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cpr>Mab: Added configuration category

2023-03-08T15:47:49Z

Added configuration category

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Each joint has a minimum and maximum position in degrees or mm that can be defined in software.

=CPRog/iRC=
* In CPRog/iRC this can be done by editing the correct robot configuration file for your robot. These files are located in <code>C:\CPRog\Data\Robots\</code> or <code>C:\iRC-igusRobotControl\Data\Robots\</code>.
* These files are referenced in the Project file of your robot. To find out which Project file you are currently using, start CPRog/iRC, do not maximise the window and look at the title bar of CPRog/iRC. Depending on your robot, it will say something like "Project: robolink_5Axis_small.prj". Open this file, located in <code>c:\CPRog\Data\Projects\</code> in an editor, such as Notepad++ and look for the line starting with <code><Robot Name=...</code>.

*For this example, the line should read something like
<Robot Name="igus Arm" Type="igus_5DOF_SV" Homepos = "0.0 10.0 0.0 80.0 0.0 0.0" OffsetX="0" OffsetY="0" OffsetZ ="0" OffsetRX="0" OffsetRY="0" OffsetRZ="0" Parent="-1" Tool="" FlipMesh="True"/>

*The string behind Type corresponds to the filename in the folder <code>c:\CPRog\Data\Robots\</code> that you are looking for. Open that file in an editor, such as Notepad++.
*Inside that file, find the line starting with
<syntaxhighlight lang=xml>
<SoftwareMinMax A1Min="-140.0" A1Max="140.0" A2Min="-45.0" A2Max="70.0" A3Min="-90.0" A3Max="60.0" A4Min="-15.0" A4Max="120.0" A5Min="-170.0" A5Max="170.0" />
</syntaxhighlight>
*Edit these values, if necessary. Unit is degrees.
*Restart CPRog

If you have an embedded Linux computer as part of your control electronics, you now also need to change the corresponding file on that computer.

=TinyCtrl=
Make the '''same change''' in the corresponding file on the embedded Linux computer.
A guide on how to access and modify the files on the linux embedded computer is located [[FTP_and_putty_Access|here]].
* Look for the line starting with <code><Robot...</code> in <code>/home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj</code>. The robot <code> Type=</code> will, again, point you to the correct file located in <code>/home/root/TinyCtrl/Data/Robots/<filename></code> and refer to the same robot.
* Note down that name and find the corresponding file in <code>/home/root/TinyCtrl/Data/Robots/</code>
*Edit that file. Find the line starting with
<syntaxhighlight lang=xml>
<SoftwareMinMax A1Min="-140.0" A1Max="140.0" A2Min="-45.0" A2Max="70.0" A3Min="-90.0" A3Max="60.0" A4Min="-15.0" A4Max="120.0" A5Min="-170.0" A5Max="170.0" />
</syntaxhighlight>
And make the '''same changes''' as you made in the file in CPRog above.
*Save the file and restart the robot.
* The new limits should now be active.
[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]]

Set Software End switches to Limit Joint Movement - Revision history

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cpr>Mab: Added configuration category