Wiki - User contributions [en]

Digital Output Behavior

2026-03-30T14:15:58Z

MAB:

When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

This article only applies to CPR CANv2 IO modules (i.e. all CPR IO modules except CANopen modules).

= Disabled State =
Digital IO modules may be disabled in 3 situations:
* Immediately after startup
* When the module detects an error situation
* When disabling motors

In these situations all outputs are disabled by the hardware, even if they are set by the software. In contrast the "Reset and Error States" (see the IO configuration in iRC) can enable or disable individual outputs on software errors.

= Configuration =
From iRC V15 the behavior of the digital IO modules can be configured to the modes "always", "nodisable", "reenable_com" and "reenable". In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".

{| class="wikitable"
|+ Digital output behavior in different situations
|-
! !! always !! nodisable !! reenable_com !! reenable
|-
| on "disable motors" || '''disabled''' || enabled || enabled || enabled
|-
| on startup || '''disabled''' || '''disabled''' || enabled || enabled
|-
| on COM error || '''disabled''' || '''disabled''' || enabled || enabled
|-
| on error || '''disabled''' || '''disabled''' || '''disabled''' || enabled
|}

Note that re-enabling outputs after an error caused by the IO module may cause a short high signal. Re-enabling may fail, if the error can not be resolved by a reset.

The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:
<BusConfiguration Protocol="CPRCANv2" CycleTimeMS="10" GapMS="0" DOutBehavior="reenable"

[[Category:Configuration]][[Category:TinyCtrl]]

Digital Output Behavior

2026-03-30T13:49:14Z

MAB:

When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

This article only applies to CPR CANv2 IO modules (i.e. all CPR IO modules except CANopen modules).

= Disabled State =
Digital IO modules may be disabled in 3 situations:
* Immediately after startup
* When the module detects an error situation
* When disabling motors

In these situations all outputs are disabled by the hardware, even if they are set by the software. In contrast the "Reset and Error States" (see the IO configuration in iRC) can enable or disable individual outputs on software errors.

= Configuration =
From iRC V15 the behavior of the digital IO modules can be configured to the following modes:
* "always": Disable outputs on "disable motors", does not enable on startup, does not re-enable on error
* "nodisable": Keeps outputs enabled when motors are disabled, does not enable on startup, does not re-enable on error
* "reenable_com": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enable outputs only on communication timeout
* "reenable": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enables outputs on any error

In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".

Note that re-enabling outputs after an error caused by the IO module may cause an edge in any high signal. Re-enabling may fail, if the error can not be resolved by a reset.

The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:
<BusConfiguration Protocol="CPRCANv2" CycleTimeMS="10" GapMS="0" DOutBehavior="reenable"

[[Category:Configuration]][[Category:TinyCtrl]]

Digital Output Behavior

2026-03-30T13:30:03Z

MAB: /* Configuration */

When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

= Disabled State =
Digital IO modules may be disabled in 3 situations:
* Immediately after startup
* When the module detects an error situation
* When disabling motors

In these situations all outputs are disabled by the hardware, even if they are set by the software. In contrast the "Reset and Error States" (see the IO configuration in iRC) can enable or disable individual outputs on software errors.

= Configuration =
From iRC V15 the behavior of the digital IO modules can be configured to the following modes:
* "always": Disable outputs on "disable motors", does not enable on startup, does not re-enable on error
* "nodisable": Keeps outputs enabled when motors are disabled, does not enable on startup, does not re-enable on error
* "reenable_com": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enable outputs only on communication timeout
* "reenable": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enables outputs on any error

In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".

Note that re-enabling outputs after an error caused by the IO module may cause an edge in any high signal. Re-enabling may fail, if the error can not be resolved by a reset.

The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:
<BusConfiguration Protocol="CPRCANv2" CycleTimeMS="10" GapMS="0" DOutBehavior="reenable"

[[Category:Configuration]][[Category:TinyCtrl]]

IgusRobotControl Release History

2026-03-19T14:27:53Z

MAB: V14-006-6

=IgusRobotControl V14=

Changelog V14: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

*Updater iRC and RobotControl:
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-6.zip Updater_iRC_V14-006-6.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-5.zip Updater_iRC_V14-006-5.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-4.zip Updater_iRC_V14-006-4.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-3.zip Updater_iRC_V14-006-3.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-1.zip Updater_iRC_V14-006-1.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-0.zip Updater_iRC_V14-006-0.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-005-1.zip Updater_iRC_V14-005-1.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-4.zip Updater_iRC_V14-004-4.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-3-2.zip Updater_iRC_V14-004-3-2.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-2.zip Updater_iRC_V14-004-2.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-1.zip Updater_iRC_V14-004-1.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-6.zip Updater_iRC_V14-003-6.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-4.zip Updater_iRC_V14-003-4.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-3.zip Updater_iRC_V14-003-3.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-1.zip Updater_iRC_V14-003-1.zip]

*iRC-Windows-Software only:
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-6.exe Installer_iRC_V14-006-6.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-5.exe Installer_iRC_V14-006-5.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-4.exe Installer_iRC_V14-006-4.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-3.exe Installer_iRC_V14-006-3.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-1.exe Installer_iRC_V14-006-1.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-0.exe Installer_iRC_V14-006-0.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-005-1.exe Installer_iRC_V14-005-1.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-4.exe Installer_iRC_V14-004-4.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-3-2.exe Installer_iRC_V14-004-3-2.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-2.exe Installer_iRC_V14-004-2.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-1.exe Installer_iRC_V14-004-1.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-6.exe Installer_iRC_V14-003-6.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-4.exe Installer_iRC_V14-003-4.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-3.exe Installer_iRC_V14-003-3.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-1.exe Installer_iRC_V14-003-1.exe]

=IgusRobotControl V13=

Changelog V13: [https://cpr-robots.com/download/igusRobotControl/Software/VersionInfo.txt Changelog]

*Updater iRC and TinyCtrl:
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-044.zip Updater_iRC_V13-044.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-038.zip Updater_iRC_V13-038.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-036.zip Updater_iRC_V13-036.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-030.zip Updater_iRC_V13-030.zip]

*iRC-Windows-Software only:
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-044.exe Installer_iRC_V13-044.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-038.exe Installer_iRC_V13-038.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-036.exe Installer_iRC_V13-036.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-030.exe Installer_iRC_V13-030.exe]

=IgusRobotControl V12=

Changelog V12: [https://cpr-robots.com/download/igusRobotControl/Software/VersionInfo.txt Changelog]

*Updater iRC and TinyCtrl:
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V12-028.zip Updater_iRC_V12-028.zip]

*iRC-Windows-Software only:
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V12-028.exe Installer_iRC_V12-028.exe]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-DE

2026-03-19T14:27:20Z

MAB: V14-006-6

This page in English: [[IgusRobotControl-Release14-EN]]

[[file:caution.png|left|25px]] Vorsicht! Die Software wird vor Freigabe einer sorgfältigen Qualitätssicherung unterzogen. Trotzdem müssen nach einem Software-Update die Roboterprogramme langsam und zuerst in Simulation auf eventuelle Probleme geprüft werden!

= Software iRC =

Neue Funktionen in Version 14:
* Einfacheres Verbinden und Synchronisieren zwischen Roboter und PC
* [[Apps for the Robot Control|App-Integration]], mit einer 2D-Vision-App als Beispiel
* [[Frames_of_reference|Benutzer-Koordinatensysteme]] können definiert werden um Bewegungsabläufe zu kopieren
* [[Modbus]] steht als Standardfunktion zur Verfügung
* Und weitere...

