Wiki - User contributions [en]

Log Files

2026-05-29T11:19:51Z

OLT: /* USB Stick */

The log files contain important information to help with troubleshooting issues. This article explains how to access these files.

= Access log files automatically =
[[File:IRCSupport.png|thumb|How to access log files via CPRog/iRC]]
CPRog/iRC can collect all relevant log files automatically starting with V902-11-018.

# Connect your robot
# Click the question mark in the bottom right corner of the 3D view or "Help" in the menu bar.
# Click "Collect log files" to create an archive file containing relevant log and configuration files and save it to your computer or click "Contact support" to create the archive and attach it to an E-Mail to our support team.
# A dialog will ask whether you want to include the log files from the embedded control. Make sure this is checked. If not check the connection to the robot.

If this fails consider [[Software Updates|updating CPRog/iRC]] or follow the manual guide below.

<br clear=all>

== USB Stick ==
Since version V980-14-004-4 of the Robot Control you can also plug in a normal USB stick directly into the embedded control to get the control logs. This can be usefull, if you can't get access to the robot via the iRC. This will however only give you a limited set of log files, so if possible, please get the logs via the iRC.

= Access log files manually =
If the automatic approach does not work, e.g. if the embedded software does not respond, you can access the log files manually. The following sections explain how.

== CPRog / iRC ==
You can find the following log files in the directory you installed CPRog in, usually "C:\CPRog" or "C:\iRC-igusRobotControl":
* install.log
* startUp.log
* logMessages.log
You might also find some older log files that were created on earlier runs of the software:
* logMessages.log.1
* logMessages.log.2
* logMessages.log.3

If you are using V14 or newer find the logs of the simulation in folder "bin-core":
* log01.txt
* log02.txt
* log03.txt
* log04.txt
* log05.txt

The folder RemoteLogs (since V14) contains the log entries that were received while connected to real robots. Unlike the log files that are stored on the embedded control these usually start at the time of connect and therefore are incomplete. However, they are stored for a longer time and may be useful if connecting to the robot is no longer possible.

== Embedded Robot Control ==
=== RobotControl Core (since V14) ===
[[FTP and putty Access|Use a SFTP client]] to connect to the embedded control computer. Enter the directory "RobotControl" (absolute path: /home/robot/RobotControl/) and find the following files:

* log01.txt
* log02.txt
* log03.txt
* log04.txt
* log05.txt

Since V14-003-4 each log file contains up to 10000 entries which can be increased further in the [[Project Configuration File|project configuration file]]. Earlier versions contain up to 5000 entries and are not configurable. To change the size, e.g. to increase the logged time span, find the following line at the bottom of the project configuration file and change the value of CoreLineCnt. If the line is missing make sure you are using the correct version of the embedded software and save the project once.

<syntaxhighlight lang="XML">
<Logging CoreLineCnt="10000"/>
</syntaxhighlight>

=== TinyCtrl (till V13) ===
[[FTP and putty Access|Use a SFTP client]] to connect to the embedded control computer. Enter the directory "TinyCtrl" (absolute path: /home/robot/TinyCtrl/ or /home/root/TinyCtrl/) and find the following files:

* logMessages01.txt
* logMessages02.txt
* logMessages03.txt
* logMessages04.txt
* logMessages05.txt

[[Category:Support]][[Category:CPRog]][[Category:TinyCtrl]]

Log Files

2026-05-29T09:20:07Z

OLT:

The log files contain important information to help with troubleshooting issues. This article explains how to access these files.

= Access log files automatically =
[[File:IRCSupport.png|thumb|How to access log files via CPRog/iRC]]
CPRog/iRC can collect all relevant log files automatically starting with V902-11-018.

# Connect your robot
# Click the question mark in the bottom right corner of the 3D view or "Help" in the menu bar.
# Click "Collect log files" to create an archive file containing relevant log and configuration files and save it to your computer or click "Contact support" to create the archive and attach it to an E-Mail to our support team.
# A dialog will ask whether you want to include the log files from the embedded control. Make sure this is checked. If not check the connection to the robot.

