Set Software End switches to Limit Joint Movement

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.
• Restart CPRog

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 guide 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. The robot Type= will, again, point you to the correct file located in /home/root/TinyCtrl/Data/Robots/<filename> and refer to the same robot.
• Note down that name and find the corresponding file in /home/root/TinyCtrl/Data/Robots/
• Edit 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" />

And make the same changes as you made in the file in CPRog above.

• Save the file and restart the robot.
• The new limits should now be active.