Project Configuration File
The project configuration file contains settings for one specific robot. If you use multiple robots with different configuration you may want to use a different project file for each of them. This article shows how to change the project configuration.
Configuration via CPRog/iRC
Most relevant settings can be changed via CPRog/iRC. Connect to your robot, then open the configuration area (File -> Project Configuration and File -> Interface Configuration). These settings are synchronized to the embedded control if one is connected when you click "Apply".
Accessing the Configuration File
More specialized changes need to be done manually via the configuration file. Be careful with these settings since wrong values can lead to unexpected behavior, like the robot moving faster than expected.
Like all configuration files the simulation and programming software on your PC and the embedded control both contain a copy of each robot configuration file. If you use a robot with embedded control you will need to change both, otherwise the simulation may act differently than the real robot.
CPRog/iRC (on PC)
Find the installation directory of CPRog/iRC (usually directly on drive C:\ or in C:\Program Files). Then find the following file: Data\Projects\<category>\<type>.prj
You can edit the configuration file with a basic text editor. Reload the project in CPRog/iRC to apply changes.
Embedded Control
Via CPRog/iRC
Version 12 of CPRog/iRC simplifies access to the configuration files of the embedded control:
- Click File -> Access Configuration
- Click "Try to Connect", if necessary
- In the Project Configuration section click "Load..." to load the current configuration from the embedded control.
- Change the file with a basic text editor
- Write it back by clicking "Write..."
- Restart the robot to apply changes
Manual Access
If older versions of CPRog/iRC are used the configuration file needs to be accessed manually.
- Use a SFTP client to connect to the embedded control
- Download the file /home/robot/TinyCtrl/Data/Projects/EmbeddedCtrl.prj or /home/root/TinyCtrl/Data/Projects/EmbeddedCtrl.prj
- Edit it with a basic text editor
- Upload it
- Restart the robot to apply changes
Parameters
The most important parameters of the project configuration are the following.
We generally recommend changing these via the CPRog/iRC user interface to avoid mistakes.
| Line | Parameter | Description |
|---|---|---|
| Robot | Type | Robot type - this defines the robot configuration file that is used |
| Program | File, FileLogic | The robot program file and logic program file that are loaded after starting the robot |
| Program | Override | The velocity override value (0-100, percent of maximum velocity) |
| Program | Repeat | Run the program once or repeat after it ends |
| PLCInterfaceRefSequence | Referencing sequence | |
| OperationModes | Active | Enables the operation mode switch - limits the velocity depending on operation mode |
| OperationModes | ManualMaxVelMMPerSec | Maximum cartesian velocity in manual mode |
| DInOpModeAuto, DInEnableMotionInManualMode | Digital inputs to enable manual and automatic mode | |
| InteractionElements | Defines which UI elements are shown in CPRog/iRC and which values are used when adding new commands to a robot program | |
| CRIServer | Active | Enables the CRI server (only CPRog/iRC) |
| ModbusServer | Active | Enables the Modbus server |
| ModbusServer | Port | Port of the Modbus server |
| ModbusServer | MaxConnections | Maximum number of concurrent connections (only embedded control) |
| Cloud | Cloud configuration | |
| Joypad | Settings for jogging the robot via a gamepad |
