This 2-part application first picks and stacks two components and then screws them together in the next part.

'''Developer''': [https://rbtx.com rbtx]

Video part 1: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Video.mp4 Stacking]

Video part 2: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assemble_Screw_Video.mp4 Screw]

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Programs.zip Assemble_Stacking_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0012

== Part 1: Stacking ==

[[File:Assamble_Stacking_Setup.jpg|thumb|250px]]
The gantry robot is equipped with a parallel gripper.

The positions of the components are fixed.

<div style="clear:both;" /div>
== Part 2: Screw ==

[[File:Assemble_Screw_Endeffector.jpg|thumb|250px]]
The gantry robot is equipped with a screwdriver-bit that is magnitized by a fixed magnet. The endeffector is mounted on a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for turning the screw.

The positions of the components are fixed (result of "Step 1").

2026-03-26T08:20:18Z

OLT:

Issues while referencing, e.g. an axis moving away from the referencing switch or not stopping at the switch, can be caused by wrong configuration or hardware defects. This article explains how to fix the most common issues.

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

= Expected Behavior =
The following motion pattern is to be expected:
# If the axis is at the referencing switch (linear axis) or referencing angle (rotational axis) the axis first moves away from the switch.
# Then the axis moves towards the switch
# It moves back
# It then slowly moves to the switch and stops.

The actual motion can differ between robot and axis types.

In some situations the referencing position may be overrun. The axis will still be referenced at the correct position but end up at an invalid negative position. This is no issue, the robot can be moved towards the valid range via the jog buttons or a joint command.

= Troubleshooting =
Please check the following steps in the given order.

== Make sure the axis is able to move ==
If the robot is unable to move the axis in jog mode it likely won't be able to reference either.

Try the following:
* Connect CPRog/iRC to the robot
* Click "Reset" and "Enable"
* Make sure the error display shows no errors
* Try to move the axis via the jog buttons in section at the bottom

The axis should at least move in one direction. If it stops or does not move check the error display:
* Emergency stop (ESTOP) or low voltage (LOWV): Check whether the emergency stop is pressed. If your robot has a support module or is a robolink DCi make sure the motor power bridge ("Ext. Relay" plug) is connected as explained in the User Guide. Check the fuse.
* Encoder error (ENC): Do the checks for the ESTOP error. Check the cables of the motors, make sure no cables are plugged into the wrong module or connected to the wrong motor.

== Check the referencing switch ==
Both the referencing switch and the axis module have a yellow LED that shows whether the switch is triggered. The state of these LEDs may be inverted. To trigger the switch you can move the robot joint to the switch or hold a metal screwdriver near the switch.

Make sure that the yellow LED of the axis module in the control cabinet is turned on if the joint is triggered and turned off otherwise.
* If the LED at the axis module does not change:
** Check the cabling
** Try with a metal screwdriver. If this works it's a mechanical issue, e.g. the switch being too far from the moving part of the linear axis. Please contact the manufacturer of the robot on how to set it up correctly.
* If the state of the LED is inverted (LED is on if the axis is not in referencing position): Parameter "EndSwitchRising" in the [[Firmware Parameter Configuration|Firmware parameters]] is inverted. Change it from True to False or the other way.

== Check the referencing direction ==
This section applies to the linear referencing motion of gantry robots.

If the axis moves away from the referencing switch towards the far end the referencing direction might be wrong or the motor is mounted at the wrong side.
* Check the mechanical setup guide and the 3D simulation in CPRog/iRC on the intended motor positions.
* Change the sign of the "RefSpeed" and "RefSpeedSlow" parameters in the [[Firmware Parameter Configuration|Firmware parameters]] from positive to negative or the other way.

See also: [[Swap Axis Direction]]

== If the referencing position is incorrect ==
Most robot axes reference at the 0°/0mm position or an intended angle. Reference your robot and compare it with the 3D view in CPRog/iRC. If the positions/angles match the referencing position is correct.

You can change the position offset via the firmware parameters as explained in [[Swap Axis Direction#Referencing Offset|Swap Axis Direction]].

If the referencing position changes over time:
* If the actual positions / angles drift away from the 3D view and the displayed position and the position is correct again after referencing check whether the coupler of the motor is loose.
* If the referencing position moves (e.g. 5° off after some days, 10° off after some more days) check whether the referencing switch or referencing disc inside the robot arm is loose.

= Support =
The steps above should show what's wrong. For mechanical issues like loose parts or the switch not registering the sled of the linear axis please contact the manufacturer of your robot.

[[Support Routes|Contact us]] if you encounter issues regarding the electronics and software or if you need further help.

