gantry axes moving in wrong direction
  test it. If the light is inverted you need to change parameter "EndSwitchRising" in the Firmware Parameter Configuration from True to False or the other
  4 KB (671 words) - 17:39, 8 March 2023
• Structured Programming
  Choosing a suitable structure for your robot program is important for lowering the programming and maintenance effort. This article explains sub-programs
  2 KB (360 words) - 12:32, 30 April 2021
• Referencing sequence
  etc. The first robot joint is number 0, the first external axis number follows the last robot axis (in case of a 4 axis robot the last robot axis will be
  2 KB (280 words) - 11:42, 1 December 2023
• Troubleshooting Encoder Errors
  at the top until the error disappears. Also try this with your robot program. If the robot works reliably at a lower velocity try to decrease the velocity
  7 KB (1,143 words) - 12:39, 8 May 2024
• Transferring Robot Programs via CRI
  The CRI Ethernet Interface can be used to transfer robot program files to the robot. This article shows how to do this. This approach is intended for use
  2 KB (310 words) - 17:00, 8 August 2022
• Troubleshooting Connection Issues (section Make sure the robot is powered on)
  the robot. Also make sure that the robot is powered on and connected to the same network. Could not ping the robot control. Make sure that the robot is
  5 KB (817 words) - 17:18, 6 December 2023
• 2D Camera Integration (section Setting up the Robot Control)
  type to "Robot coordinates (mm)" if you calibrated the O2D500 to send robot coordinates. This way the coordinates are not changed by the robot control.
  18 KB (2,751 words) - 17:45, 17 July 2023

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