Changing Robot Parameters
CPRog uses different robot specific parameters, e.g. maximum allowable joint velocities or the minimum and maximum allowable joint motion. These parameters are defined in XML files and can be adapted to the specific needs.
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Please be aware that changing these parameters might lead to collisions and other problems! Change the parameters with care and in small increments. Perform tests after the changes.
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Location of the parameter file
The files containing the robot parameters are located in the robot directory in c:\CPRog\Data\Robots, e.g.:
C:\CPRog\Data\Robots\igus_5DOF_BV\igus_5DOF_BV.xml
To find out, which file you are using you can have a look at which file is referenced in your project file (see Which project configuration file am I currently using?). To find out, which robot file you should be using based on your robot, have a look at Robot Files and Project Files.
The robot file is written in XML format and can be opened with any text editor, such as Notepad++. Changes take effect after changing the file and restarting CPRog.
Attention: Use a dot "." as decimal separator, not a comma ","
Joint velocity
Line 37 in the image above with the tag "JointVelocities" defines the maximum rotational velocitiy of each joint in °/s.
- During manual jogging only 50% of this velocity is allowed. The full velocity is reached during replay with 100% in a program.
- When increasing the velocity, problems may occur:
- Overcurrent Error when the current consumption is too high.
- Position Lag Error when the joints PID controller cannot reach the set point commands fast enough
Using the Config Software ModuleCtrl, it is possible to change the joint the module parameters, such as motor current.
Joint min/max travel limits
In line 36, the tag "SoftwareMinMax" defines the allowed motion ranges for the joints. It is not possible in CPRog to move the joint out of these (virtual) boundaries.
Note: When increasing these limits, collisions might occur that would have been prevented otherwise!
For questions or comments please get in contact with us.
