Difference between revisions of "Main Page"
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* [[CPRog Updates]]: Download the up-to-date version of the programming environment and current user guides | * [[CPRog Updates]]: Download the up-to-date version of the programming environment and current user guides | ||
| + | * Definition of the Programming Language: | ||
| + | ** [[CPRog Motion Commands]]: Joint, linear and relative motion | ||
| + | ** [[CPRog Input / Output Commands]]: Digital Out and the different signal types | ||
| + | ** [[CPRog Structure Commands]]: Loops, If-Then-Else, Wait, Sub-Programs | ||
| + | ** [[CPRog Advanced Commands]]: Variables and PlugIns | ||
* [[Changing Robot Parameter]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs. | * [[Changing Robot Parameter]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs. | ||
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== How to interface with the CPR robots == | == How to interface with the CPR robots == | ||
Revision as of 21:35, 2 July 2017
Currently we are working on this Wiki!
Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.
General
- Use Cases robolink: Use cases for the igus robolink robot arm with CPR control environment
- Use Cases Mover Robots: Use cases for the Mover robots, which are suitable, which are not?
- Use Cases SRA: Use cases for the SRA service robot arm.
- Specifications Mover Robots: joint length, velocities, precision ...
- Specifications SRA: joint length, velocities, precision ...
igus robolink
- Referencing robolink: Referencing the robolink arm
- Digital Inputs / Outputs: How to connect gripper, sensors, ...
- Set up, testing of single joints: How to connect the robot with the control, how to test single joints
- Define the zero position offsets: How to find and set the robot specific zero position offsets
Programming Environment CPRog
- CPRog Updates: Download the up-to-date version of the programming environment and current user guides
- Definition of the Programming Language:
- CPRog Motion Commands: Joint, linear and relative motion
- CPRog Input / Output Commands: Digital Out and the different signal types
- CPRog Structure Commands: Loops, If-Then-Else, Wait, Sub-Programs
- CPRog Advanced Commands: Variables and PlugIns
- Changing Robot Parameter: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
How to interface with the CPR robots
- Plugin Interface: A plugin mechanism allows direct integration of existing or custom functionality in CPRog
- CRI Ethernet Interface: Connect via network connection. Find documentation and example code here
- CAN Protocol: Write your own robot controller that directly sends commands to the CAN bus. Documentation and example code
- ROS packages: Integrate the robots into your ROS environment. Documentation and packages for hardware communication, teleop and moveIt
Hardware Configuration
- Config Software ModuleCtrl: This software tool allows to test single joints and set control parameters
Troubleshooting and Assistance
- Robot Hardware Troubleshooting: what to do when the arm does not react as expected?
- Operating the Gripper: how to open and close the gripper withing CPRog and out of custom software
- CPRog Software Troubleshooting: tips how to deal with the programming environment