Bitte installieren Sie im Regelfall sowohl die [[RobotControl]]-Software auf dem Roboter, als auch die iRC-Software auf dem PC neu, so dass sie dieselbe Versionsnummer haben. Beide sind im Updater enthalten. Bei der Verwendung unterschiedlicher Versionsnummer kann es zu Problemen kommen. Version 14 ist nicht kompatibel zu früheren Versionen, installieren Sie also wenn nötig V14 parallel zu [[IgusRobotControl-Release13-DE|V13]].

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.7.2 oder neuer
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.0 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Ältere Roboter mit Phytec-basierter Steuerung (dünnes weißes Modul mit 2 Netzwerkbuchsen sowie Robolink DCi Roboter) werden nicht mehr unterstützt, [[IgusRobotControl-Release13-DE|verwenden Sie iRC Version 13]]
* CPR Mover Roboter werden nicht mehr unterstützt, mobile Plattformen werden aktuell nicht unterstützt. [[Software_Updates#CPRog|Verwenden Sie CPRog Version 13]]

= Downloads =

'''Updater''' für iRC und RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-6.zip Updater_iRC_V14-006-6.zip]

''Wie man die RobotControl aktualisiert:'' [[Robot Control Update Process]]

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-6.exe Installer_iRC_V14-006-6.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Was wurde geändert: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

Ältere Versionen: [[IgusRobotControl_Release_History | Release History]]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14.pdf Bedienungsanleitung]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14_Plattform.pdf Bedienungsanleitung mobile Plattform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet (Englisch)]
* Schaltplan:
** Schrittmotoren 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_48V_DE.pdf]
** Schrittmotoren 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_24V_DE.pdf iRC_Schaltplan_24V_DE.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC-igusRobotControlBLDC48V_DE.pdf]
** Schrittmotoren 48V für WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC Schaltplan 48v (WSCAD)]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-EN

2026-03-19T14:26:06Z

MAB: V14-006-6

Diese Seite auf Deutsch: [[IgusRobotControl-Release14-DE]]

[[file:caution.png|left|25px]] Caution! The software is subjected to a careful quality assurance before release. Nevertheless, after a software update the robot programs must be checked slowly and first in simulation for possible problems!

= Software iRC =

New functionality in version 14:
* Simplified connection and synchronisation between robot and PC
* [[Apps for the Robot Control|App integration]], with a 2D-Vision app as example
* [[Frames_of_reference|User frames]] can be defined to copy motions
* [[Modbus]] is available as standard feature
* And more...

As a rule, please reinstall both the [[RobotControl]] software on the robot and the iRC software on the PC so that they have the same version number. Both are included in the updater. Using different version numbers may cause problems. Version 14 specifically is incompatible to earlier versions, if you use an earlier version we recommend installing [[IgusRobotControl-Release13-EN|V13]] and V14 in parallel.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.7.2 or higher
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.0 or higher
* The driver from your graphics card manufacturer (the Microsoft default driver does not work)

Robot:
* All current igus Robot Control robots with embedded control
* Older robots with Phytec-based control (slim white module with 2 ethernet ports or Robolink DCi robots) are no longer supported, [[IgusRobotControl-Release13-EN|please use iRC version 13]]
* CPR Mover robots are no longer supported, mobile platforms are currently not supported. [[Software_Updates#CPRog|Please use CPRog version 13]]

= Downloads =

'''Updater''' for iRC and RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-6.zip Updater_iRC_V14-006-6.zip]

''How to update RobotControl:'' [[Robot Control Update Process]]

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-6.exe Installer_iRC_V14-006-6.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

Older Versions: [[IgusRobotControl_Release_History | Release History]]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14.pdf User guide]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14_Platform.pdf User guide mobile platform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet]
* Schematics:
** Stepper 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_48V_EN.pdf iRC_CircuitDiagram_48V_EN.pdf]
** Stepper 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_24V_EN.pdf iRC_CircuitDiagram_24V_EN.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/EN/Hardware/WiringDiagrams/iRC-igusRobotControlBLDC48V_EN.pdf iRC-igusRobotControlBLDC48V_EN.pdf]
** Stepper 48V for WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC circuit diagram 48v for WSCAD]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

Apps for the Robot Control

2026-03-09T12:35:26Z

MAB: Added PositionLogger

The app interface (since [[IgusRobotControl-Release14-EN|iRC/CPRog V14]]) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to the program editor and add user interface components for interaction and configuration.

The app interface is based on GRPC which supports many different programming languages. We have prepared sample APIs for C++ and Python with a minimal sample app that can be used as a base for new apps. See section Minimal App below.

Please note that the app interface still is quite new and does not provide all features like [[CRI Ethernet Interface|CRI]] or [[Modbus Server|Modbus]]. We will extend it in near future.

You made a cool app yourself and want to share it with the world?
Please [mailto:support@cpr-robots.com contact] us and we will make it accessible here!

= Installing Apps =
Apps come as ZIP packages. To install an app connect iRC/CPRog to the robot, then click "File" → "Configure Interfaces" → "Apps" → "Install" and select the ZIP package.

Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.

= Minimal app examples and source code =
As a starting point to develop your own robot control apps you can use our Minimal App (available for C++ and Python). These include a simplified API, documentation and examples. The examples show how to read and write variables, how extend the robot program with new functions and how to create a user interface that integrates into iRC/CPRog.

Download the source code and find the documentation [https://github.com/CommonplaceRobotics/RobotControlApps on GitHub].
The interface will be extended with new functions in future.

= Math Tools =

[[Math Tools App|Math Tools]] extends the igus Robot Control with occasionally needed program functions, mainly around kinematics, math and timing. The app is open source and python-based so you can easily add your own functions as needed.

= Position Logger =
The PositionLogger app adds basic functions for logging the robot's position to a CSV file. This is intended for testing and as an extendable example - with some Python skills you can log any info that is relevant to you.

The position logger adds the following app commands:
* Clear log: Deletes the log file, should be called before logging is started to reset the log file
* Add TCP to log: Adds the current tool center point position
* Add position variable to log: Adds a position from a variable

Downloads:
* [https://github.com/CommonplaceRobotics/RobotControlApps/tree/master/PositionLogger Info and source code]
* [https://github.com/CommonplaceRobotics/RobotControlApps/releases App package]

= Socket App =
The Socket App extends the robot control with a network interface for receiving and sending text-based messages.

Features:
* TCP client
* TCP server
* UDP
* Parse text-based messages for numbers, access these numbers in the robot program
* Send text-based messages with optional numbers from program variables

Use Cases:
* Receiving position values from object recognition cameras or other data sources
* Synchronizing values between robots
* etc...

Downloads:
* [https://wiki.cpr-robots.com/images/5/53/Socket_App_User_Guide.pdf Documentation]
* [https://wiki.cpr-robots.com/images/6/64/Socket_App_V1.0.1.zip Socket App package]

= Vision App =

The Vision App is created for 2D Object Detection. The app uses a standard USB camera which can be connected to your robot. [https://wiki.cpr-robots.com/images/8/88/VisionApp_Examples_EN.pdf This]
document describes what the Vision App can be used for and what objects can be detected.