If this fails consider [[Software Updates|updating CPRog/iRC]] or follow the manual guide below.

<br clear=all>

== USB Stick ==
Since version 14-004-4 of the Robot Control you can also plug in a normal USB stick directly into the embedded control to get the control logs. This can be usefull, if you can't get access to the robot via the iRC. This will however only give you a limited set of log files, so if possible, please get the logs via the iRC.

= Access log files manually =
If the automatic approach does not work, e.g. if the embedded software does not respond, you can access the log files manually. The following sections explain how.

== CPRog / iRC ==
You can find the following log files in the directory you installed CPRog in, usually "C:\CPRog" or "C:\iRC-igusRobotControl":
* install.log
* startUp.log
* logMessages.log
You might also find some older log files that were created on earlier runs of the software:
* logMessages.log.1
* logMessages.log.2
* logMessages.log.3

If you are using V14 or newer find the logs of the simulation in folder "bin-core":
* log01.txt
* log02.txt
* log03.txt
* log04.txt
* log05.txt

The folder RemoteLogs (since V14) contains the log entries that were received while connected to real robots. Unlike the log files that are stored on the embedded control these usually start at the time of connect and therefore are incomplete. However, they are stored for a longer time and may be useful if connecting to the robot is no longer possible.

== Embedded Robot Control ==
=== RobotControl Core (since V14) ===
[[FTP and putty Access|Use a SFTP client]] to connect to the embedded control computer. Enter the directory "RobotControl" (absolute path: /home/robot/RobotControl/) and find the following files:

* log01.txt
* log02.txt
* log03.txt
* log04.txt
* log05.txt

Since V14-003-4 each log file contains up to 10000 entries which can be increased further in the [[Project Configuration File|project configuration file]]. Earlier versions contain up to 5000 entries and are not configurable. To change the size, e.g. to increase the logged time span, find the following line at the bottom of the project configuration file and change the value of CoreLineCnt. If the line is missing make sure you are using the correct version of the embedded software and save the project once.

<syntaxhighlight lang="XML">
<Logging CoreLineCnt="10000"/>
</syntaxhighlight>

=== TinyCtrl (till V13) ===
[[FTP and putty Access|Use a SFTP client]] to connect to the embedded control computer. Enter the directory "TinyCtrl" (absolute path: /home/robot/TinyCtrl/ or /home/root/TinyCtrl/) and find the following files:

* logMessages01.txt
* logMessages02.txt
* logMessages03.txt
* logMessages04.txt
* logMessages05.txt

[[Category:Support]][[Category:CPRog]][[Category:TinyCtrl]]

Log Files

2026-05-29T09:19:28Z

OLT: /* Access log files automatically */

The log files contain important information to help with troubleshooting issues. This article explains how to access these files.

= Access log files automatically =
[[File:IRCSupport.png|thumb|How to access log files via CPRog/iRC]]
CPRog/iRC can collect all relevant log files automatically starting with V902-11-018.

# Connect your robot
# Click the question mark in the bottom right corner of the 3D view or "Help" in the menu bar.
# Click "Collect log files" to create an archive file containing relevant log and configuration files and save it to your computer or click "Contact support" to create the archive and attach it to an E-Mail to our support team.
# A dialog will ask whether you want to include the log files from the embedded control. Make sure this is checked. If not check the connection to the robot.

If this fails consider [[Software Updates|updating CPRog/iRC]] or follow the manual guide below.

<br clear=all>

== USB Stick ==
Since version 14-004-4 of the Robot Control you can also plug in a normal USB stick directly into the embedded control to get the control logs. This can be usefull, if you can't get access to the robot via the iRC. This will however only give you a limited set of log files, so if possible, please get the logs via the iRC.

= Access log files manually =
If the automatic approach does not work, e.g. if the embedded software does not respond, you can access the log files manually. The following sections explain how.

