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The robot configuration files contain robot type dependent settings. Changing parameters in a robot configuration file may therefore affect multiple robot

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

your integrated robot control to the current version. In versions 12 and 13 using the Modbus server requires a license for each robot control. More information

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

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

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

a SFTP client at /home/robot/TinyCtrl/Projects/EmbeddedCtrl.prj and the robot configuration file at /home/robot/TinyCtrl/Robots/<Category>/<Type>/<Type>

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

electronics together with a robot, or if you have told us what robot you are using and we have used that robot before. The robot must be connected to the

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

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

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

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

single joint in different operations modes. It also allows to change the motion parameter on the board. ModuleControl needs a USB to CAN adapter from PeakSysteme

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

currents. Changing the motor currents requires the following steps: Load the amp configuration from the robot Open the file in a basic text editor Change the

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>

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>

If it does not move, the "GearPlay" Parameter should be increased. If it moves too much, then the "GearPlay" parameter is too high. The backlash is overcompensated

restart the robot. After the firmware update succeeded you can test the robot. Release the emergency stop but keep it nearby in case the robot moves unexpectedly

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

firmware parameter from the electronic modules: Start CPRog and "Connect" with the robot control electronics. Most of the green LEDs of 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

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

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

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

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

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

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

the line starting with <Robot Name=.... <ExternalAxis Name="igus_LinearAxis" Type="igus_LinearAxis"/> This will call up a robot file in the located here:

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

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

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

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

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.