Referencing sequence - Revision history

OLT: /* Referencing Conditions */

2025-12-05T13:04:14Z

Referencing Conditions

← Older revision		Revision as of 13:04, 5 December 2025
Line 26:		Line 26:

	== Referencing Conditions ==		== 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, 6-8 for external axes E1-E3.		<!--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, 6-8 for external axes E1-E3.-->
			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 Joint0Condition="2" Joint1Condition="0" Joint2Condition="-1" Joint3Condition="-1" Joint4Condition="-1" Joint5Condition="-1" Joint6Condition="-1" Joint7Condition="-1" Joint8Condition="-1" /></nowiki>		<!-- <nowiki><PLCInterfaceRefEvents Joint0Condition="2" Joint1Condition="0" Joint2Condition="-1" Joint3Condition="-1" Joint4Condition="-1" Joint5Condition="-1" Joint6Condition="-1" Joint7Condition="-1" Joint8Condition="-1" /></nowiki> -->
			<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.		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]]		[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]]

MAB: Rewrite for event based referencing

2025-09-15T10:12:23Z

Rewrite for event based referencing

← Older revision		Revision as of 10:12, 15 September 2025
Line 1:		Line 1:
	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 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.		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.

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

Line 10:		Line 15:
	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.		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 =		== 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>

	~~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)~~.		= 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.

	<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>		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, 6-8 for external axes E1-E3.

			<nowiki><PLCInterfaceRefEvents Joint0Condition="2" Joint1Condition="0" Joint2Condition="-1" Joint3Condition="-1" Joint4Condition="-1" Joint5Condition="-1" Joint6Condition="-1" Joint7Condition="-1" Joint8Condition="-1" /></nowiki>

	~~Changes take effect only~~ after ~~a restart of~~ the ~~system~~ (~~or a relaunch of TinyCtrl~~).		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]]		[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]]

OLT: 1 revision imported

2025-08-11T10:13:19Z

1 revision imported

← Older revision	Revision as of 10:13, 11 August 2025
(No difference)

cpr>Mab: Added category Referencing

2023-12-01T09:42:39Z

Added category Referencing

New page

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#Accessing_the_Configuration_File|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:

<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).

<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>

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

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