Download calibration sheet: [https://wiki.cpr-robots.com/images/c/c3/CalibrationSheetV3.pdf CalibrationSheetV3.pdf]

Download user manual: [https://wiki.cpr-robots.com/images/c/cd/VisionApp_Manual_EN.pdf UserManual_VisionApp_EN.pdf]

Download .zip for robot: [https://wiki.cpr-robots.com/images/1/11/Vision2d.zip Vision2D.zip]

Download STL of measuring tips: [https://wiki.cpr-robots.com/images/6/6f/Messspitzen.zip Delta_and_Rebel.STL]

What has changed: [https://wiki.cpr-robots.com/images/1/1c/ChangeLogVisionApp.txt ChangeLog]

There are three Video Tutorials how to use the Vision App:
* Calibration: [https://youtu.be/fpbPiadYieQ?feature=shared English] / [https://www.youtube.com/watch?v=RV6W3cHTwMs German]
* Settings for Object Detection: [https://youtu.be/Nw9391sffrk?feature=shared English] / [https://www.youtube.com/watch?v=L-CbLLiDD8E German]
* Progamming: [https://youtu.be/llvEa73kQYw?feature=shared English] / [https://www.youtube.com/watch?v=CjtXqH9r4zI German]
The .xml File of the example programm you can download [https://wiki.cpr-robots.com/images/1/11/Tutorial.zip here]

In the video and for tests we used the ELP-USB4K03-SFV (5-50 mm). You can use all USB Cameras (Type A oder 3.0), which do not have an auto focus or wide angle.

[[Category:Apps]]

IgusRobotControl-Release14-DE

2026-02-03T10:02:57Z

MAB: V14-006-4

This page in English: [[IgusRobotControl-Release14-EN]]

[[file:caution.png|left|25px]] Vorsicht! Die Software wird vor Freigabe einer sorgfältigen Qualitätssicherung unterzogen. Trotzdem müssen nach einem Software-Update die Roboterprogramme langsam und zuerst in Simulation auf eventuelle Probleme geprüft werden!

= Software iRC =

Neue Funktionen in Version 14:
* Einfacheres Verbinden und Synchronisieren zwischen Roboter und PC
* [[Apps for the Robot Control|App-Integration]], mit einer 2D-Vision-App als Beispiel
* [[Frames_of_reference|Benutzer-Koordinatensysteme]] können definiert werden um Bewegungsabläufe zu kopieren
* [[Modbus]] steht als Standardfunktion zur Verfügung
* Und weitere...

Bitte installieren Sie im Regelfall sowohl die [[RobotControl]]-Software auf dem Roboter, als auch die iRC-Software auf dem PC neu, so dass sie dieselbe Versionsnummer haben. Beide sind im Updater enthalten. Bei der Verwendung unterschiedlicher Versionsnummer kann es zu Problemen kommen. Version 14 ist nicht kompatibel zu früheren Versionen, installieren Sie also wenn nötig V14 parallel zu [[IgusRobotControl-Release13-DE|V13]].

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.7.2 oder neuer
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.0 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Ältere Roboter mit Phytec-basierter Steuerung (dünnes weißes Modul mit 2 Netzwerkbuchsen sowie Robolink DCi Roboter) werden nicht mehr unterstützt, [[IgusRobotControl-Release13-DE|verwenden Sie iRC Version 13]]
* CPR Mover Roboter werden nicht mehr unterstützt, mobile Plattformen werden aktuell nicht unterstützt. [[Software_Updates#CPRog|Verwenden Sie CPRog Version 13]]

= Downloads =

'''Updater''' für iRC und RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-4.zip Updater_iRC_V14-006-4.zip]

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-4.exe Installer_iRC_V14-006-4.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Was wurde geändert: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

Ältere Versionen: [[IgusRobotControl_Release_History | Release History]]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14.pdf Bedienungsanleitung]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14_Plattform.pdf Bedienungsanleitung mobile Plattform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet (Englisch)]
* Schaltplan:
** Schrittmotoren 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_48V_DE.pdf]
** Schrittmotoren 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_24V_DE.pdf iRC_Schaltplan_24V_DE.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC-igusRobotControlBLDC48V_DE.pdf]
** Schrittmotoren 48V für WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC Schaltplan 48v (WSCAD)]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-EN

2026-02-03T10:02:24Z

MAB: V14-006-4

Diese Seite auf Deutsch: [[IgusRobotControl-Release14-DE]]

[[file:caution.png|left|25px]] Caution! The software is subjected to a careful quality assurance before release. Nevertheless, after a software update the robot programs must be checked slowly and first in simulation for possible problems!

= Software iRC =

New functionality in version 14:
* Simplified connection and synchronisation between robot and PC
* [[Apps for the Robot Control|App integration]], with a 2D-Vision app as example
* [[Frames_of_reference|User frames]] can be defined to copy motions
* [[Modbus]] is available as standard feature
* And more...

As a rule, please reinstall both the [[RobotControl]] software on the robot and the iRC software on the PC so that they have the same version number. Both are included in the updater. Using different version numbers may cause problems. Version 14 specifically is incompatible to earlier versions, if you use an earlier version we recommend installing [[IgusRobotControl-Release13-EN|V13]] and V14 in parallel.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.7.2 or higher
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.0 or higher
* The driver from your graphics card manufacturer (the Microsoft default driver does not work)

Robot:
* All current igus Robot Control robots with embedded control
* Older robots with Phytec-based control (slim white module with 2 ethernet ports or Robolink DCi robots) are no longer supported, [[IgusRobotControl-Release13-EN|please use iRC version 13]]
* CPR Mover robots are no longer supported, mobile platforms are currently not supported. [[Software_Updates#CPRog|Please use CPRog version 13]]

= Downloads =

'''Updater''' for iRC and RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-4.zip Updater_iRC_V14-006-4.zip]

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-4.exe Installer_iRC_V14-006-4.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

Older Versions: [[IgusRobotControl_Release_History | Release History]]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14.pdf User guide]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14_Platform.pdf User guide mobile platform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet]
* Schematics:
** Stepper 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_48V_EN.pdf iRC_CircuitDiagram_48V_EN.pdf]
** Stepper 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_24V_EN.pdf iRC_CircuitDiagram_24V_EN.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/EN/Hardware/WiringDiagrams/iRC-igusRobotControlBLDC48V_EN.pdf iRC-igusRobotControlBLDC48V_EN.pdf]
** Stepper 48V for WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC circuit diagram 48v for WSCAD]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

SSH Credentials

2026-01-28T16:17:19Z

MAB: Created page with "To control and configure the robot the igus Robot Control (iRC) PC software uses a CRI and a SSH connection. To protect the system the SSH password can be changed, this is supported from iRC V15. To change the password you need to log into the robot control using a SSH client, e.g. PuTTY. The standard user is "robot" and password "robot. Enter command "sudo passwd robot". This changes the password of user "robot". You will be asked to enter the new password twice. Be c..."

To control and configure the robot the igus Robot Control (iRC) PC software uses a CRI and a SSH connection. To protect the system the SSH password can be changed, this is supported from iRC V15.

To change the password you need to log into the robot control using a SSH client, e.g. PuTTY. The standard user is "robot" and password "robot.

Enter command "sudo passwd robot". This changes the password of user "robot". You will be asked to enter the new password twice. Be careful, if you misstype or forget the password you won't be able to connect and need to do a [[Restore_SD_Card_of_Embedded_Computer|factory reset]]. You can restore the original password using the same command.

If the password is changed iRC will ask for it when trying to connect.

Feature Licenses

2026-01-15T11:05:19Z

MAB: Redirected page to License Request

#REDIRECT [[License Request]]

Network Interfaces

2026-01-14T14:19:02Z

MAB: Created page with "Most higher level controls are connected to our robot controls via network interfaces. The current embedded controls provide one Ethernet and one WiFi interface, older controls provide two Ethernet and no WiFi interfaces. = Ethernet = Important: Be careful if you intend to change the IP address of the Ethernet interface. Wrong configurations may prevent you from connecting to the robot, which can only be fixed by a factory reset. Consider enabling a WiFi access point be..."

Most higher level controls are connected to our robot controls via network interfaces. The current embedded controls provide one Ethernet and one WiFi interface, older controls provide two Ethernet and no WiFi interfaces.

