Difference between revisions of "Set Software End switches to Limit Joint Movement"
From Wiki
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Each joint has a minimum and maximum position in degrees that can be defined in software. | Each joint has a minimum and maximum position in degrees that can be defined in software. | ||
| + | =CPRog= | ||
* In CPRog this can be done by editing the correct robot configuration file for your robot. These files are located in <code>c:\CPRog\Data\Robots\</code>. | * In CPRog this can be done by editing the correct robot configuration file for your robot. These files are located in <code>c:\CPRog\Data\Robots\</code>. | ||
* These files are referenced in the Project file of your robot. To find out which Project file you are currently using, start CPRog, do not maximise the window and look at the title bar of CPRog. Depending on your robot, it will say something like "Project: robolink_5Axis_small.prj". Open this file, located in <code>c:\CPRog\Data\Projects\</code> in an editor, such as Notepad++ and look for the line starting with <code><Robot Name=...</code>. | * These files are referenced in the Project file of your robot. To find out which Project file you are currently using, start CPRog, do not maximise the window and look at the title bar of CPRog. Depending on your robot, it will say something like "Project: robolink_5Axis_small.prj". Open this file, located in <code>c:\CPRog\Data\Projects\</code> in an editor, such as Notepad++ and look for the line starting with <code><Robot Name=...</code>. | ||
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<SoftwareMinMax A1Min="-140.0" A1Max="140.0" A2Min="-45.0" A2Max="70.0" A3Min="-90.0" A3Max="60.0" A4Min="-15.0" A4Max="120.0" A5Min="-170.0" A5Max="170.0" /> | <SoftwareMinMax A1Min="-140.0" A1Max="140.0" A2Min="-45.0" A2Max="70.0" A3Min="-90.0" A3Max="60.0" A4Min="-15.0" A4Max="120.0" A5Min="-170.0" A5Max="170.0" /> | ||
</syntaxhighlight> | </syntaxhighlight> | ||
| + | Edit these values, if necessary. Unit is degrees. | ||
| + | |||
| + | If you have an embedded Linux computer as part of your control electronics, you now also need to change the corresponding file on that computer. | ||
| + | |||
| + | =TinyCtrl= | ||
| + | Make the '''same change''' in the corresponding file on the embedded Linux computer. | ||
| + | A guid on how to access and modify the files on the linux embedded computer is located [[here]] | ||
| + | * Initially look for the line starting with <code><Robot...</code> in <code>/home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj<code>. | ||
| + | It will be located in <code>/home/root/TinyCtrl/Data/Robots/<filename></code> and refer to the same robot. | ||
| + | To access | ||
Revision as of 15:29, 3 December 2018
Each joint has a minimum and maximum position in degrees that can be defined in software.
CPRog
- In CPRog this can be done by editing the correct robot configuration file for your robot. These files are located in
c:\CPRog\Data\Robots\. - These files are referenced in the Project file of your robot. To find out which Project file you are currently using, start CPRog, do not maximise the window and look at the title bar of CPRog. Depending on your robot, it will say something like "Project: robolink_5Axis_small.prj". Open this file, located in
c:\CPRog\Data\Projects\in an editor, such as Notepad++ and look for the line starting with<Robot Name=....
For this example, the line should read something like
<Robot Name="igus Arm" Type="igus_5DOF_SV" Homepos = "0.0 10.0 0.0 80.0 0.0 0.0" OffsetX="0" OffsetY="0" OffsetZ ="0" OffsetRX="0" OffsetRY="0" OffsetRZ="0" Parent="-1" Tool="" FlipMesh="True"/>
The string behind Type corresponds to the filename in the folder c:\CPRog\Data\Robots\ that you are looking for. Open that file in an editor, such as Notepad++.
Inside that file, find the line starting with
<SoftwareMinMax A1Min="-140.0" A1Max="140.0" A2Min="-45.0" A2Max="70.0" A3Min="-90.0" A3Max="60.0" A4Min="-15.0" A4Max="120.0" A5Min="-170.0" A5Max="170.0" />
Edit these values, if necessary. Unit is degrees.
If you have an embedded Linux computer as part of your control electronics, you now also need to change the corresponding file on that computer.
TinyCtrl
Make the same change in the corresponding file on the embedded Linux computer. A guid on how to access and modify the files on the linux embedded computer is located here
- Initially look for the line starting with
<Robot...in/home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj.
It will be located in /home/root/TinyCtrl/Data/Robots/<filename> and refer to the same robot.
To access