[[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]][[Category:Support]][[Category:Troubleshooting]][[Category:Gantry]][[Category:Delta]][[Category:Scara]]

2026-03-24T11:17:53Z

OLT:

2025-12-05T13:13:13Z

OLT: /* Configuration */

The most basic way to integrate a robot into a production system is our PLC interface. By sending signals on digital inputs and outputs a [[Glossary|PLC]] can send commands and receive status information. It also allows connecting buttons and lights for a simple display-less control by users.

'''Video Tutorial''' https://youtu.be/A5bhbdmGZXU

=Available Channels=

The inputs execute the following functions on rising edges:
* "Enable / disable motors": When in error state the errors are first reset. A second rising edge (at least 1s later) will enable the motors (the Fault/NoFault outputs will change). If the motors are enabled (no fault present) a rising edge will disable them.
* "Request reference": A rising edge will start the reference procedure for all joints.
* "Start / stop program": The first rising edge will start the currently loaded robot program, the second will stop (not pause) it.
* "Pause / continue program": The rising edge will pause the program. If a program is paused it will be continued on another rising edge.
* "One button start": Two-button-control: Depending on the current state successive rising edges will: reset errors, enable motors, reference (if necessary) and start the loaded program.
* "One button stop": Two-button-control: Depending on the current state successive rising edges will: Pause the program, stop it, then reset errors (which disables the motors).
* "Shutdown": Turns the embedded control computer or PC down.
* "Start platform mission": Start the selected platform mission.

Outputs from the Robot to the Master:
* "NoFault": This output is high when the robot is in "No Error" state
* "Fault": The opposite of No Fault
* "Program Running": This output is high when the robot program is running.
* "Program Not Running": The opposite of Program Running
* "Robot Is Referenced": This output is high when all joints are referenced.
* "Platform Mission Running": This output is high when the platform mission is running.

=Configuration=

The PLC interface can be set up graphically using CPRog/iRC or by manually changing the configuration files.

* Start CPRog/iRC and load the correct project for your robot
* If your robot is using an embedded control (TinyCtrl) connect it
* Click File → Configure Interfaces → PLC interface
* Enable the PLC interface by checking 'Enabled'
* Enter the DIn numbers according to your wiring. Unused functions can be disabled by setting a DIn number that does not exist, e.g. 1.
* Click "Apply". The PLC interface should be enabled immediately.

[[File:Config_PLC_Interface.png|800px]]

=Program Triggers=

The PLC interface also lets you set program triggers for starting programs via the PLC interface. You can choose digital inputs or global signals as triggers. The program will be started on a rising edge and interrupt the currently running program.

[[File:Config_Program_Triggers.png|800px]]

[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]]

Referencing sequence

2025-12-05T13:04:14Z

OLT: /* Referencing Conditions */

The Reference All Axes feature references all axes in a specific sequence. By default this sequence is set up so that standard robots do not collide with themselves. Depending on your requirements this sequence may need to be changed, for example to avoid hitting obstacles.

The igus Robot Control provides two mechanisms for sequencing the referencing: time-based and event-based. The simple time-based referencing starts referencing an axis a specified number of seconds after the previous axis. Event-based referencing starts referencing an axis once a specific axis is done referencing (i.e. it has stopped at the referencing switch and therefore is at a known position).

The referencing sequence is specified in the project configuration file. Please read the article [[Project_Configuration_File#Accessing_the_Configuration_File|Project Configuration File]] on how to access the configuration file of the robot.

= Time-based referencing =
Time-based referencing starts referencing each axis after a specified delay to the previous axis.

== Referencing Sequence ==
Open the project configuration file with a text editor, then find the line starting with PLCInterfaceRefSequence:

<nowiki><PLCInterfaceRefSequence JointToRef0="0" JointToRef1="1" JointToRef2="2" JointToRef3="3" JointToRef4="-1" JointToRef5="-1" JointToRef6="-1" JointToRef7="-1" JointToRef8="-1" /></nowiki>

Enter the joint numbers in your desired referencing order. JointToRef0 references first, JointToRef1 second 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 number 3 and the first external axis will be number 4). The referencing stops once it reaches an axis number of -1 or an axis that does not exist.

== Referencing Delay ==
The referencing is timer based: By default another joint starts each 5 seconds. This delay can be configured with CPRog/iRC V902-12-019 or newer and TinyCtrl V980-12-019 or newer. The RefDelay parameters in the following example define the delay ''before'' each joint (i.e. RefDelay2 is the delay between the joints defined by JointToRef1 and JointToRef2). Set delays to 0 if you want to reference multiple axes at once.

