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6 MOVING THE ROBOT WITH IRC
• The axis positions are transferred from the real robot to the simulation environment. The
3D visualization of the robot should now correspond to the current position of the real
robot.
,
This must be checked with every error reset! If the values do not match,
referencing must be performed, which is described in section 6.3.
• The "Status" display remains red. The error messages are cleared, only "Motors not en-
abled" remains. If other error messages are displayed, try again and follow the instructions
in the robot documentation.
3. "Activate": Activation of the motors.
• The "Status" indicator is now green.
6.2.2 Move the robot
It is now possible to move the robot using the jog keys, a mouse in the user interface or a gamepad,
see section 6.4.
6.3 Referencing the robot
,
• After startup, the robot must be referenced. Before referencing, the robot’s axes
can only perform motions in joint mode. This is to avoid collisions during unref-
erenced robot operation.
• Cartesian movements or the start of a program are only possible after referencing.
• The status is displayed on the left side of the iRC - igus Robot Control.
The motor modules store the position in an EEPROM. However, due to gravity or other forces, the axes
may move when the motor power is switched off. In this case, the motor modules no longer report
the correct position to the software. In order to synchronize the position between software, stepper
motor module and robot axis, referencing must be performed.
6.3.1 Step by step guide of referencing
1. Start the robot controller and the iRC - igus Robot Control.
2. Press the buttons "Connect", "Reset" and "Activate" (see fig. 5).
3. Click the "Reference" button (Fig. 5) in the button group "Physical Robot" in the "Motion" tab
(or "Robot Reference" in the "File" tab) to open the referencing window.
4. Click on the "Reference Axis" buttons to start referencing an axis, see Fig. 6. Multiple joints can
perform referencing in parallel.
5. You can also click on "Reference all", then the axes will start referencing in an order defined in
the project file.
6. Once all movements have been executed and the robot is at rest again, click on "Reset" and
"Activate". Now the robot is fully functional.
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