Access Configuration Files
For special configurations the standard configuration files of a robot may need to be changed. This article explains how to do this.
The most relevant configuration files are the project configuration and the robot configuration.
Use a text editor (e.g. Notepad++) for editing the files, not Word or Wordpad.
Warning
- Changing files of the embedded control computer can cause irreversible damage, e.g. the control not starting or unexpected behavior of the robot.
- Do not change settings that you are unfamiliar with.
- Test the robot with a low override setting.
- Create a backup copy of the files before changing them.
Accessing configuration files
If you are using a robot without embedded control (i.e. a robot that connects via USB or USB-to-CAN adapter) you will only need to change the CPRog/iRC configuration files. If your robot uses an embedded control (i.e. it is connected via Ethernet) you will change both the CPRog/iRC and TinyCtrl configuration files.
CPRog/iRC
You will find the configuration files in the following sub-directories of the installation directory:
- Project configurations: Data\Projects\<category>\<type>.prj
- Robot configuration: Data\Robots\<category>\<type>.xml
TinyCtrl
The TinyCtrl configuration files can either be accessed via CPRog/iRC (V12 or newer) or using a SFTP client.
After changing the confguration files the embedded control must be restarted, e.g. by turning the power off and on.
Via CPRog/iRC
The configuration files of the embedded control can be load and written using version 12 or newer of CPRog/iRC.
- Connect CPRog/iRC to the robot
- Click File -> Access Remote Configuration
- Click Load... to load a configuration file or Write... to write it back to the control (see screenshot)
Via a SFTP client
The article [FTP and putty Access] (sections 1 and 2) gives an introduction on how to use a SFTP client for accessing files on the embedded control. Newer embedded controls may require a password, in that case enter "robot" as both user and password.
You will find the configuration files in the following directories:
- Project configuration: /home/robot/TinyCtrl/Projects/EmbeddedCtrl.prj
- Robot configuration: /home/robot/TinyCtrl/Robots/<category>/<type>.xml
