Set Software End switches to Limit Joint Movement

Each joint has a minimum and maximum position in degrees that can be defined in software.

• 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" />