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| − | Occasionally gantry robots are set up with custom axis lengths. For the standard XYZ of 2 and 3 axis gantries and external axes this is easy to do in iRC/CPRog. For other robot types (e.g. SCARAs) the motion limits must be changed manually in the [[Robot Configuration File]].
| + | #REDIRECT [[Changing Motion Limits]] |
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| − | = Changing the XYZ Axis Lengths =
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| − | [[File:GantryConfig.PNG|thumb|Gantry axis configuration in iRC]]
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| − | To change the X, Y or Z axis length open the gantry configuration in iRC: Click "File" -> "Configure Robot" -> "Gantry".
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| − | In the first row enter the total length of the axis, end-to-end ignoring the carriage. This is used for the 3D visualization only and does not need to be precise.
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| − | In the second row enter how far the carriage may move - i.e. the total axis length minus the length of the carriage.
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| − | Click "Apply" and test your changes.
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| − | = Changing the External Axis Lengths =
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| − | [[File:ExternalAxisConfig.PNG|thumb|External axis configuration in iRC]]
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| − | Standard gantries do not come with external axes but for completeness here is how to change their motion limits.
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| − | Open the external axis configuration in iRC: Click "File" -> "Configure Project" -> "External Axis".
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| − | Enter the motion limits min and max in mm (or degrees or user defined units). If you enter 0 for both the motion will be unlimited.
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| − | Click "Apply" and test your changes.
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| | [[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]] | | [[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]] |
