@@ -109,7 +109,7 @@ controller to be accessible via the RWS interface, it must be configured. To do
## Driver preparation
Download the [your robot]_support and [your robot]_movit_config packages for the ABB robot you are using ([ABB](https://github.com/ros-industrial/abb) or [ABB Experimental](https://github.com/ros-industrial/abb_experimental)). Perform the following steps. An example for the IRB1600 robot is available in this repository and can be used for guidance:
1. Create a copy of the launch file **/src/[your robot]_support/robot_interface_download_[your robot].launch** with the name **/src/[your robot]_support/robot_interface_download_[your robot]_egm.launch**. In this file the parameters **egm_port** and **rws_ip_address** must be created according to the IRB1600 example and passed to **abb_egm_driver/launch/robot_interface.launch**. The **rws_ip_address** is the IP address of the robot (can be determined with the Tech Pendant) and the **egm_port** is the port over which the driver communicates with the robot controller via EGM (default is 6511).
1. Create a copy of the launch file **/src/[your robot]_support/robot_interface_download_[your robot].launch** with the name **/src/[your robot]_support/robot_interface_download_[your robot]_egm.launch**. In this file the parameters **egm_port** and **rws_ip_address** must be created according to the IRB1600 example and passed to **abb_egm_driver/launch/robot_interface.launch**. The **rws_ip_address** is the IP address of the robot (can be determined with the Flex Pendant) and the **egm_port** is the port over which the driver communicates with the robot controller via EGM (default is 6511).
2. Create a copy of the launchfile **src/[your robot]_moveit_config/moveit_planning_execution.launch** with the name **src/[your robot]_moveit_config/moveit_planning_execution_egm.launch**. In this file