= Ethernet =
Important: Be careful if you intend to change the IP address of the Ethernet interface. Wrong configurations may prevent you from connecting to the robot, which can only be fixed by a factory reset. Consider enabling a WiFi access point beforehand so you can restore the robot's configuration if any issue occurs.

From iRC version 15 the IP address of the Ethernet interface can be configured via the Network configuration section in the iRC PC software. For all previous versions please read [[Change_Network_Address_of_Embedded_Linux_PC| this article]].

= WiFi =
Please read [[WiFi]].

Digital Output Behavior

2025-12-18T15:06:09Z

MAB: Created page with "When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs. = Disabled State = Digital IO modules may be disabled in 3 situations: * Immediately after startup * When the module detects an error situation * When disabling motors In these situations all outputs are disabled by the hardware, even if they are set by th..."

When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

= Disabled State =
Digital IO modules may be disabled in 3 situations:
* Immediately after startup
* When the module detects an error situation
* When disabling motors

In these situations all outputs are disabled by the hardware, even if they are set by the software. In contrast the "Reset and Error States" (see the IO configuration in iRC) can enable or disable individual outputs on software errors.

= Configuration =
From iRC V15 the behavior of the digital IO modules can be configured to the following modes:
* "always": Disable outputs on "disable motors", does not enable on startup, does not re-enable on error
* "nodisable": Keeps outputs enabled when motors are disabled, does not enable on startup, does not re-enable on error
* "reenable_com": Keeps outputs enabled when motors are disabled, enables outputs on startup, does not re-enable on error
* "reenable": Keeps outputs enabled when motors are disabled, enables outputs on startup, re-enables outputs on error

In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".

Note that re-enabling outputs after an error caused by the IO module may cause an edge in any high signal. Re-enabling may fail, if the error can not be resolved by a reset.

The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:
<BusConfiguration Protocol="CPRCANv2" CycleTimeMS="10" GapMS="0" DOutBehavior="reenable"

[[Category:Configuration]][[Category:TinyCtrl]]

CRI Ethernet Interface

2025-11-24T14:11:08Z

MAB: CRI documentation link updated

The CRI ethernet interface allows remote applications to connect to a robot controller: iRC, CPRog or the embedded control.

[[File:CRI-robolink.JPG|600px|CRI-Interface]]

'''The remote application can request the following operations:'''
* Jog the robot arm in joint space or cartesian space (base or tool coordinate system xyzabc)
* Send commands: joint motion, linear motion, digital outputs, ...
* Change variables
* Start and stop programs. These can be stored programs or the commands just send.

==Requirements==
* Using this interface requires programming experience in the client-server area.
* iRC / CPRog version V902-11-011 or higher
* Embedded Control with TinyCtrl version V980-11-087 or higher
* Updates can be found here: [[Software Updates]]

==Documentation and Examples==
* Video with short explanation: [https://www.youtube.com/watch?v=cxzvMmma97Q YouTube Video]
* Documentation:
** [https://downloads.cpr-robots.com/Documentation/EN/Software/iRC/CRI/CPR_RobotInterfaceCRI_V18.pdf CRI V17 (since iRC/CPRog V14)]
** [[Media:CPR_RobotInterfaceCRI.pdf|CRI V16 (until iRC/CPRog V13)]]
** [[CRI Client Structure]] - basic guide for any programming language
** [[Transferring Robot Programs via CRI]] - advanced guide on how to send program files to the robot
* Example code:
** [https://github.com/CommonplaceRobotics/CRI-DemoClient CRI demo client] including source code in C#
** [https://github.com/CommonplaceRobotics/CRI-Python-Lib/ Python library]

== Controlling a simulation via CRI ==
The CRI can be tested in simulation with iRC or CPRog. No real robot is needed.

=== Version 14 ===
In version 14 the CRI is always available and does not need to be enabled.

Since the iRC user interface itself uses the CRI to control the simulation your CRI client will be connected passively first and must be set active before sending commands (see section "Multi client support" in the CRI documentation). This will make iRC a passive observer. Click "Reset" in iRC to make iRC become active again.

=== Version 11-13 ===
In CPRog/iRC V11-007 to V13 the simulation can be controlled via CRI after enabling it in the backstage menu:
* "File" -> "Configure Interfaces" -> "CRI Interface"
* "Datei" -> "Schnittstellenkonfiguration" -> "CRI-Schnittstelle"

Click "Start" to enable the CRI server in CPRog/iRC. The status text will show the IP address and port that is being used. For local testing use the "Force IP address" checkbox and enter "127.0.0.1" into the text box.

[[File:CRI_Server_Config.PNG|600px]]

Unlike V14 the user interface does not use the CRI and therefore does not become passive.

==Further articles==
* [[Remote Variable Access|Accessing program variables via CRI]]
* [[Moving Robots via CRI]]
* [[CRI Client Structure]]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl Release History

2025-11-24T14:07:01Z

MAB: Release V14-006-1

=IgusRobotControl V14=

Changelog V14: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

*Updater iRC and RobotControl:
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-1.zip Updater_iRC_V14-006-1.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-0.zip Updater_iRC_V14-006-0.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-005-1.zip Updater_iRC_V14-005-1.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-4.zip Updater_iRC_V14-004-4.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-3-2.zip Updater_iRC_V14-004-3-2.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-2.zip Updater_iRC_V14-004-2.zip]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-004-1.zip Updater_iRC_V14-004-1.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-6.zip Updater_iRC_V14-003-6.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-4.zip Updater_iRC_V14-003-4.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-3.zip Updater_iRC_V14-003-3.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V14-003-1.zip Updater_iRC_V14-003-1.zip]

*iRC-Windows-Software only:
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-1.exe Installer_iRC_V14-006-1.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-0.exe Installer_iRC_V14-006-0.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-005-1.exe Installer_iRC_V14-005-1.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-4.exe Installer_iRC_V14-004-4.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-3-2.exe Installer_iRC_V14-004-3-2.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-2.exe Installer_iRC_V14-004-2.exe]
**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-004-1.exe Installer_iRC_V14-004-1.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-6.exe Installer_iRC_V14-003-6.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-4.exe Installer_iRC_V14-003-4.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-3.exe Installer_iRC_V14-003-3.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V14-003-1.exe Installer_iRC_V14-003-1.exe]

=IgusRobotControl V13=

Changelog V13: [https://cpr-robots.com/download/igusRobotControl/Software/VersionInfo.txt Changelog]

*Updater iRC and TinyCtrl:
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-044.zip Updater_iRC_V13-044.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-038.zip Updater_iRC_V13-038.zip]
**[https://cpr-robots.com/download/igusRobotControl/Software/Updater_iRC_V13-030.zip Updater_iRC_V13-030.zip]

*iRC-Windows-Software only:
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-044.exe Installer_iRC_V13-044.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-038.exe Installer_iRC_V13-038.exe]
**[https://cpr-robots.com/download/igusRobotControl/Software/Installer_iRC_V13-030.exe Installer_iRC_V13-030.exe]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-DE

2025-11-24T14:06:30Z

MAB: Release V14-006-1

This page in English: [[IgusRobotControl-Release14-EN]]

[[file:caution.png|left|25px]] Vorsicht! Die Software wird vor Freigabe einer sorgfältigen Qualitätssicherung unterzogen. Trotzdem müssen nach einem Software-Update die Roboterprogramme langsam und zuerst in Simulation auf eventuelle Probleme geprüft werden!

= Software iRC =

Neue Funktionen in Version 14:
* Einfacheres Verbinden und Synchronisieren zwischen Roboter und PC
* [[Apps for the Robot Control|App-Integration]], mit einer 2D-Vision-App als Beispiel
* [[Frames_of_reference|Benutzer-Koordinatensysteme]] können definiert werden um Bewegungsabläufe zu kopieren
* [[Modbus]] steht als Standardfunktion zur Verfügung
* Und weitere...

