9 SOFTWARE CONFIGURATION
inputs/outputs. To disable individual functions, select a number that is not present on any hardware
module, e.g. "1".
9.2.2 Program Selection via Digital Inputs
Robot programs can be loaded and started via digital inputs or global signals. This is useful, for exam-
ple, if a program is to be selected from a given selection via pushbuttons or the CRI-GSig instruction.
The configuration for this can be found in the configuration area of the PLC interface in the section
"Program Trigger".
The following parameters can be specified for each program trigger:
Parameter Meaning
Active Enables the program trigger
Type Type of input signal: digital input (DIn) or global signal (GSig)
Number Number of the input. E.g. 21 for DIn21 or GSig21
Program Type Robot program or platform mission
Program File Program or mission file. Must be in the programs or missions directory
9.2.3 Modbus
With the Modbus TCP interface, for example, PLCs can send data and instructions to the robot con-
troller and receive status information. For more information on the use and licensing of this interface,
see section 10.
The Modbus interface can be enabled through the interface configuration. Unlike the other configu-
ration parameters, these settings are not mirrored with the connected system to prevent the configu-
ration of the integrated controller and the control software on the Windows PC from colliding. For this
reason, if a robot controller is connected, the parameters displayed refer to it; if none is connected,
they refer to the PC software.
The following parameters can be configured:
Parameter Meaning
Enabled activates the Modbus server
Port TCP port of the Modbus server
Max connections Maximum number of simultaneous connections to the server (inte-
grated control only)
9.2.4 CRI Interface
The CRI interface allows you to send complex instructions and retrieve information and settings via
the Ethernet interface using TCP/IP. iRC uses this interface to connect to robots with integrated con-
trol or other instances of iRC. By default, this interface is disabled in iRC.
Documentation of all supported instructions as well as sample code can be found at the following
link:
https://wiki.cpr-robots.com/index.php/CRI_Ethernet_Interface
To enable the interface in iRC open the configuration area (File → Configure Interfaces → CRI inter-
face). The "Start" button starts the CRI server, "Stop" stops it. The status field shows the bound IP
©2022 igus® GmbH 43
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