Difference between revisions of "Firmware Parameter Configuration"
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(Created page with "This section applies for the modular DIN rail control. It does not apply for the Mover robots. CPRog allows to set all firmware parameter of the motor controller. The param...") |
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CPRog allows to set all firmware parameter of the motor controller. | CPRog allows to set all firmware parameter of the motor controller. | ||
| − | The parameter are stored in files like this: c:/CPRog/Data/Robots/igus_5DOF_BV/igus_5DOF_BV_DiscHalfRef_AmpParameter.dat | + | |
| + | |||
| + | == Parameter File == | ||
| + | |||
| + | The parameter are stored in files like this: <code>c:/CPRog/Data/Robots/igus_5DOF_BV/igus_5DOF_BV_DiscHalfRef_AmpParameter.dat</code> | ||
The file contains one section for each joint, starting from zero: | The file contains one section for each joint, starting from zero: | ||
| − | < | + | <code> |
| − | + | <Joint0 ID="16" ComTimeOut="2000" MaxCurrent="200" MaxLag="5000" PosP="1.000" PosI="0.000" PosD="0.000" PosAWU="30.000" | |
Encoder="True" SwapEncoderDirection="False" EndSwitchRising="True" StopOnEndSwitch="False" | Encoder="True" SwapEncoderDirection="False" EndSwitchRising="True" StopOnEndSwitch="False" | ||
RefStraight="False" RefSinus="False" RefHalf="True" SinusRefTics="2000" SinusRefMaxCycles="6" | RefStraight="False" RefSinus="False" RefHalf="True" SinusRefTics="2000" SinusRefMaxCycles="6" | ||
| Line 14: | Line 18: | ||
SGThreshold="2" CSLoad="20" CSStart="20" CSIdle="6" CSRef="18" StartArea="200" | SGThreshold="2" CSLoad="20" CSStart="20" CSIdle="6" CSRef="18" StartArea="200" | ||
MinSupplyVoltage="500" MaxTemperature="500" Microstepping="128" | MinSupplyVoltage="500" MaxTemperature="500" Microstepping="128" | ||
| − | /> | + | /></code> |
| − | </ | ||
Before changing these files please make a backup copy! | Before changing these files please make a backup copy! | ||
| − | CPRog also writes a backup file of the current parameter on the joint modules. It is saved in c:/CPRog/data/backups/ with the current date and time. | + | CPRog also writes a backup file of the current parameter on the joint modules. It is saved in <code>c:/CPRog/data/backups/</code> with the current date and time. |
To increase the path following of the joint a little change the value of PosP to eg 1.3. | To increase the path following of the joint a little change the value of PosP to eg 1.3. | ||
| Line 25: | Line 28: | ||
Now save the file. | Now save the file. | ||
| − | To set the parameter to the control modules: | + | |
| + | == To set the parameter to the control modules: == | ||
| + | |||
* Open CPRog | * Open CPRog | ||
* Connect to the robot | * Connect to the robot | ||
| Line 35: | Line 40: | ||
* Test if the changes result in a better performance. | * Test if the changes result in a better performance. | ||
| − | For questions please get | + | |
| + | For questions please [[Support Routes|get in contact]]! | ||
| + | [[Category:CPRog]] | ||
Revision as of 14:19, 2 August 2018
This section applies for the modular DIN rail control. It does not apply for the Mover robots.
CPRog allows to set all firmware parameter of the motor controller.
Parameter File
The parameter are stored in files like this: c:/CPRog/Data/Robots/igus_5DOF_BV/igus_5DOF_BV_DiscHalfRef_AmpParameter.dat
The file contains one section for each joint, starting from zero:
<Joint0 ID="16" ComTimeOut="2000" MaxCurrent="200" MaxLag="5000" PosP="1.000" PosI="0.000" PosD="0.000" PosAWU="30.000"
Encoder="True" SwapEncoderDirection="False" EndSwitchRising="True" StopOnEndSwitch="False"
RefStraight="False" RefSinus="False" RefHalf="True" SinusRefTics="2000" SinusRefMaxCycles="6"
Offset="0" RefSpeed="50" RefSpeedSlow="10" RefFromBothSides="True"
SGThreshold="2" CSLoad="20" CSStart="20" CSIdle="6" CSRef="18" StartArea="200"
MinSupplyVoltage="500" MaxTemperature="500" Microstepping="128"
/>
Before changing these files please make a backup copy!
CPRog also writes a backup file of the current parameter on the joint modules. It is saved in c:/CPRog/data/backups/ with the current date and time.
To increase the path following of the joint a little change the value of PosP to eg 1.3.
Now save the file.
To set the parameter to the control modules:
- Open CPRog
- Connect to the robot
- Open the circle menu in the left upper corner
- Select /Configuration/Amp Config/Set new config
- Choose the updated .dat file
- Wait until all parameters are written, approx 20s
- For some parameter, e.g. the encoder direction, the control needs a cold restart
- Test if the changes result in a better performance.
For questions please get in contact!