Bitte installieren Sie im Regelfall sowohl die [[RobotControl]]-Software auf dem Roboter, als auch die iRC-Software auf dem PC neu, so dass sie dieselbe Versionsnummer haben. Beide sind im Updater enthalten. Bei der Verwendung unterschiedlicher Versionsnummer kann es zu Problemen kommen. Version 14 ist nicht kompatibel zu früheren Versionen, installieren Sie also wenn nötig V14 parallel zu [[IgusRobotControl-Release13-DE|V13]].

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.7.2 oder neuer
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.0 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Ältere Roboter mit Phytec-basierter Steuerung (dünnes weißes Modul mit 2 Netzwerkbuchsen sowie Robolink DCi Roboter) werden nicht mehr unterstützt, [[IgusRobotControl-Release13-DE|verwenden Sie iRC Version 13]]
* CPR Mover Roboter werden nicht mehr unterstützt, mobile Plattformen werden aktuell nicht unterstützt. [[Software_Updates#CPRog|Verwenden Sie CPRog Version 13]]

= Downloads =

Updater iRC und TinyCtrl für die [[Embedded Control|integrierte Steuerung]]: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-1.zip Updater_iRC_V14-006-1.zip]

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-1.exe Installer_iRC_V14-006-1.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Was wurde geändert: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

Ältere Versionen: [[IgusRobotControl_Release_History | Release History]]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14.pdf Bedienungsanleitung]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14_Plattform.pdf Bedienungsanleitung mobile Plattform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet (Englisch)]
* Schaltplan:
** Schrittmotoren 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_48V_DE.pdf]
** Schrittmotoren 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_24V_DE.pdf iRC_Schaltplan_24V_DE.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC-igusRobotControlBLDC48V_DE.pdf]
** Schrittmotoren 48V für WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC Schaltplan 48v (WSCAD)]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-EN

2025-11-24T14:05:58Z

MAB: Release V14-006-1

Diese Seite auf Deutsch: [[IgusRobotControl-Release14-DE]]

[[file:caution.png|left|25px]] Caution! The software is subjected to a careful quality assurance before release. Nevertheless, after a software update the robot programs must be checked slowly and first in simulation for possible problems!

= Software iRC =

New functionality in version 14:
* Simplified connection and synchronisation between robot and PC
* [[Apps for the Robot Control|App integration]], with a 2D-Vision app as example
* [[Frames_of_reference|User frames]] can be defined to copy motions
* [[Modbus]] is available as standard feature
* And more...

As a rule, please reinstall both the [[RobotControl]] software on the robot and the iRC software on the PC so that they have the same version number. Both are included in the updater. Using different version numbers may cause problems. Version 14 specifically is incompatible to earlier versions, if you use an earlier version we recommend installing [[IgusRobotControl-Release13-EN|V13]] and V14 in parallel.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.7.2 or higher
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.0 or higher
* The driver from your graphics card manufacturer (the Microsoft default driver does not work)

Robot:
* All current igus Robot Control robots with embedded control
* Older robots with Phytec-based control (slim white module with 2 ethernet ports or Robolink DCi robots) are no longer supported, [[IgusRobotControl-Release13-EN|please use iRC version 13]]
* CPR Mover robots are no longer supported, mobile platforms are currently not supported. [[Software_Updates#CPRog|Please use CPRog version 13]]

= Downloads =

Updater iRC and RobotControl for [[Embedded Control]]: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-1.zip Updater_iRC_V14-006-1.zip]

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-1.exe Installer_iRC_V14-006-1.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

Older Versions: [[IgusRobotControl_Release_History | Release History]]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14.pdf User guide]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14_Platform.pdf User guide mobile platform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet]
* Schematics:
** Stepper 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_48V_EN.pdf iRC_CircuitDiagram_48V_EN.pdf]
** Stepper 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_24V_EN.pdf iRC_CircuitDiagram_24V_EN.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/EN/Hardware/WiringDiagrams/iRC-igusRobotControlBLDC48V_EN.pdf iRC-igusRobotControlBLDC48V_EN.pdf]
** Stepper 48V for WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC circuit diagram 48v for WSCAD]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

Position Lag

2025-10-21T14:40:28Z

MAB: Fixed link

Position lag is the difference between actual and target positions when moving robot axes. In an ideal system the axes perfectly and immediately follow the target position so there is no lag. In a real system there are several factors that introduce lag: moving faster than mechanically possible, overloading the axis, mechanical resistance (e.g. misaligned linear rails). If the position lag exceeds a limit value the axis will change into position lag [[Error Codes|error state]].

Another common cause for the position lag error on our robot controls is referencing. Here the position lag error is expected after successful referencing, it does not mean anything is wrong. Read the following section for an explanation.

Note that a "true" position lag error is only shown by our BLDC controllers. Our stepper controllers show an encoder error instead. Read the section below.

= Position Lag After Referencing =
Usually you will see the position lag error after referencing.

Once an axis finishes referencing it will change into position lag state. This is no issue. If you reference multiple axes simply wait till all axes are finished, then re-enable the motors and your robot is ready to use.

The reason for this behavior is that the internal position values of the axis controllers change. If the axis would keep following positioning commands it would jerk unexpectedly into one direction, possibly failing with an error code, causing damage or injury. To prevent this they change into position lag error state, which forces the robot control to re-load the current position and re-calculate the kinematics before the motion is enabled again.

= Position Lag During Motion =
If the position lag error occurs during normal operation (i.e. not while referencing) you got a true position lag error. Try the following:
* Decrease the speed of the failing motion command
* Check which axis triggers the error code: See the joint states in the "infocenter" tab below the 3D view
* Check whether the issue still happens without load at the gripper
* Make sure the axis is easy to move
* If the axis got two parallel linear rails: make sure the rails are well aligned and set up according to the setup instructions

= Overcurrent on BLDC Controllers =
This section only applies to BLDC controllers, including the [[ReBeL|igus ReBeL]].

In some cases an [[Error Codes|over current error]] can be triggered instead of a position lag error. Closed loop BLDC controls draw as much current as necessary to follow the target positions. If the maximum current is reached before the maximum position lag distance is exceeded your robot will stop with an overcurrent error.

Follow the suggestions listed in section "Position Lag During Motion".

= Encoder Error on Stepper Controllers =
Our stepper controllers trigger an [[Encoder Error|encoder error]] instead of position lag error. Encoder error can mean that the motor's encoder does not count the position as expected. One way it checks this is by comparing the difference between target and actual position - if this exceeds a limit (e.g. because the axis can accelerate fast enough to follow the target position) the encoder error is triggered.

Follow the suggestions listed in section "Position Lag During Motion".

[[Category:TinyCtrl]][[Category:Troubleshooting]]

IgusRobotControl-Release14-DE

2025-10-13T13:57:00Z

MAB: V14-005-1

This page in English: [[IgusRobotControl-Release14-EN]]

[[file:caution.png|left|25px]] Vorsicht! Die Software wird vor Freigabe einer sorgfältigen Qualitätssicherung unterzogen. Trotzdem müssen nach einem Software-Update die Roboterprogramme langsam und zuerst in Simulation auf eventuelle Probleme geprüft werden!

= Software iRC =

Neue Funktionen in Version 14:
* Einfacheres Verbinden und Synchronisieren zwischen Roboter und PC
* [[Apps for the Robot Control|App-Integration]], mit einer 2D-Vision-App als Beispiel
* [[Frames_of_reference|Benutzer-Koordinatensysteme]] können definiert werden um Bewegungsabläufe zu kopieren
* [[Modbus]] steht als Standardfunktion zur Verfügung
* Und weitere...

