Changing Robot Parameters
CPRog/iRC and TinyCtrl use several 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.
!!! 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 !!!
Location of the parameter file
Parameters
Joint and cartesian velocity
The configuration contains multiple sets of velocity and acceleration parameters. If your robot control uses a voltage of 24V use the tags JointVelocities, CartVelocities etc. If it uses 48V use JointVelocities2, CartVelocities2 etc.
The tag "JointVelocities" defines the maximum rotational velocity of each joint in °/s.
<JointVelocities A1="500" A2="500" A3="300" A4="120" />
The tag "CartVelocities" defines the cartesian motion and rotation velocity limits.
<CartVelocities VelTrans="250" VelOri="90" />
- During manual jogging only 50% of this velocity is allowed. The full velocity is reached during robot program replay with override at 100% and motion command velocity at 100%.
- 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 module parameters, such as motor current.
Joint acceleration
Similarly to the velocity limits the joint accelerations can be changed by setting the following parameters:
<JointAccelerations A1="3000" A2="3000" A3="3000" A4="400.0" A5="100.0" A6="100.0" /> <JointAccelerationIncs A1="9000" A2="9000" A3="9000" A4="1200.0" A5="100.0" A6="100.0" /> <CartAccelerations AccLin="3000" AccLinInc="9000" AccOri="360" AccOriInc="3600" />
Joint min/max travel limits
The tag "SoftwareMinMax" defines the allowed motion ranges for the joints. It is not possible to move the joint out of these (virtual) boundaries.
<SoftwareMinMax A1Min="0" A1Max="500" A2Min="0" A2Max="500" A3Min="0" A3Max="100.0" A4Min="-179.0" A4Max="179.0" />
Note: When increasing these limits, collisions might occur that would have been prevented otherwise!
For questions or comments please get in contact with us.