== CPRog / iRC ==
You can find the following log files in the directory you installed CPRog in, usually "C:\CPRog" or "C:\iRC-igusRobotControl":
* install.log
* startUp.log
* logMessages.log
You might also find some older log files that were created on earlier runs of the software:
* logMessages.log.1
* logMessages.log.2
* logMessages.log.3

If you are using V14 or newer find the logs of the simulation in folder "bin-core":
* log01.txt
* log02.txt
* log03.txt
* log04.txt
* log05.txt

The folder RemoteLogs (since V14) contains the log entries that were received while connected to real robots. Unlike the log files that are stored on the embedded control these usually start at the time of connect and therefore are incomplete. However, they are stored for a longer time and may be useful if connecting to the robot is no longer possible.

== Embedded Robot Control ==
=== RobotControl Core (since V14) ===
[[FTP and putty Access|Use a SFTP client]] to connect to the embedded control computer. Enter the directory "RobotControl" (absolute path: /home/robot/RobotControl/) and find the following files:

* log01.txt
* log02.txt
* log03.txt
* log04.txt
* log05.txt

Since V14-003-4 each log file contains up to 10000 entries which can be increased further in the [[Project Configuration File|project configuration file]]. Earlier versions contain up to 5000 entries and are not configurable. To change the size, e.g. to increase the logged time span, find the following line at the bottom of the project configuration file and change the value of CoreLineCnt. If the line is missing make sure you are using the correct version of the embedded software and save the project once.

<syntaxhighlight lang="XML">
<Logging CoreLineCnt="10000"/>
</syntaxhighlight>

=== TinyCtrl (till V13) ===
[[FTP and putty Access|Use a SFTP client]] to connect to the embedded control computer. Enter the directory "TinyCtrl" (absolute path: /home/robot/TinyCtrl/ or /home/root/TinyCtrl/) and find the following files:

* logMessages01.txt
* logMessages02.txt
* logMessages03.txt
* logMessages04.txt
* logMessages05.txt

[[Category:Support]][[Category:CPRog]][[Category:TinyCtrl]]

MediaWiki:Common.css

2026-05-27T08:26:44Z

OLT:

/* CSS placed here will be applied to all skins */
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MediaWiki:Common.css

2026-05-27T08:25:47Z

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MediaWiki:Common.css

2026-05-27T08:18:51Z

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MediaWiki:Common.css

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MediaWiki:Common.css

2026-05-27T08:17:21Z

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MediaWiki:Common.css

2026-05-27T08:14:33Z

OLT:

/* CSS placed here will be applied to all skins */
$wgHooks['SkinTemplateSetupPageCss'][] = 'wfHideVariousTabsFromAnonymous';

function wfHideVariousTabsFromAnonymous( &$hidetabcss ) {
global $wgUser;

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return true;
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MediaWiki:Common.css

2026-05-27T08:08:30Z

OLT:

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display: none !important;
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MediaWiki:Common.css

2026-05-27T08:06:42Z

OLT:

/* CSS placed here will be applied to all skins */
#p-cactions {
display: none !important;
}

Template:Main page

2026-05-27T07:59:34Z

OLT:

__NOTOC__
{{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}}



{| id="mp-topbanner" style="width:100%; text-align:center;"
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<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the iRC Wiki!</div>
<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">↑ Try using the search-bar at the top ↑</div>
Commonplace Robotics, as a part of igus GmbH, develops intuitive robot control software.

You can find all igus robots and many more in our [https://rbtx.com/en-US '''RBTX marketplace''']!
|}

<div style="clear:both;" /div>

[[File:IRC_V15.png|500px|center|link=IgusRobotControl-Release15-EN]]
<div style="text-align: center;">
'''Get the latest iRC Version [[IgusRobotControl-Release15-EN|here]]!'''
</div>

<div style="clear:both;" /div>

<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> iRC - Software </span></h3>
* [[Software_Updates|Software '''Downloads''']]
* [[Documentation|Documentation and '''User Guides''']]
* [[Configuration Files Overview]]
* [[Control Interfaces]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> IRC - Hardware </span></h3>
* [[Configuration Files Overview]]
* [[Digital Inputs / Outputs]]
* [[Motor Brake]]
* [[External Axis]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Robots </span></h3>
* '''[[igus ReBeL]]'''
* [[:Category:Gantry|Gantry]]
* [[:Category:Delta|Delta]]
* [[:Category:Scara|Scara]]
* [[AMR Documentation|Mobile Robots]]
</div>