Bitte installieren Sie im Regelfall sowohl die [[RobotControl]]-Software auf dem Roboter, als auch die iRC-Software auf dem PC neu, so dass sie dieselbe Versionsnummer haben. Beide sind im Updater enthalten. Bei der Verwendung unterschiedlicher Versionsnummer kann es zu Problemen kommen. Version 14 ist nicht kompatibel zu früheren Versionen, installieren Sie also wenn nötig V14 parallel zu [[IgusRobotControl-Release13-DE|V13]].

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.7.2 oder neuer
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.0 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Ältere Roboter mit Phytec-basierter Steuerung (dünnes weißes Modul mit 2 Netzwerkbuchsen sowie Robolink DCi Roboter) werden nicht mehr unterstützt, [[IgusRobotControl-Release13-DE|verwenden Sie iRC Version 13]]
* CPR Mover Roboter werden nicht mehr unterstützt, mobile Plattformen werden aktuell nicht unterstützt. [[Software_Updates#CPRog|Verwenden Sie CPRog Version 13]]

= Downloads =

Updater iRC und TinyCtrl für die [[Embedded Control|integrierte Steuerung]]: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-005-1.zip Updater_iRC_V14-005-1.zip]

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-005-1.exe Installer_iRC_V14-005-1.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Was wurde geändert: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14.pdf Bedienungsanleitung]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14_Plattform.pdf Bedienungsanleitung mobile Plattform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet (Englisch)]
* Schaltplan:
** Schrittmotoren 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_48V_DE.pdf]
** Schrittmotoren 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_24V_DE.pdf iRC_Schaltplan_24V_DE.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC-igusRobotControlBLDC48V_DE.pdf]
** Schrittmotoren 48V für WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC Schaltplan 48v (WSCAD)]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-EN

2025-10-13T13:56:38Z

MAB: V14-005-1

Diese Seite auf Deutsch: [[IgusRobotControl-Release14-DE]]

[[file:caution.png|left|25px]] Caution! The software is subjected to a careful quality assurance before release. Nevertheless, after a software update the robot programs must be checked slowly and first in simulation for possible problems!

= Software iRC =

New functionality in version 14:
* Simplified connection and synchronisation between robot and PC
* [[Apps for the Robot Control|App integration]], with a 2D-Vision app as example
* [[Frames_of_reference|User frames]] can be defined to copy motions
* [[Modbus]] is available as standard feature
* And more...

As a rule, please reinstall both the [[RobotControl]] software on the robot and the iRC software on the PC so that they have the same version number. Both are included in the updater. Using different version numbers may cause problems. Version 14 specifically is incompatible to earlier versions, if you use an earlier version we recommend installing [[IgusRobotControl-Release13-EN|V13]] and V14 in parallel.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.7.2 or higher
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.0 or higher
* The driver from your graphics card manufacturer (the Microsoft default driver does not work)

Robot:
* All current igus Robot Control robots with embedded control
* Older robots with Phytec-based control (slim white module with 2 ethernet ports or Robolink DCi robots) are no longer supported, [[IgusRobotControl-Release13-EN|please use iRC version 13]]
* CPR Mover robots are no longer supported, mobile platforms are currently not supported. [[Software_Updates#CPRog|Please use CPRog version 13]]

= Downloads =

Updater iRC and RobotControl for [[Embedded Control]]: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-005-1.zip Updater_iRC_V14-005-1.zip]

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-005-1.exe Installer_iRC_V14-005-1.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14.pdf User guide]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14_Platform.pdf User guide mobile platform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet]
* Schematics:
** Stepper 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_48V_EN.pdf iRC_CircuitDiagram_48V_EN.pdf]
** Stepper 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_24V_EN.pdf iRC_CircuitDiagram_24V_EN.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/EN/Hardware/WiringDiagrams/iRC-igusRobotControlBLDC48V_EN.pdf iRC-igusRobotControlBLDC48V_EN.pdf]
** Stepper 48V for WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC circuit diagram 48v for WSCAD]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

Example Programs

2025-10-01T11:38:51Z

MAB:

Here you will find program examples explaining how to use the robot commands for different applications. This is a living article, check back regularly!

= Defining paths via CAD =
The path and point sequence commands move the robot along a path defined by a DXF or CSV file. At each start and end of a path segment or point the tool can be lowered and lifted or enabled by a digital output. [[Definition of a DXF file in SolidWorks]] explains how to create a path and load it into iRC.

= Glueing and Dispensing =
Glueing and dispensing requires different optimizations than pick and place applications. The article [[Dispensing Applications]] shows two approaches using the path command and basic motion commands to follow a path and enable a digital output for the dispenser.

= Palletizing and Error Recovery =
The article [[Matrix Palletizing and Error Recovery]] explains how palletizing applications can be programmed using matrix commands. The example handles restarting the position on the pallet on error and starting the pallet at any index.

= Circular Curves =
[[Circular Motion]] explains how to move along circular curves complete circles.

= Program Structure =
The article [[Structured Programming]] explains how to use sub programs and matrices to create a clean program structure.

= Legacy Examples =
In [[CPRog Examples]] you can find further examples that were created with earlier versions of the software but they still work in the current version. These examples will be updated in future.

[[Category:CPRog]][[Category:Robot Programming]]

Matrix Palletizing and Error Recovery

2025-10-01T11:36:13Z

MAB: Created page with "In palletizing applications error recovery should be considered: An item not being picked correctly or dropping before placing may result in an empty spot on the pallet. The motion program failing may require restarting the program from the first step. This guide gives hints and examples on how to handle these issues when using the matrix command for palletizing, but it can be useful for any looping application. = Matrix Loop vs Matrix Query = The following advice expec..."

In palletizing applications error recovery should be considered: An item not being picked correctly or dropping before placing may result in an empty spot on the pallet. The motion program failing may require restarting the program from the first step. This guide gives hints and examples on how to handle these issues when using the matrix command for palletizing, but it can be useful for any looping application.

= Matrix Loop vs Matrix Query =
The following advice expect that you understand the Matrix Query command. While the Matrix Loop command is easy to use and sufficient for basic palletizing tasks it can not easily be entered at a specific index or position, making error recovery difficult. Therefore we recommend using the Matrix Query command: Here you can "ask" the matrix for the position for a specific index (counting from 0 to the number of items on a pallete layer - 1). This allows you to start at any index, repeat indices and handle indices out of order.

The basic idea for using the Matrix Query:
# Define the A, B and C corner positions of the pallet as position variables
# Call the Matrix Definition command with corner positions A, B and C
# Define a number variable for specifying the current pallet position index
# Use the Loop command: In V14-005 or newer: use the counting loop and set your index variable as the counting variable OR (supported in all versions) use a conditional loop which checks whether the index is smaller than the number of items on the pallete layer (e.g. "myIndex < 8")
## Call the Matrix Query command to get the target position for the current index
## Add motion and logic commands to pick the item and place it at the target position
## If you use the conditional loop use the Math command to increase the index by 1

In comparison the Matrix Loop command handles the index variable and the loop.

= Starting the program with a partially-filled pallet =
Sometimes you need to start the process with a non-empty pallet. In this case the index variable must be set to the next-to-be-placed position on the palette before re-starting the palletizing. This can be done in several ways.

== Persistent variables ==
Persistent variables keep their value even if the robot control is shut off. This allows easy restarting the process at the last position.

Since version V14-004-3 you can define persistent variables either via the iRC PC software (click the add button in the variables section below the 3D view) or using the Store command in the robot program, which does this automatically and is the recommended approach. Note that the store command is ignored for persistent variables once they exist so they do not get overwritten on program restart. To set a persistent variable in the robot program you need to use the Math command with "set" operation.

