Difference between revisions of "Config Software ModuleCtrl"
From Wiki
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* The [http://www.cpr-robots.com/download/ModuleControl/InstallerCPRModuleCtrl.exe Installer] | * The [http://www.cpr-robots.com/download/ModuleControl/InstallerCPRModuleCtrl.exe Installer] | ||
* The [http://www.cpr-robots.com/download/ModuleControl/CPR_SingleModuleTestSW_Doku.pdf Documentation] | * The [http://www.cpr-robots.com/download/ModuleControl/CPR_SingleModuleTestSW_Doku.pdf Documentation] | ||
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| + | ---- | ||
| + | Parameter Configuration | ||
| + | |||
| + | For the Mover robots the joint controller parameter define how the robot moves: more smooth, or more precise | ||
| + | * Smooth motion: Position-P = 0,5, Velocity-P = 0.5, I and D values 0 | ||
| + | * Precise motion: Position-P = 1.5, Velocity-P = 0.6, I and D values 0 | ||
| + | |||
| + | Robots build in 2016 or later should set the joint 4 settings to Position-P = Velocity-P = 0.3. This joint features a motor with a better encoder. | ||
| + | |||
| + | Joints 5 and 6 of the Mover6 cannot be configured in this way. | ||
Revision as of 15:50, 23 November 2016
ModuleCtrl allows to test a single joint and to read / set the control loop parameter of the joints
Requirements:
- Windows XP, 7, 10,
- .net framework 3.5 sp1 or higher
- Microsoft Chart Controls (see the documentation for a download link)
Download:
- The Installer
- The Documentation
Parameter Configuration
For the Mover robots the joint controller parameter define how the robot moves: more smooth, or more precise
- Smooth motion: Position-P = 0,5, Velocity-P = 0.5, I and D values 0
- Precise motion: Position-P = 1.5, Velocity-P = 0.6, I and D values 0
Robots build in 2016 or later should set the joint 4 settings to Position-P = Velocity-P = 0.3. This joint features a motor with a better encoder.
Joints 5 and 6 of the Mover6 cannot be configured in this way.