</div>

<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">

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<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Programming </span></h3>
* [[AI Programming Assist]]
* [[Example_Library|Example Programs]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Troubleshooting </span></h3>
* [[Troubleshooting|Systematic Troubleshooting]]
* [[Robot Hardware Troubleshooting]]
* [[Support Routes]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Legacy </span></h3>
* [[:Category:Robolink|Robolink]]
* [[DCi quickstart guide|Robolink DCi]]
* [[:Category:Mover|Mover]]
* [[CPRog Software Troubleshooting]]
</div>

</div>

We are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!

File:RBTX Academy.png

2026-05-22T13:06:15Z

OLT: OLT uploaded a new version of File:RBTX Academy.png

Example Library

2026-05-22T09:36:27Z

OLT:

Here you can find sample applications that have been developed in- and outside of igus.

Feel free to use them as a starting point for your project!
Also have a look at other robot types. Often Programs can be easily translated between robots!

If you want to contribute to this page, please contact us!

<div style="clear:both;" /div>
= General =
[[File:IRC_V15.png|thumb|300px|link=General Examples]]
Non-robot related tools, like controller integration, control interfaces and plugins.

:[[General Examples]]

<div style="clear:both;" /div>
= Gantry =
[[File:GANTRY.png|thumb|300px|link=Gantry Examples]]
Basic allrounder robots, suitable for most industrial applications. Highly adjustable for many use cases.

:[[Gantry Examples]]

<div style="clear:both;" /div>

= Delta =
[[File:DELTA.png|thumb|300px|link=Delta Examples]]
Delta robots for high speed pick & place tasks.

:[[Delta Examples]]

<div style="clear:both;" /div>
= Rebel & Robolink =
[[File:ReBeL.png|thumb|300px|link=ReBeL Examples]]
Articulated arm robots for complex movements.

:[[ReBeL Examples]]

<div style="clear:both;" /div>
= Scara =
[[File:SCARA.png|thumb|300px|link=Scara Examples]]
Fast, precise & flexible robots for pick & place applications.

:[[Scara Examples]]

<div style="clear:both;" /div>
= Mobile Platform =
[[File:EDUMOVE.png|thumb|300px|link=Mobile Platform Examples]]
Mobile robot that can move around freely.

:[[Mobile Platform Examples]]

General Examples

2026-05-22T09:35:30Z

OLT:

Here you can find some example applications for everything that is not directly associated to a robot.

Feel free to use them for your own program!

<div style="clear:both;" /div>
= Dispensing Application =
[[File:GlueExample2Area.MP4|thumb|300px|link=Dispensing_Applications|[[Dispensing_Applications | Dispensing Application]]]]
General example for dispensing applications.

:[[Dispensing_Applications | Dispensing Application]]

<div style="clear:both;" /div>
= Moving via Modbus =
[[File:TitleScreenModbus small.JPG|thumb|300px|link=Moving_Robots_via_Modbus|[[Moving_Robots_via_Modbus | Moving via Modbus]]]]
How to move your robot via Modbus.

:[[Moving_Robots_via_Modbus | Moving via Modbus]]

<div style="clear:both;" /div>
= Defining paths via CAD =
[[File:Screen01_Workpiece.png|thumb|300px|link=Definition_of_a_DXF_file_in_SolidWorks|[[Definition_of_a_DXF_file_in_SolidWorks | Definition of a DXF file in SolidWorks]]]]
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.

<div style="clear:both;" /div>
= 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.

<div style="clear:both;" /div>
= 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.

<div style="clear:both;" /div>
= Circular Curves =
[[File:CommandCircularConcept.png|thumb|300px|link=Circular Motion]]
[[Circular Motion]] explains how to move along circular curves complete circles.

<div style="clear:both;" /div>
= Program Structure =
The article [[Structured Programming]] explains how to use sub programs and matrices to create a clean program structure.

