Firmware Parameter Configuration

This section applies for: robolink DCI, robolink, drylin gantry or drytech delta with modular control, both via USB and embedded. It does not apply for the Mover robots.

CPRog allows to set all firmware parameter of the motor controller. This is done either directly using the USB-CAN-Adapter, or via Ethernet and the TinyCtrl software on the embedded Linux board.

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General Procedure:

• • Make a backup of the current firmware parameter
  • Adapt the values in the backup file
  • Upload the file again

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Parameter File

The parameter are stored in files like this: c:/CPRog/Data/Robots/igus_5DOF_BV/igus_5DOF_BV_DiscHalfRef_AmpParameter.dat Please choose the right file for your robot type!

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!