Changing Motion Limits
From Wiki
Occasionally gantry robots are set up with custom axis lengths. For the standard XYZ of 2 and 3 axis gantries and external axes this is easy to do in iRC/CPRog. For other robot types (e.g. SCARAs) the motion limits must be changed manually in the Robot Configuration File.
Changing the XYZ Axis Lengths
- To change the X, Y or Z axis length open the gantry configuration in iRC: Click "File" -> "Configure Robot" -> "Gantry".
- In the first row enter the total length of the axis, end-to-end ignoring the carriage. This is used for the 3D visualization only and does not need to be precise.
- In the second row enter how far the carriage may move - i.e. the total axis length minus the length of the carriage.
- Click "Apply" and test your changes.
Changing the External Axis Lengths
Standard gantries do not come with external axes but for completeness here is how to change their motion limits.
- Open the external axis configuration in iRC: Click "File" -> "Configure Project" -> "External Axis".
- Enter the motion limits min and max in mm (or degrees or user defined units). If you enter 0 for both the motion will be unlimited.
- Click "Apply" and test your changes.
Changing other Robot Axes
For other robot types there is no graphical configuration since generally axis limits should not be changed.
- Load the robot configuration file from the robot to your PC: In iRC click "File" -> "Access Remote Configuration", in section "Robot Configuration" click "Load...", save the configuration file somewhere.
- Load the file in a basic text editor like Notepad.
- Find the line starting with "<SoftwareMinMax" and change the minimum and maximum values (in mm or degrees) as desired.
- Save the file, then load it back to the robot via the "Write" button in the "Access Remote Configuration" section in iRC
- Open "File" -> "Shutdown and Restart", then click "Restart Software" to restart the robot control and reload the configuration. Alternatively you can turn off the power shortly.
