Project Configuration File
The project configuration file contains settings for one specific robot. If you use multiple robots with different configuration you can use different project files for each of them.
Most changes can be done via the configuration area in CPRog/iRC. To access it click "File" -> "Configure Project" or "Configure Interfaces". If a robot is connected to while applying the changes will be synchronized to the embedded control. For special configurations the project files can be changed using a basic text editor.
Accessing the Project Configuration File
Both the simulation (CPRog/iRC on your PC) and the embedded robot control got a copy of the project file. When changing this file make sure to change both, otherwise the software may complain about inconsistent configuration or the simulation may behave different than the actual robot.
Simulation (CPRog/iRC on the PC)
The project configuration file of CPRog/iRC can be found in the installation directory under:
Data\Projects\<Category>\<RobotType>.prj
Embedded Robot Control (real robot)
Via CPRog/iRC
The project configuration file of the embedded control can be accessed via CPRog/iRC:
- Click File -> Access Configuration
- In the Project Configuration section click "Load..." to load the current configuration from 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
Manual Access
If that does not work (e.g. when using an older version of CPRog/iRC) the project file can be found at one of the following locations. Read FTP and PuTTY Access on how to access files on the embedded control.
/home/robot/TinyCtrl/Data/Projects/EmbeddedCtrl.prj /home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj
Parameters
The most important parameters of the project configuration are the following.
We generally recommend changing these via the CPRog/iRC user interface to avoid mistakes.
| Line | Parameter | Description |
|---|---|---|
| Robot | Type | Robot type - this defines the robot configuration file that is used |
| Program | File, FileLogic | The robot program file and logic program file that are loaded after starting the robot |
| Program | Override | The velocity override value (0-100, percent of maximum velocity) |
| Program | Repeat | Run the program once or repeat after it ends |
| PLCInterfaceRefSequence | Referencing sequence | |
| OperationModes | Active | Enables the operation mode switch - limits the velocity depending on operation mode |
| OperationModes | ManualMaxVelMMPerSec | Maximum cartesian velocity in manual mode |
| OperationModes | DInOpModeAuto, DInEnableMotionInManualMode | Digital inputs to enable manual and automatic mode |
| InteractionElements | Defines which UI elements are shown in CPRog/iRC and which values are used when adding new commands to a robot program | |
| CRIServer | Active | Enables the CRI server (only CPRog/iRC) |
| ModbusServer | Active | Enables the Modbus server |
| ModbusServer | Port | Port of the Modbus server |
| ModbusServer | MaxConnections | Maximum number of concurrent connections (only embedded control) |
| Cloud | Cloud configuration | |
| Joypad | Settings for jogging the robot via a gamepad |
