User Guide

7.2 Robot Configuration
For each robot in the CPRog simulation a XML config file exists, e.g.
C:\CPRog\Data\Robots\CPRMover6\CPRMover6.xml
Definition for the velocities in Jog mode:
<Velocities JogCart="10.0" JogOri="1.5" JogJoint="1.0"/>
A virtual cell can be defined as a safety space the robot cannot leave in Cartesian
mode:
<VirtualBox active="false" xMin="450.0" xMax="1700.0" yMin="-1300.0" yMax
="1300.0" zMin ="800.0" zMax="1700.0" bMin="45.0" bMax="135.0"/>
The cell walls are not active in joint mode.
Also 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
servo controller documentation.
Get in touch with CPR to get this documentation: [e-mail]
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!