Set up, testing of single joints

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The set up of the robot controller has to be done after receiving the components.


1. Robot and controller configured by CPR

When you ordered robot and controller by CPR, then the cables are already equipped with the according plugs and the robot has been configured and tested. The procedure to run the robot is shown below.

Attention: Do not hot-plug! Always switch of the power supply and wait a few seconds before working on the connectors!

  • In some cases screws in the joints 2, 3 or 4 have been removed to decrease packaging size. Re-assemble the robot with these screws.
  • Set up the controller:
    • Connect/check that the emergency stop button is plugged into the E-Stop connector on the Support module
    • Connect/check that the closed loop connector is plugged into the Ext-Relay connector on the Support module
    • Connect/check that the PCAN-USB adapter is connected with the according cable to the CAN connector on the Support module
  • Provide 24V power supply
    • If the controller has been delivered with power supply just connect it to the 110/220V plug
    • If you use an existing power supply connect this to the control using the fuse. The supply should provide at least 5A at 24V

Now the green LEDs on the modules should be on.

  • Install and start CPRog from the provided CD
  • Load the correct project using the "Load Project" Button in the menu on the upper-left circle
  • Press the "Connect" button. Now the green LEDs on the stepper and DIO modules should blink to show activity on the CAN bus

Switch the robot control off again.

  • Connect the joint cables into the stepper modules. The connectors have the joint numbers written on it, and also the function.
  • Pay attention to add measures to prevent the connectors being pulled out by stress on the cables
  • Switch the power supply on again
  • Start CPRog and press "Connect" and "Reset". Now the status on the left changes to "Motors not enabled"
  • Release the Emergency Stop and press "Enable". Now the status on the left changes to "No Error"
  • Now you can jog the robot arm
  • Proceed with referencing the robot (Referencing robolink) and programming the arm



For questions or comments please get in contact with us: info(at)cpr-robots.com

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