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

Stacking Application

2026-05-22T09:30:05Z

OLT:

This ReBeL stacks different components to a single stack that is later added as insert for a product.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''Video''' of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/Stacking/Stacking_Video.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/Stacking/Stacking_Program.zip Stacking_Programs.zip]

= Setup =
'''Robot Type''': igus ReBeL REBEL-6DOF-03

[[File:Stacking_Setup.JPG|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/Stacking/Stacking_Video.mp4]]
The ReBeL is equipped with a vacuum gripper with 2 suction cups.
The rails enter the work space on fixed entry point.

3 Stacks of different parts a placed around the ReBeL. Every component is picked the ReBeL and added to a single stack.

Mark Ends Application

2026-05-22T09:29:45Z

OLT:

In this application a Rebel detects the endings of a hose and marks them with a felt pen.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''Video''' of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/MarkEnds/MarkEnds_Video.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/MarkEnds/MarkEnds.zip MarkEnds.zip]

= Setup =
'''Robot Type''': igus ReBeL REBEL-6DOF-03

[[File:MarkEnds_Setup.jpg|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/MarkEnds/MarkEnds_Video.mp4]]
The ReBeL is placed in front of a conveyor belt, which is added as external axis to the project. An [[2D Camera Integration | ifm-camera]] is placed over the conveyor belt to detect the endings of the hose.

A felt pen is fixed to the ReBeL and moves to the location of the hose. When the camera detects an ending the conveyor belt stops and the ReBeL marks the ending. Afterwards the conveyor belts moves again, until the second ending is detected.

RoundRobin Application

2026-05-22T09:28:55Z

OLT:

This robot cell was developed as a delta showcase for fairs. It shows a typical pick and place task for delta robots in conjunction with conveyor belts.

'''Developer''': CPR

You can find a '''video''' of the result [https://downloads.cpr-robots.com/Wiki-Files/Examples/RoundRobin/DR1000-RoundRobin.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/RoundRobin/RoundRobin.zip RoundRobin_Programs.zip]

= Setup =
'''Robot Type''': igus Delta DLE-DR-1000-3

[[File:RoundRobinDelta.jpg|thumb|500px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/RoundRobin/DR1000-RoundRobin.mp4]]
The delta robot is equipped with a vacuum pump for picking little glasses with metal caps.

Whenever the robot is idle, it picks a glass from a tray and places them on the first conveyor. The conveyor then sorts the glasses into of the two end positions using a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] as lane adjustment tool. In a real application a suitable sensor would analyse the glasses and sort them accordingly. Here it switches the destination after each glass.

Once the glass reaches the end holder, a light barrier detects it and sends a signal to the robot control. The robot then picks the glass from there and, depending on the position of the glass, puts it back into the middle tray, or onto the second conveyor.

The second conveyor simply transports the glasses forward. In a real application, this conveyor belt would lead outside of the cell for further processing. Here it stops at the end, where the delta robot can pick it and put it back into the tray.

This setup works infinitely with a variable amount of objects.

[[Category:Delta]]

Arrange Application

2026-05-22T09:28:32Z

OLT:

This applications aims at arranging a flower-like bouquet out of wine gum.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''video''' of the result [https://downloads.cpr-robots.com/Wiki-Files/Examples/Arrange/Arrange_Video.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/Arrange/Arrange_Programs.zip Arrange_Programs.zip]

= Setup =
'''Robot Type''': igus Delta DLE-DR-0050

[[File:Arrange_Setup.JPG|thumb|500px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/Arrange/Arrange_Video.mp4]]
The delta robot is equipped with a vacuum pump and an [[2D Camera Integration | ifm-camera]].

The vacuum pump is mounted on a external rotary axis, for correct alignment.

The camera detects the different gummy types and picks the correct one for the current arrange step. The gummy is then placed on the correct position of target-tray in a pre-defined order.

[[Category:Delta]]

Pick and Place Stack Application

2026-05-22T09:28:00Z

OLT:

This gantry picks metal rails and stacks them on top of each other.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''Video''' of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Video.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Programs.zip PickAndPlaceStack_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:PickAndPlaceStack_Endeffector.JPG|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Video.mp4]]
A vacuum gripper with 4 suction cups is mounted to a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit].

