Referencing sequence

The referencing sequence is set up so that standard robots do not collide while referencing. In specific cases this order might need to be changed to avoid collisions or add additional axes.

Access the project configuration file

The referencing sequence is specified in the project configuration file. Depending on how you connect to the robot you will need to change the file in CPRog/iRC on your computer or the corresponding file on the embedded control of the robot.

Robots connected via CAN adapter

If your robot is directly connected to the PC via a CAN adapter you will need to change the configuration of CPRog / iRC:

C:\CPRog\Data\Projects\<category>\<robot type>.prj

C:\iRC-igusRobotControl\Data\Projects\<category>\<robot type>.prj

Robots connected via Ethernet (Embedded Control)

If your robot is using an embedded control (TinyCtrl, PC connects via Ethernet) you will need to change the configuration of the embedded control. Please refer to FTP and putty Access on how to access and modify files. You will find the project configuration here:

~/TinyCtrl/Data/Projects/EmbeddedCtrl.prj

Modify the referencing sequence

Open the project configuration file with a text editor, then find the line starting with PLCInterfaceRefSequence:

<PLCInterfaceRefSequence JointToRef0="0" JointToRef1="1" JointToRef2="2" JointToRef3="3" JointToRef4="-1" JointToRef5="-1" JointToRef6="-1" JointToRef7="-1" JointToRef8="-1" />

Enter the joint numbers in your desired referencing order. The first robot axis is number 0, the first external axis has the number following the last robot axis (in case of a 4 axis robot the first external axis will be number 4). All unused entries must be -1.