Difference between revisions of "Robot Files and Project Files"
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filename: | filename: | ||
In general, any '''project file''' in the Directory C:\CPRog\Data\Projects\ is comprised as follows: | In general, any '''project file''' in the Directory C:\CPRog\Data\Projects\ is comprised as follows: | ||
| − | <code> </code> | + | <code><Robot-type>_<number_of_joints>_<size>_<Encoder_Type>.prj </code> |
Answering the questions in the table below, should narrow your choice down to a single file in the folder <code>C:\CPRog\Data\Projects\</code>. | Answering the questions in the table below, should narrow your choice down to a single file in the folder <code>C:\CPRog\Data\Projects\</code>. | ||
| − | There are | + | There are robot configuration files, in the directory C:\CPRog\Data\Robots\, which use essentially identical nomenclature. |
For example: <IGUS_DQ_arm/IGUS_arm>_<4DOF/5DOF>_<SV/BV>.dat | For example: <IGUS_DQ_arm/IGUS_arm>_<4DOF/5DOF>_<SV/BV>.dat | ||
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'''Before making any changes to these files, create a backup of the respective files'''. | '''Before making any changes to these files, create a backup of the respective files'''. | ||
| − | The file names of the robot files should not be changed, as they are referenced from within the project files. | + | The file names of the robot files/folders should not be changed, as they are referenced from within the project files. |
If you do change the filename, you will need to edit the Project file as well. | If you do change the filename, you will need to edit the Project file as well. | ||
| − | Always keep a backup. If you loose one of these files, you could re-install [[CPRog Updates|re-install CPRog]] on top of the existing CPRog installation (i.e. without removing the existing CPRog version first.) This overwrites all files in the CPRog installation directory (usually <code>c:\CPRog</code>.). So you'll likely want to keep a backup or rename that directory prior to the installation. | + | Always keep a backup of the files that you make changes to. If you loose one of these files, you could re-install [[CPRog Updates|re-install CPRog]] on top of the existing CPRog installation (i.e. without removing the existing CPRog version first.) This overwrites all files in the CPRog installation directory (usually <code>c:\CPRog</code>.). So you'll likely want to keep a backup or rename that directory prior to the installation. |
==Filename nomenclature== | ==Filename nomenclature== | ||
Revision as of 19:23, 15 May 2018
Which project configuration/robot configuration file should I use?
To find out, you need to find your robot type. The table below shows how to identify your robot.
The name of the project configuration file that you need to use in CPRog for your robot is composed as follows. Use the table below to identify the
filename:
In general, any project file in the Directory C:\CPRog\Data\Projects\ is comprised as follows:
<Robot-type>_<number_of_joints>_<size>_<Encoder_Type>.prj
Answering the questions in the table below, should narrow your choice down to a single file in the folder C:\CPRog\Data\Projects\.
There are robot configuration files, in the directory C:\CPRog\Data\Robots\, which use essentially identical nomenclature. For example: <IGUS_DQ_arm/IGUS_arm>_<4DOF/5DOF>_<SV/BV>.dat
Answering the questions in the table below, should narrow your choice down to a single file in the folder C:\CPRog\Data\Projects\.
Before making any changes to these files, create a backup of the respective files.
The file names of the robot files/folders should not be changed, as they are referenced from within the project files.
If you do change the filename, you will need to edit the Project file as well.
Always keep a backup of the files that you make changes to. If you loose one of these files, you could re-install re-install CPRog on top of the existing CPRog installation (i.e. without removing the existing CPRog version first.) This overwrites all files in the CPRog installation directory (usually c:\CPRog.). So you'll likely want to keep a backup or rename that directory prior to the installation.
Filename nomenclature
| Parameter | Robot file | 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; 3cm = SV | 
|
| Abtriebsencoder or Motorencoder? | AE/BLANK | AE/BLANK | Filenames without AE extension are for robots that have 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 = AE. 4 Socket versions do not use the files containing "AE" | 
|
Exceptions to the rule
- If you have a gantry robot, choose drylin_xyzGantry.prj as project file and igus_xyzGantry robot directory
Loading the Configuration File
You can load the project configuration file by clicking on the circular icon at the top left of CPRog, selecting "Open Project" and then selecting the corresponding file located in C:\CPRog\Data\Projects\.
Which project configuration file am I currently using?
You can see which project file is currently in use in the title bar of CPRog, while the CPRog window is not maximised to fill the screen. (You will notice that when it is maximised, the test is currently not readable.)