The rails enter the work space on fixed entry point. They are picked and then rotated while traveling to their place-location. There they are stacked on top of each other.

[[File:PickAndPlaceStack_Result.JPG|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Video.mp4]]

Pen Glueing Application

2026-05-22T09:27:30Z

OLT:

This is a straight forward application for marking complex shapes with a glueing pen.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''Video''' of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Video.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Program.zip PenGlueing_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0012

[[File:PenGlueing_Setup.JPG|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Video.mp4]]
A glueing pen is fixed to the gantry and follows a pre-teached path.

[[File:PenGlueing_Result.JPG|thumb|500px|Result|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Video.mp4]]

Part Alignment Application

2026-05-22T09:26:53Z

OLT:

In this application a work piece analyzed for orientation and manipulated until it is aligned properly.
It does not only fix the planar rotation, but also checks, if it is upside down.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''Video''' of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Video.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Programs.zip PartAlignment_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:PartAlignment_Setup_close.JPG|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Video.mp4]]
The gantry is equipped with a vacuum pump, that is fixed to an [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for picking and turning the piece on a horizontally.

The work piece is placed on a conveyor belt that aligns the piece via a metal funnel. At the end of the belt is a light barrier that detects the piece. An [[2D Camera Integration | ifm-camera]] is placed above this barrier, to analyze the current orientation of the piece.

If the piece is upside-down, the gantry picks the piece and places it into a seperate gripper, which is able to turn it.
Afterwards the piece is aligned again via the conveyor.

Finally the piece is placed to it's exit destination.

Parallel Picking Application

2026-05-22T09:26:22Z

OLT:

This pick & place application shows, how some creativity can solve issues with imperfect picking. The robot picks five vials at the same time and places them in a tray. However, while picking the vials slip a bit. This problem was solved by leading the vials through a metal comb-like structure.

'''Developer''': [https://rbtx.com RBTX]

You can find a '''Video''' of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/ParallelPicking/ParallelPicking_Video3_Closeup.mp4 here]!

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/ParallelPicking/ParallelPicking_Programs.zip ParallelPicking_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:ParallelPicking_Setup.JPG|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/ParallelPicking/ParallelPicking_Video3_Closeup.mp4]]
Five vials are placed on a tray. A simple endeffector with five gripping points was constructed to pick the vials. Due to the imperfection during gripping the vials slip a bit. For this reason a metal-comb has been added that alignes the vials. Afterwards the vials can be placed safely in the storage box.

Assemble Stacking Application

2026-05-22T09:17:59Z

OLT:

This 2-part application first picks and stacks two components and then screws them together in the next part.

'''Developer''': [https://rbtx.com RBTX]

'''Video''' part 1: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Video.mp4 Stacking]

'''Video''' part 2: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assemble_Screw_Video.mp4 Screw]

'''Program files''': [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Programs.zip Assemble_Stacking_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0012

== Part 1: Stacking ==

[[File:Assamble_Stacking_Setup.jpg|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Video.mp4]]
The gantry robot is equipped with a parallel gripper.

The positions of the components are fixed.

<div style="clear:both;" /div>
== Part 2: Screw ==

[[File:Assemble_Screw_Endeffector.jpg|thumb|250px|link=https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assemble_Screw_Video.mp4]]
The gantry robot is equipped with a screwdriver-bit that is magnitized by a fixed magnet. The endeffector is mounted on a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for turning the screw.

The positions of the components are fixed (result of "Step 1").

Simulation

2026-05-21T07:53:46Z

OLT: Created page with "link= The iRC supports a full-fledged simulation mode, which allows testing and programming without needing the actual robot. You can test all interface features, like DIOs, Modbus and AppInterface, as well. The simulation runs as a standalone background process on your PC. The iRC connects to this process, just like it would to a real robot. == Confi..."

[[File:Simulation.PNG|400px|right|link=]]
The iRC supports a full-fledged simulation mode, which allows testing and programming without needing the actual robot.
You can test all interface features, like [[Digital Inputs / Outputs | DIOs]], [[Modbus Server | Modbus]] and [[Apps for the Robot Control | AppInterface]], as well.

