igus Drylin Delta, User Manual

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7. Moving the Robot with iRC
igus ® Robot Control (iRC) is a control and programming environment for robots. The 3D user
interface should help to get the robot up and running quickly. Due to its modular design
different kinematics and motor drivers can be controlled.
These operating instructions are supplemented with the respective robot-specific operating
instructions.
7.1. The iRC Graphical User Interface
This section explains the igus ® Robot Control software. Without the Robot connected all
steps can be simulated. In Section 7.2 the real Robot is then connected and moved.
The iRC programming environment allows control and programming of the Robot. iRC is a
Windows software. You can work both online and offline, i.e. with the robot or in simulation
(with the robot switched off or disconnected).
Figure 7.1: igus® Robot Control user interface.
In the upper left corner, the three tabs "File", "Scene" and "Motion" provide access to the main
function-sets. In the left corner, information about the current state of the physical Robot is
displayed. Additional functions such as loading another project ("Open project") or "Reference
robot" can be found in the "File" tab (Figure 7.1).
There are six tabs at the bottom of the window:
 "Log messages": messages from the program about status or errors.
 "Infocenter": shows axis values, the cartesian position and further information.

"Jogging": keys to move the Robot.