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Currently we are working on this Wiki!
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Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.
  
Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.
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We are constantly extending and updating this Wiki, please get in contact info(at)cpr-robots.com for missing information!
  
  
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* [[Specifications Mover Robots]]: joint length, velocities, precision ...  
 
* [[Specifications Mover Robots]]: joint length, velocities, precision ...  
* [[Specifications SRA]]: joint length, velocities, precision ...  
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* [[Specifications SRA]]: joint length, velocities, precision ...
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* [[CAD Data]]: .STEP and / or .obj files for the robots
  
  
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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:
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* [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference] Definition of the Programming Language Commands  
** [[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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* [[2D Camera Integration]]: How to integrate e.g. a smart camera into CPRog
 
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* [[CPRog Examples]]: Example programs for CPRog
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* [[Scene Objects]]: Integration of custom scene obejects in CPRog
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* [[Gearplay Compensation]]: Use CPRog to compensate gear play in joint 1
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* [[Logic Program]]: Run a second program in parallel to define logic functions
  
 
== How to interface with the CPR robots ==
 
== How to interface with the CPR robots ==
  
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* [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
 
* [[Plugin Interface]]: A plugin mechanism allows direct integration of existing or custom functionality in CPRog
 
* [[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
 
* [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
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* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
 
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
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* [[CPRog Software Troubleshooting]]: tips how to deal with the programming environment
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* [[Remote Assistance]]: Using TeamViewer we can assist on your desktop
 
* [[Operating the Gripper]]: how to open and close the gripper withing CPRog and out of custom software
 
* [[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
 

Revision as of 07:43, 3 April 2018

Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.

We are constantly extending and updating this Wiki, please get in contact info(at)cpr-robots.com for missing information!


General


igus robolink


Programming Environment CPRog

How to interface with the CPR robots

  • PLC Interface: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
  • 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


Troubleshooting and Assistance