Define the zero position offsets

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Revision as of 11:59, 2 July 2017 by Chmeyer (talk | contribs)

The robolink arms provide reference switches which allow a precise and reproducible referencing. The reference switches are inductive switches with metal pins as set points (motor encoder version) or hall sensors with magnets as set points (AE version). The sensor positions are not the robots zero positions. Each joint module stores an offset value that defines the difference between the reference position and the zero position in encoder tics.

When the combination of robot and control have been provided by CPR then these offsets are already defined in the modules. They are also written on the quality assurance sheet. If robot and control are not provided in combination the following steps should be performed. This page shows how to find the offsets for your robot and how to set the into the joints modules.


1. Setting the offsets to zero

  • The offsets and further parameter are defined in the file c:\CPRog\Data\Robots\igus_5DOF_BV\igus_5DOF_BV_AmpParameter.dat with the last directory and the file name according to your robot type. Open this file. The entries are in the lines "Joint0" to "Joint4" in Tag "Offset".
  • Set all offsets to "0.0" and save the file. !!! Attention: Please use only "." (dot) as separator, not "," !!!
  • Start CPRog and connect with the robot controller. The green LEDs on the robot controller should be blinking now.
  • Open the CPRog menu on the circle in the upper left corner and press the button "Configuration / Load Amp Config"
  • Confirm the warning
  • Choose the .dat file you just changed
  • Press "OK"
  • Now the parameter with the zero offsets are uploaded to the modules. You can see the green LED of each module blinking for a second, then the next.


2. Referencing the robot sdf

3. Moving the robot into zero position sdf


4. Calculating the offsets sdf


5. Uploading the offsets to the modules sdf


6. Final Test Switch off the robot control


7. Documentation Please write down the offsets or store the .dat file in a folder different then the CPRog program directory. When you update CPRog you custom .dat file might be overwritten. So it is necessary to store your custom file in a different location.


For questions or comments please get in contact with us: info(at)cpr-robots.com

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