26
7.2
Robot Configuration - Software
For each robot in the CPRog simulation a XML config file exists, e.g.
C:\CPRog\Data\Robots\CPRFour\CPRFour.xml
for the Mover4.
Definition for the velocities in Jog mode:
<
Velocities
JogCart
=
"
0.025
"
JogOri
=
"
0.005
"
JogJoint
=
"
0.007
"
/>
A virtual cell can be defined as a safety space the robot cannot leave in Cartesian
mode:
<
VirtualTube
active
=
"
false
"
zMax
=
"
440.0
"
zMin
=
"
140.0
"
InnerRadius
=
"
80.0
"
OuterRadius
=
"
280.0
"
bmin
=
"
-10.0
"
bmax
=
"
190.0
"
/>
The cell walls are not active in joint mode.
7.3
Robot Configuration - Hardware
The control parameter of the joint controller can be adapted, e.g. the position and
velocity PID settings. This can be done with the button „Load Amp Config” in the
program start menu. This button reads a parameter file and transfers the data to the
connected robot arm.
Further information on the joint controller and the CAN protocol can be found in the
module documentation.
Get in touch with CPR to get this documentation: info@cpr-robots.com
Changing the joint controller configuration requires knowledge of
the system. The robot may move in unexpected ways if ill-fitted
parameters are uploaded. The robot may damage itself and its
environment. Any warranty is void when uploading parameter files
not generated by CPR!
Summary of Contents for Robot arm mower 4
Page 1: ...1 Bedienungsanleitung Mover4...
Page 2: ...2...
