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

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
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.
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
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

Example: If I have a robolink D big version robot with 5 degrees of freedom and motor encoders,

• my project file is robolink_5Axis_big.prj
• my robot file is IGUS_ARM_5DOF_BV.xml

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.

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.
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
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	DCi with motor encoder. Correct project file does not contain AE: e.g. robolink_5Axis_Small.prj 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 robolink_5Axis_small_AE.prj
• my robot file is IGUS_ARM_5DOF_SV_AE.xml

Example 2: If I have a robolink Dci small version robot with 5 degrees of freedom and output encoders,

• my project file is robolink_5Axis_small.prj
• my robot file is IGUS_ARM_5DOF_SV.xml