Configuration Files Overview

A robot's parameters and behavior are defined in a number of configuration files. This article gives an overview on where to find these files and what can be changed in them. You will find further information in the linked articles.

Warning: Only change parameters if you know what you are doing. Some parameters can cause unexpected behavior like fast motion or overheating motors and thereby cause damage or injury.

Types of Configuration Files

There are four important configuration files:

• Robot configuration
• Project configuration
• Tool configuration
• Firmware parameters (also called amp parameters)

The robot configuration generally contains parameters that define a robot type, e.g. a RL-DP-5 or a DLE-RG-0001. That includes it's kinematics, the geometry of the robot's parts, it's motion limits and maximum velocity and whether it needs to be referenced or not.

The project configuration contains parameters that are more commonly changed by the customer depending on the robot's application. This includes parameters like the referencing order or the configuration of the PLC or Modbus interfaces.

The Tool configuration defines a tool, e.g. a gripper or dispenser. It contains the offset from the tool flange of the robot to the tool center point (TCP) or gripping/dispensing position. You can also set 3D/CAD files that display the gripper in the 3D view.

The Firmware/Amp parameters define the behavior of each single axis, including the referencing motion and the motor current. Unlike the other configuration files these parameters are not saved on the PC or embedded control but in each axis module, so make sure to save them before replacing a module.

Where to Find the Configuration Files

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