View source for Robolink Identification

This is a legacy article on how to find the correct project configuration for older igus robolink arms.

=Filename nomenclature=
==For robots with external control electronics==
{| class="wikitable"
!Parameter
!Robot sub-directory
!Project File
!Description
!Image
|-
! Igus robolink DQ or D arm or Gantry? 
|IGUS_DQ_arm / IGUS_arm||Robolink_DQ / Robolink / drylin_XYZGantry|| There are several types or robolink robot arms, the most common is the D arm, named just “IGUS arm” or "Robolink Arm". If you have a XYZ gantry robot, choose the drylin_XYZGantry.prj || [[file:igus_d_dq.png|300px|frameless]]
|-
! 4 or 5 Degrees of freedom?
|4DOF / 5DOF||4Axis / 5Axis|| DOF is the acronym for “degrees of freedom”, meaning the number of robot joints or axes. The robot on the right is 5 DOF or 5 axes. Note: the white gripper is not counted.|| [[file:robolink_DOF.png|300px|frameless]]
|-
!Small version or big version?
|SV/BV||Small/Big||BV stands for Big Version with 2.5 kg payload. SV stands for Small Version with 0.5 kg payload. Measure the inner diameter of joint 2.
* 5cm = BV/Big 
* 3cm = SV/Small 
|| [[file:robolink_BVSV.png|300px|frameless]]
|-
! Encoder at Gear-output or motor-encoder?
|AE / _BLANK_||AE / _BLANK_||Filenames ''without AE extension'' are for robots that use motor encoders, ''AE versions'' use a encoder on the gear output. Count the number of sockets of any of the modules labelled "Stepper Motor Driver Module" on the DIN Rail. 
*3 sockets: use file names containing AE. 
*4 sockets: use file names not containing AE
||[[file:DINrail_AEME.png|300px|frameless]] 
|}

Example: If I have a robolink D big version robot with 5 degrees of freedom and motor encoders, 
*my project file is <code>robolink_5Axis_big.prj</code>
*my robot file is <code>IGUS_ARM_5DOF_BV.xml</code>

==For Robots with internal control electronics, such as the robolink DCi==
This is for robots with control electronics that are integrated into the base of the robot. You won't have external modules on a DIN rail and a whole bunch of cables coming out of the robot base.
{| class="wikitable"
!Parameter
!Robot sub-directory
!Project File
!Description
!Image
|-
! 4 or 5 Degrees of freedom?
|4DOF / 5DOF||4Axis / 5Axis|| DOF is the acronym for “degrees of freedom”, meaning the number of robot joints or axes. The robot on the right is 5 DOF or 5 axes. Note: the white gripper is not counted.|| [[file:robolink_DOF.png|300px|frameless]]
|-
!Small version or big version?
|SV/BV||Small/Big||BV stands for Big Version with 2.5 kg payload. SV stands for Small Version with 0.5 kg payload. Measure the inner diameter of joint 2.
* 5cm = BV/Big 
* 3cm = SV/Small 
|| [[file:robolink_BVSV.png|300px|frameless]]
|-
! Encoder at Gear-output or motor-encoder?
|AE / _BLANK_||AE / _BLANK_||Filenames ''without AE extension'' are for robots that use motor encoders, ''AE versions'' use a encoder on the gear output. Count the number of sockets at any of the motors of the robot. 
*1 socket: use file names containing AE. 
*2 sockets: use file names not containing AE
||[[file:DCi_motor_encoder.jpg|thumb|165px|DCi with motor encoder. Correct project file does not contain AE: e.g. robolink_5Axis_Small.prj]]
[[file:DCi-output_encoder.jpg|thumb|165px|DCi with output encoder. Correct Project file contains AE: e.g. robolink_5Axis_Small_AE.prj]]
|}
Example 1: If I have a robolink Dci small version robot with 5 degrees of freedom and output encoders,
*my project file is <code>robolink_5Axis_small_AE.prj</code>
*my robot file is <code>IGUS_ARM_5DOF_SV_AE.xml</code>

Example 2: If I have a robolink Dci small version robot with 5 degrees of freedom and output encoders,
*my project file is <code>robolink_5Axis_small.prj</code>
*my robot file is <code>IGUS_ARM_5DOF_SV.xml</code>