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how to change robot parameters. !!! Please be aware that changing these parameters might lead to collisions and other problems! Change the parameters with

current user guides / manuals Documentation in EN and DE Changing Robot Parameters: Many robot parameters like joint max velocities or software end switches

Keep in mind that you need to restart the robot after changing the firmware parameters by turning the robot off and back on. The following motion pattern

firmware parameters. Always stay out of reach of the robot Always have the emergency stop in reach When changing any values, start with small changes and small

can be read for information or written to send parameters, change states or start actions. The embedded robot control TinyCtrl supports Modbus TCP. This article

configuration parameter. <!-- Parameter set for Commonplace Robotics robotics control /--> <!-- Target Robot: igus robolink /--> <!-- support@cpr-robots.com /-->

configuration Firmware parameters (also called amp parameters) The robot configuration generally contains parameters that define a robot type, e.g. a RL-DP-5

the referencing the robot is absolutely necessary for a functioning robot and is normally performed by the user, changing the parameters, as described in

a restart of the robot control is necessary, in V14 it is optional. Note that you can only select tools that are installed to the robot. Not all tools available

you can jog the robot arm Proceed with referencing the robot (Referencing robolink) and programming the arm If the robot with electronics has not been

Enabling/Disabling the robot Referencing Starting/Stopping/Pausing the program Shutting down the embedded robot control Initializing the robot and starting the

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

to increase the LookAhead parameter in line PathGeneration of the Robot Configuration File (both on the PC and embedded robot control). We suggest not using

select the changed file. This first creates a backup copy of the original parameters, then writes the new parameters. The current parameters become active

steps support on the igus Rebel joint modules. Documentation for the ReBeL robot arms: EN: UserGuide_iRC_Rebel.pdf DE: Bedienungsanleitung_iRC_Rebel.pdf Documentation

refer to the article Firmware Parameter Configuration on how to change the parameters! Now you are ready to reference the robot including the external axis

module of the robot. Connect to the robot control using a SFTP client. Open the robot configuration file /home/<user>/TinyCtrl/Data/Robots/<category>/<type>/<type>

later The backlash compensation can be configured in the robot ini file at c:\CPRog\Data\Robots\yourrobotinifile.xml Please use "." as decimal separator

In the "Parameters" section check "Create Backup" to create a backup of the firmware parameters before the update. Select "Keep old parameters" to keep

according robot project. Move the robot only in a safe way! Always have the emergency button in reach! Always stay out of the motion area of the robot! You

Reference the robot Jog the robot so that all joint values are zero. The real robot should be in the zero position now. Please write down the offsets or store

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.

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

joysticks and gamepads can be used as a cheap and simple solution for moving a robot. This is useful for quickly teaching positions. Required are: DirectX compatible

otherwise the robot stops shortly and creates a blob or puddle. Enable smoothing in each motion command of the path by setting the smoothing parameter to a value

software tool, and parameter like encoder direction, referencing and current can be adapted. Requirements: free motor module in a functioning robot controller;

sign) Save the configuration file and write it back to the robot control Restart the robot control Jogging the axis should now result in a reversed motion

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

explains how to change it. When the robot is not referenced cartesian motions and program replay are not allowed. Reference the robot, see the documentation

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

to download the current parameters from the module. Remember to click the set after entering the values, so that the parameters are uploaded to the firmware

factors you can change the motion direction in the software configuration as explained in section Motion Direction. Restart the robot control and check

Choosing a suitable structure for your robot program is important for lowering the programming and maintenance effort. This article explains sub-programs

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

find the Robot section, in there the line in format <CATEGORY>/<ROBOT_TYPE>. 3. Open the robot configuration file Data\Robots\<CATEGORY>\<ROBOT_TYPE>\<ROBOT_TYPE>

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

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

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