igus robolink, Быстрый старт

Страница: 11 / 13

- 11 -
10.2013
Layout & configuration
robolink
®
Igus Motion Editor
igus GmbH
Spicher Strasse 1a, 51147 Cologne, Germany
Tel: +49-(0)2203 / 9649-7331
eMail: FBerger@igus.de
7) Configure Igus Motion Editor
1.
Calibration file
Example settings for a 2-axis RL-50-001 joint
[Joint0]
name=Pivoting # Displayed Name
type=X # Joint type (X = Pivoting / Z = Rotation)
address=1 # Motor controller address
lower_limit=-1.5708 # Lower joint angle limit in radians
( Pi/180*angle )
upper_limit=1.5708 # Upper joint angle limit in radians
( Pi/180*angle )
offset=0.0 # Joint offset in radians ( Pi/180*angle )
invert=0 # Invert the axis (0 or 1)
encoder_steps_per_turn=6400 # 360/1,8*X*i (X = 1 full-step / 2 half-step)
(i = gear reduction)
motor_steps_per_turn=6400 # 360/1,8*X*i (X = 1 full-step / 2 half-step)
(i = gear reduction)
max_current=30 # Current moving
hold_current=20 # Current stop
length=0.10 # Displayed length
joystick_axis=0 # Joystick axis
joystick_invert=0 # Invert joystick axis
[Joint1]
name=Rotation
# Displayed Name
type=Z # Joint type (X = Pivoting / Z = Rotation)
address=2 # Motor controller address
lower_limit=-6.2832 # Lower joint angle limit in radians
( Pi/180*angle )
upper_limit=6.2832 # Upper joint angle limit in radians
( Pi/180*angle )
offset=0.0 # Joint offset in radians ( Pi/180*angle )
invert=0 # Invert the axis (0 or 1)
encoder_steps_per_turn=6400 # 360/1,8*X*i (X = 1 full-step / 2 half-step)
(i = gear reduction)
motor_steps_per_turn=6400 # 360/1,8*X*i (X = 1 full-step / 2 half-step)
(i = gear reduction)
max_current=30 # Current moving
hold_current=20 # Current stop
length=0.10 # Displayed length
joystick_axis=0 # Joystick axis
joystick_invert=0 # Invert joystick axis