In earlier versions you can use the pre-defined system variables "#parts-good" and "#parts-bad" despite the names. Here the Store command will overwrite the values but since these variables are always present you do not need to define them using the Store command.

Since version V14-004-3 you can set the variable's value (i.e. the pallet's starting index) in the iRC PC software, in earlier versions you need to set the starting position in the robot program using the Store command.

Alternatively you can set the variable using [[Control Interfaces|PLC or other controls]]. Hint: If your robot program needs to wait for the PLC to set the starting index, use a global signal and a conditional wait command: Set the global signal to false when the program starts, then wait till it is set to true by the PLC.

= Repeating pallet positions on error =
For a more automatic error recovery you may want to repeat a pallet position on error. The following example aborts and repeats the current step if the motion program is paused or stopped, e.g. on error or by the operator.

For this approach you need both the motion program and a logic program, which runs in parallel to the motion program and does not stop on error. The [[Logic Program|logic program]] observes the motion program's run state and commands it to abort and repeat if necessary.

You can get the example program here: [[File:ExampleRecoverableMatrix.zip]], run it in a simulation of a DLE-RG-0001 room gantry and observe the behavior when you pause and continue the program.

== Logic Program ==
[[File:ExampleRecoverableMatrixLogicProgram.png|thumb|Motion program for a recoverable matrix]]
The logic program uses an IF command to repeatedly check the system variable "#programrunning". If it is 0 the motion program is stopped or paused, otherwise it is 1. If the motion program is not running a global signal is set to true using the Digital Output command to request repeating the step.

== Motion Program ==
[[File:ExampleRecoverableMatrixMotionProgram.png|thumb|Motion program for a recoverable matrix]]
The motion program does not change much from the usual Matrix Query program. You need to use the conditional loop approach explained in the "Matrix Loop" section above, this will not work with the counting loop.

* Reset the global signal to false on startup (before entering the loop)
* To abort any motion commands inside the loop set their abort condition to the global signal, e.g. "GSig1".
* Add an IF command that checks whether the global signal is set. In the example the condition is "!GSig1", meaning the first IF-branch is called when the global signal is not set, the normal case. Move the Math command that increases the index variable here, we do not want to go to the next position when aborted.
* In the ELSE-branch add a Digital Output command to reset the global signal to false

== Configuration ==
Once the motion and logic programs are created you need to load them. You can load the logic program in the Program configuration section ("File" -> "Configure Project" -> "Program"). In the same section set the error state of the motion program to "Pause", so the motion program continues inside the loop on error.

[[Category:CPRog]][[Category:Robot Programming]]

File:ExampleRecoverableMatrix.zip

2025-10-01T11:32:34Z

MAB:

File:ExampleRecoverableMatrixLogicProgram.png

2025-10-01T11:31:03Z

MAB:

File:ExampleRecoverableMatrixMotionProgram.png

2025-10-01T11:30:51Z

MAB:

Example Programs

2025-09-30T10:29:10Z

MAB: Created page with "Here you will find program examples explaining how to use the robot commands for different applications. This is a living article, check back regularly! = Defining paths via CAD = The path and point sequence commands move the robot along a path defined by a DXF or CSV file. At each start and end of a path segment or point the tool can be lowered and lifted or enabled by a digital output. Definition of a DXF file in SolidWorks explains how to create a path and load i..."

Here you will find program examples explaining how to use the robot commands for different applications. This is a living article, check back regularly!

= Defining paths via CAD =
The path and point sequence commands move the robot along a path defined by a DXF or CSV file. At each start and end of a path segment or point the tool can be lowered and lifted or enabled by a digital output. [[Definition of a DXF file in SolidWorks]] explains how to create a path and load it into iRC.

= Glueing and Dispensing =
Glueing and dispensing requires different optimizations than pick and place applications. The article [[Dispensing Applications]] shows two approaches using the path command and basic motion commands to follow a path and enable a digital output for the dispenser.

= Circular Curves =
[[Circular Motion]] explains how to move along circular curves complete circles.

= Program Structure =
The article [[Structured Programming]] explains how to use sub programs and matrices to create a clean program structure.

= Legacy Examples =
In [[CPRog Examples]] you can find further examples that were created with earlier versions of the software but they still work in the current version. These examples will be updated in future.

[[Category:CPRog]][[Category:Robot Programming]]

CPR Wiki

2025-09-26T12:44:34Z

MAB:

{{Main page new}}

IgusRobotControl-Release14-DE

2025-09-23T11:11:14Z

MAB: /* Downloads */

This page in English: [[IgusRobotControl-Release14-EN]]

[[file:caution.png|left|25px]] Vorsicht! Die Software wird vor Freigabe einer sorgfältigen Qualitätssicherung unterzogen. Trotzdem müssen nach einem Software-Update die Roboterprogramme langsam und zuerst in Simulation auf eventuelle Probleme geprüft werden!

= Software iRC =

Neue Funktionen in Version 14:
* Einfacheres Verbinden und Synchronisieren zwischen Roboter und PC
* [[Apps for the Robot Control|App-Integration]], mit einer 2D-Vision-App als Beispiel
* [[Frames_of_reference|Benutzer-Koordinatensysteme]] können definiert werden um Bewegungsabläufe zu kopieren
* [[Modbus]] steht als Standardfunktion zur Verfügung
* Und weitere...

Bitte installieren Sie im Regelfall sowohl die [[RobotControl]]-Software auf dem Roboter, als auch die iRC-Software auf dem PC neu, so dass sie dieselbe Versionsnummer haben. Beide sind im Updater enthalten. Bei der Verwendung unterschiedlicher Versionsnummer kann es zu Problemen kommen. Version 14 ist nicht kompatibel zu früheren Versionen, installieren Sie also wenn nötig V14 parallel zu [[IgusRobotControl-Release13-DE|V13]].

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.7.2 oder neuer
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.0 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Ältere Roboter mit Phytec-basierter Steuerung (dünnes weißes Modul mit 2 Netzwerkbuchsen sowie Robolink DCi Roboter) werden nicht mehr unterstützt, [[IgusRobotControl-Release13-DE|verwenden Sie iRC Version 13]]
* CPR Mover Roboter werden nicht mehr unterstützt, mobile Plattformen werden aktuell nicht unterstützt. [[Software_Updates#CPRog|Verwenden Sie CPRog Version 13]]

= Downloads =

Updater iRC und TinyCtrl für die [[Embedded Control|integrierte Steuerung]]: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-005-0.zip Updater_iRC_V14-005-0.zip]

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-005-0.exe Installer_iRC_V14-005-0.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Was wurde geändert: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14.pdf Bedienungsanleitung]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_V14_Plattform.pdf Bedienungsanleitung mobile Plattform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet (Englisch)]
* Schaltplan:
** Schrittmotoren 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_48V_DE.pdf]
** Schrittmotoren 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_Schaltplan_24V_DE.pdf iRC_Schaltplan_24V_DE.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC-igusRobotControlBLDC48V_DE.pdf]
** Schrittmotoren 48V für WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC Schaltplan 48v (WSCAD)]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

IgusRobotControl-Release14-EN

2025-09-23T11:08:59Z

MAB: /* Downloads */

Diese Seite auf Deutsch: [[IgusRobotControl-Release14-DE]]

[[file:caution.png|left|25px]] Caution! The software is subjected to a careful quality assurance before release. Nevertheless, after a software update the robot programs must be checked slowly and first in simulation for possible problems!

= Software iRC =

New functionality in version 14:
* Simplified connection and synchronisation between robot and PC
* [[Apps for the Robot Control|App integration]], with a 2D-Vision app as example
* [[Frames_of_reference|User frames]] can be defined to copy motions
* [[Modbus]] is available as standard feature
* And more...

