Troubleshooting Axis Firmware Issues

iRC robots use axis control electronics for each joint to control the motor, do the referencing procedure etc. The axis controllers are programmed with a firmware and configured by firmware parameters. Both can potentially cause issues, therefore this article explains how to update.

Please do the following steps only if you suspect issues or if you are asked to do so by our support. If your robot works fine you should not need a firmware update. Only update the firmware of the affected joint(s).

Firmware Update

Firmware updates are only available for BLDC and Rebel joints. Stepper joints can not be updated.

Please follow the article Axis Firmware Update to update the axis that causes issues. For Rebel joints use firmware_V3_11_01.fw instead of the firmware included in the ModuleControl software.

Firmware Parameter Update

After updating the firmware you should install the standard parameters to the axis controllers.

For the most recent parameter file install the current version of iRC or ask our support.

1. Start iRC and connect to the robot.
2. Click "File" -> "Set Amp Configuration", a file selection will appear.
3. Open the installation directory of iRC, e.g. "C:\iRC-igusRobotControl-V14". Then open folder "Data\Robots\<Category>\<Type>" and find the file with file type ".dat". For example "REBEL-6DOF-02_AllAxis_FW_V3_10_01_24_02_22.dat" or "DLE-RG-0001_AmpParameter_48V_OpenLoop.dat" (note the voltage in the name for some robot types. This must match the voltage of your control cabinet otherwise your robot may get damaged by overheating!).
4. Restart the robot by shortly turning off the power. Then test whether the issue still occurs.

If the robot runs worse after the parameter update you can find a backup copy before the firmware parameter update in "C:\iRC-igusRobotControl-V14\Data\Backup" or a backup before the firmware update in "C:\git\ModuleCtrl_ClosedLoop\ModuleControlClosedLoop\Backup". You can revert to this backup in the same way as explained above.