<nowiki><PLCInterfaceRefSequence JointToRef0="0" JointToRef1="1" JointToRef2="2" JointToRef3="3" JointToRef4="-1" JointToRef5="-1" JointToRef6="-1" JointToRef7="-1" JointToRef8="-1" RefDelay0="0" RefDelay1="10" RefDelay2="8" RefDelay3="5" RefDelay4="5" RefDelay5="5" RefDelay6="5" RefDelay7="5" RefDelay8="5"/></nowiki>

= Event-based referencing =
Event-based referencing starts referencing each axis once a specified previous axis is done referencing. This may speed up the referencing process while avoiding obstacles.

This feature is available from iRC V14-005.

== Referencing Conditions ==

Instead of a sequence you need to specify which axis must be referenced before another starts referencing. The following line contains an attribute for each axis, numbered 0-5 for the up to 6 robot axes A1-A6. External Axes are not supported with this feature at the moment.


<nowiki><PLCInterfaceRefEvents UseEvents="true" Joint0Condition="2" Joint1Condition="0" Joint2Condition="-1" Joint3Condition="-1" Joint4Condition="-1" Joint5Condition="-1" /></nowiki>

The value -1 references the given axis immediately. Other values make the axis reference after the given axis is done referencing. In the example above A1 (Joint0Condition) references after A3 (value 2) is done referencing, A2 references after A1, A3 and all others reference immediately.

[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]]

Motor Current Parameters BLDC

2025-12-04T12:32:15Z

OLT:

The motor current parameter of BLDC axes can be apated to the requirements of each axis. For stepper axes see [[Motor Current Parameter]].

= Accessing the motor current parameters =

The motor currents can be changed via the [[Firmware Parameter Configuration]].

== Loading the parameters ==
# Connect iRC to the robot
# Click "File" → "Get Amp Configuration"
# Wait a few seconds till a message box appears. Click the "Open Folder" button.
# Find the newest file and open it in a basic text editor.

In the parameter file you will find a long block for each axis. Note that each block starts with "<Joint0", "<Joint1", "<Joint2", etc. where 0 stands for A1, 1 for A2, etc. See the "Parameters" section below on which parameters to change. Do not change any parameters that you don't understand, this can cause damage!

If you do any changes we recommend to save the file by a new name so you can tell which one you changed.

== Applying changed parameters ==
# Connect iRC to the robot
# Click "File" → "Set Amp Configuration"
# Wait a few seconds till a message box appears.

Some parameters need a hard restart (power-off) to be applied, the motor current parameters are applied immediately.

Important: After increasing the current parameters it is important to do a stress test, especially since the motors generally got no temperature sensors. Create a motion program and let the robot move for e.g. 1hr. Check the motor temperatures regularly and make sure they don't exceed their limits.

= Parameters =

In the parameter file you will find the following current related parameters (all values in mA):
<syntaxhighlight lang="XML">
<FWParameter Index="1" SubIndex="6" Name="max. current" Value="7500" Unit="mA" />
<FWParameter Index="1" SubIndex="11" Name="OpenLoopCurrent" Value="3000" Unit="mA" />
<FWParameter Index="1" SubIndex="12" Name="OpenLoopCurrent Standstill" Value="50" Unit="mA" />
<FWParameter Index="1" SubIndex="13" Name="OpenLoopCurrent Calibration" Value="3000" Unit="mA" />
</syntaxhighlight>

{| class="wikitable" style="margin:auto"
|-
! Parameter !! Description
|-
| max. current || Maximum current in Closed Loop mode
|-
| OpenLoopCurrent || Current in Open Loop mode
|-
| OpenLoopCurrent Standstill || Idle current in Open Loop mode
|-
| OpenLoopCurrent Calibration || Current in Open Loop mode while calibrating
|-
|}

The closed loop current ("max. current") is used in normal operation. In this mode the controller only applies as much current as actually needed, so the displayed current (see the infocenter tab below the 3D view in iRC) should show a lower value. Once the controller needs to apply more than the max current it will trigger an [[Overcurrent Error|overcurrent error]]. Before increasing the current in this case you should [[Overcurrent Error|check for other causes first]].

The open loop current is used before the axis switches to closed loop operation. This happens shortly after powering the axis, while it does its initial alignment (you may notice the axis moving a little after enabling power, in case of [[ReBeL|igus ReBeL]] robots you may hear the axes clicking). In this mode the full current is applied since the controller can not tell the actually required current. If the current is set too low the axis will block with a [[Driver Error|driver error (check for other causes first)]].

Important: Setting the motor currents to high can cause issues and damage! High currents can cause overheating and electromagnetic effects. If your robot does not start up or axes do not communicate ("[[CAN Bus Communication Errors|DEAD]]" error) unless you press e-stop before starting the currents may be set too high.

[[Category:Configuration]]