As a rule, please reinstall both the [[RobotControl]] software on the robot and the iRC software on the PC so that they have the same version number. Both are included in the updater. Using different version numbers may cause problems. Version 14 specifically is incompatible to earlier versions, if you use an earlier version we recommend installing [[IgusRobotControl-Release13-EN|V13]] and V14 in parallel.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.7.2 or higher
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.0 or higher
* The driver from your graphics card manufacturer (the Microsoft default driver does not work)

Robot:
* All current igus Robot Control robots with embedded control
* Older robots with Phytec-based control (slim white module with 2 ethernet ports or Robolink DCi robots) are no longer supported, [[IgusRobotControl-Release13-EN|please use iRC version 13]]
* CPR Mover robots are no longer supported, mobile platforms are currently not supported. [[Software_Updates#CPRog|Please use CPRog version 13]]

= Downloads =

Updater iRC and RobotControl for [[Embedded Control]]: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-005-0.zip Updater_iRC_V14-005-0.zip]

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-005-0.exe Installer_iRC_V14-005-0.exe]

Apps: Available apps for the iRC are listed here: [[Apps for the Robot Control]]

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV14.txt Changelog]

= Documentation =
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14.pdf User guide]
* [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_V14_Platform.pdf User guide mobile platform]
* [https://wiki.cpr-robots.com/images/4/49/IRC_COMMAND_SHEET.pdf iRC Command Sheet]
* Schematics:
** Stepper 48V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_48V_EN.pdf iRC_CircuitDiagram_48V_EN.pdf]
** Stepper 24V: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC_CircuitDiagram_24V_EN.pdf iRC_CircuitDiagram_24V_EN.pdf]
** BLDC: [https://downloads.cpr-robots.com/Documentation/EN/Hardware/WiringDiagrams/iRC-igusRobotControlBLDC48V_EN.pdf iRC-igusRobotControlBLDC48V_EN.pdf]
** Stepper 48V for WSCAD: [https://cpr-robots.com/download/igusRobotControl/Documentation/iRC-igusRobotControl48V_X_11.01.23_10-17-41.wsPRA iRC circuit diagram 48v for WSCAD]

[[Category:Downloads]][[Category:CPRog]][[Category:TinyCtrl]]

Referencing sequence

2025-09-15T10:12:23Z

MAB: Rewrite for event based referencing

The Reference All Axes feature references all axes in a specific sequence. By default this sequence is set up so that standard robots do not collide with themselves. Depending on your requirements this sequence may need to be changed, for example to avoid hitting obstacles.

The igus Robot Control provides two mechanisms for sequencing the referencing: time-based and event-based. The simple time-based referencing starts referencing an axis a specified number of seconds after the previous axis. Event-based referencing starts referencing an axis once a specific axis is done referencing (i.e. it has stopped at the referencing switch and therefore is at a known position).

The referencing sequence is specified in the project configuration file. Please read the article [[Project_Configuration_File#Accessing_the_Configuration_File|Project Configuration File]] on how to access the configuration file of the robot.

= Time-based referencing =
Time-based referencing starts referencing each axis after a specified delay to the previous axis.

== Referencing Sequence ==
Open the project configuration file with a text editor, then find the line starting with PLCInterfaceRefSequence:

<nowiki><PLCInterfaceRefSequence JointToRef0="0" JointToRef1="1" JointToRef2="2" JointToRef3="3" JointToRef4="-1" JointToRef5="-1" JointToRef6="-1" JointToRef7="-1" JointToRef8="-1" /></nowiki>

Enter the joint numbers in your desired referencing order. JointToRef0 references first, JointToRef1 second etc. The first robot joint is number 0, the first external axis number follows the last robot axis (in case of a 4 axis robot the last robot axis will be number 3 and the first external axis will be number 4). The referencing stops once it reaches an axis number of -1 or an axis that does not exist.

== Referencing Delay ==
The referencing is timer based: By default another joint starts each 5 seconds. This delay can be configured with CPRog/iRC V902-12-019 or newer and TinyCtrl V980-12-019 or newer. The RefDelay parameters in the following example define the delay ''before'' each joint (i.e. RefDelay2 is the delay between the joints defined by JointToRef1 and JointToRef2). Set delays to 0 if you want to reference multiple axes at once.

<nowiki><PLCInterfaceRefSequence JointToRef0="0" JointToRef1="1" JointToRef2="2" JointToRef3="3" JointToRef4="-1" JointToRef5="-1" JointToRef6="-1" JointToRef7="-1" JointToRef8="-1" RefDelay0="0" RefDelay1="10" RefDelay2="8" RefDelay3="5" RefDelay4="5" RefDelay5="5" RefDelay6="5" RefDelay7="5" RefDelay8="5"/></nowiki>

= Event-based referencing =
Event-based referencing starts referencing each axis once a specified previous axis is done referencing. This may speed up the referencing process while avoiding obstacles.

This feature is available from iRC V14-005.

== Referencing Conditions ==
Instead of a sequence you need to specify which axis must be referenced before another starts referencing. The following line contains an attribute for each axis, numbered 0-5 for the up to 6 robot axes A1-A6, 6-8 for external axes E1-E3.

<nowiki><PLCInterfaceRefEvents Joint0Condition="2" Joint1Condition="0" Joint2Condition="-1" Joint3Condition="-1" Joint4Condition="-1" Joint5Condition="-1" Joint6Condition="-1" Joint7Condition="-1" Joint8Condition="-1" /></nowiki>

The value -1 references the given axis immediately. Other values make the axis reference after the given axis is done referencing. In the example above A1 (Joint0Condition) references after A3 (value 2) is done referencing, A2 references after A1, A3 and all others reference immediately.

[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]]

Sequenced Enable

2025-09-15T09:30:18Z

MAB: Created page with "Sequenced Enable changes the axis enable behavior so that each axis waits until the previous axis is enabled and ready. This can help avoid current spikes caused by all axes enabling at once, allowing each axis to draw more current while enabling. This feature is available from iRC V14-005 for BLDC axes. = Configuration = Sequenced Enable can be configured in the robot configuration. Find the block starting with BusConfiguration and change..."

Sequenced Enable changes the axis enable behavior so that each axis waits until the previous axis is enabled and ready. This can help avoid current spikes caused by all axes enabling at once, allowing each axis to draw more current while enabling.

This feature is available from iRC V14-005 for BLDC axes.

= Configuration =

Sequenced Enable can be configured in the [[Robot Configuration File|robot configuration]]. Find the block starting with BusConfiguration and change or add the line SequencedEnable as shown below.

<syntaxhighlight lang="XML">
<BusConfiguration Protocol="CPRCANV2" CycleTimeMS="10" GapMS="0.2" Type="PCANUSB" ParameterInterfaceVersion="2" PreciseTiming="true">
<Joints NrOfJoints="6"/>
<Joint0 ID="16" Min="-170.0" Max="170.0" GearScale="3231.29" GearZero="0" CurrentScale="1.0" CurrentZero="0.0" TempScale="0.01" TempZero="0.0" GearPlay="0.0" GearPlayInc="0.5" CheckReady="true"/>
<Joint1 ID="32" Min="-170.0" Max="170.0" GearScale="-3231.29" GearZero="0" CurrentScale="1.0" CurrentZero="0.0" TempScale="0.01" TempZero="0.0" GearPlay="0.0" GearPlayInc="0.5" CheckReady="true"/>
...
<SequencedEnable ByReadyFlag="true"/>
</BusConfiguration>
</syntaxhighlight>

Note the CheckReady attribute at the end of the Joints definitions. This makes the axis check the ready state, e.g. to prevent starting a program while an axis is not ready to move yet. If this flag is set to false the Sequenced Enable feature will not wait for this axis, the next axis will be enabled immediately.