The simulation runs as a standalone background process on your PC. The iRC connects to this process, just like it would to a real robot.

== Configuration ==

You can choose between the 24V and the 48V configuration. Both have different settings for max. speed as well as acceleration, which are defined in the [[Robot Configuration File]].
Choose the desired setting before clicking on the robot.

The timer precision defines the internal cycle time of the simulation. A higher value leads to a more accurate simulation, but also to higher CPU load.
* '''Automatic''': Automatically chooses the best setting.
* '''Simulation''': "Energy saving" mode. Good for most use-cases without stressing the CPU too much.
* '''Normal''': Trade-off between "Simulation" and "High Precision".
* '''High Precision''': Same cycle time as the target hardware. Will lead to high CPU usage.
* '''High Precision, Low Jitter''': Same as "High Precision", but with a fixed, steady interval.

File:Simulation.PNG

2026-05-21T07:39:31Z

OLT:

Conditions

2026-05-21T07:17:17Z

OLT: Created page with "Conditions can be used in if-then-else instructions, loops, and as termination conditions in motion instructions. The conditions can be combinations of digital inputs, global signals, boolean operations and comparisons. Capitalization and spaces between symbols are ignored. == Digital Inputs & Global Signals == In the simplest case, for example, a condition can check whether a signal is present at digital input 21: :DIn21 More complex conditions can be constructed usi..."

Conditions can be used in if-then-else instructions, loops, and as termination conditions in motion
instructions. The conditions can be combinations of digital inputs, global signals, boolean operations
and comparisons. Capitalization and spaces between symbols are ignored.

== Digital Inputs & Global Signals ==

In the simplest case, for example, a condition can check whether a signal is present at digital input
21:
:DIn21

More complex conditions can be constructed using the AND and OR keywords and parentheses. The
following condition is met if a signal is present at either input 21 or inputs 22 and 23:
:DIn21 OR (DIn22 AND DIn23)

To negate an expression put an exclamation mark (!) in front of it. This is also possible before paren-
thesized expressions. The following condition is met if either there is no signal at input 21 or if there
is no signal at inputs 22 and 23 together:
:!DIn21 OR !(DIn22 AND DIn23)

Likewise, the state of [[Global_Signals | global signals]] can be queried. Global signals are internal
flags which can also be used for communication between robot and logic program and external ap-
plications or PLC:
:GSig1 AND !DIn21

<blockquote> The states of the '''digital outputs cannot be queried''' in conditions. If necessary, a global
signal representing the output can be set after setting the output. </blockquote>

== Variables ==

In addition, the values of number and position variables can also be checked. Number variables
represent a single number while position variables contain several number components. For position
variables, it is therefore always necessary to specify which component is to be compared.

:mynumbervariable = 5
:mynumbervariable < 10
:mypositionvariable >= 42
:mypositionvariable.X = 123
:mypositionsvariable.B >= 90
:mypositionvariable.A3 > 300
:mypositionvariable.E1 < 500

Numeric values can also be compared to each other:
:mypositionvariable.X > mynumbervariable
:mypositionvariable.A1 <= otherpositionvariable.A1

The following position components can be used to compare positions:
* cartesian
** X, Y, Z: position in millimeters
** A, B, C: orientation in degrees
* axis positions
** A1 to A6: robot axes in degrees or millimeters
** E1 to E3: additional axes in degrees, millimeters or self-defined unit

== Syntax Rules ==
In summary, the condition syntax can be described by the following EBNF definition:

