Referencing sequence

The referencing sequence is set up so that standard robots do not collide while referencing. In specific cases this order might need to be changed to avoid collisions or add additional axes.

The referencing sequence is specified in the project configuration file. Please read the article Project Configuration File on how to access the configuration file of the robot.

Referencing Sequence

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

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

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).

<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"/>

Changes take effect only after a restart of the system (or a relaunch of TinyCtrl).