{| class="wikitable sortable"
|-
| Expression
| <nowiki> ["!"] <Boolean> <BooleanOperator> <Boolean> ... </nowiki>
|-
| Boolean
| <nowiki> <BooleanConstant> | <Expression> | "(" <Expression> ")" | CompExpression | "(" <CompExpression> ")" | <DigitalInputs> | "(" <DigitalInputs> ")" </nowiki>
|-
| BooleanOperator
| <nowiki> "And" | "Or" </nowiki>
|-
| BooleanConstant
| <nowiki> "True" | "False" </nowiki>
|-
| Digital Inputs
| <nowiki> <ChannelType> <ChannelId> </nowiki>
|-
| ChannelType
| <nowiki> "Din" | "GSig" </nowiki>
|-
| ChannelId
| <nowiki> Integer value </nowiki>
|-
| CompExpression
| <nowiki> <CompValue> <CompOperator> <CompValue> </nowiki>
|-
| CompValue
| <nowiki> <Variable> | <Number> </nowiki>
|-
| Variable
| <nowiki> <Numbervariable> | < PositionComponent> </nowiki>
|-
| Numbervariable
| <nowiki> Name of a number variable </nowiki>
|-
| Positions component
| <nowiki> <Position variable> "." <Component> </nowiki>
|-
| PositionVariable
| <nowiki> Name of a position variable </nowiki>
|-
| Component
| <nowiki> "x" | "y" | "z" | "A" | "B" | "C" | "A1" | "A2" | "A3" | "A4" | "A5" | "A6" | "E1" | "E2" | "E3" </nowiki>
|-
| Number
| <nowiki> Integer or floating point number </nowiki>
|-
| CompOperator
| <nowiki> "=" | ">" | "<" | ">=" | "<=" </nowiki>
|}

Glossary

2026-05-21T06:42:41Z

OLT:

{| class="wikitable sortable"
|-
! Name
! Description
! Link
|-
| AE
| Stands for "Abtriebencoder", which is an output encoder, i.e. an encoder mounted at the gear rather than at the motor.
|-
| A1, A2, A3...
| Robot axes (same as J1, J2, J3,...): A1 would be the first axis/joint counting from the base of the robot.
|
|-
| backlash
| synonymous with gear play.
| https://en.wikipedia.org/wiki/Backlash_(engineering)
|-
| CAN bus
| Controller Area Network bus
| https://en.wikipedia.org/wiki/CAN_bus
|-
| CPR
| Commonplace Robotics GmbH
| http://www.cpr-robots.com
|-
| CPRog / iRC
| 3D robot programming and control software with graphical program editor
|-
| DIO
| Digital input/output
| [[Digital_Inputs_/_Outputs]]
|-
| GSig
| Global Signal
| [[Global Signals]]
|-
| DOF
| Degrees of Freedom / the number of robot joints or axes.
|
|-
| J1, J2, J3,...
| Robot joints (same as A1, A2, A3): J1 would be the first joint/axis counting from the base of the robot.
|
|-
| gear play
| synonymous with backlash
| https://en.wikipedia.org/wiki/Backlash_(engineering)
|-
| ME
| Motor encoder, i.e. an encoder mounted directly at the motor
|
|-
| PLC
| Programmable Logic Controller
| https://en.wikipedia.org/wiki/Programmable_logic_controller
|-
| ROS
| Robot Operating System
| http://www.ros.org
|-
| SRA
| Service Robot Arm
|
|-
| TinyCtrl / RobotControl
| CPR Robot control software for embedded linux computers
|}

Glossary

2026-05-21T06:42:11Z

OLT:

{| class="wikitable sortable"
|-
! Name
! Description
! Link
|-
| AE
| Stands for "Abtriebencoder", which is an output encoder, i.e. an encoder mounted at the gear rather than at the motor.
|-
| A1, A2, A3...
| Robot axes (same as J1, J2, J3,...): A1 would be the first axis/joint counting from the base of the robot.
|
|-
| backlash
| synonymous with gear play.
| https://en.wikipedia.org/wiki/Backlash_(engineering)
|-
| CAN bus
| Controller Area Network bus
| https://en.wikipedia.org/wiki/CAN_bus
|-
| CPR
| Commonplace Robotics GmbH
| http://www.cpr-robots.com
|-
| CPRog / iRC
| 3D robot programming and control software with graphical program editor
|-
| DIO
| Digital input/output
| [[Digital_Inputs_/_Outputs]]
|-
| GSig
| Global Signal
| [[Global Signals]]
|-
| DOF
| Degrees of Freedom / the number of robot joints or axes.
|
|-
| J1, J2, J3,...
| Robot joints (same as A1, A2, A3): J1 would be the first joint/axis counting from the base of the robot.
|
|-
| gear play
| synonymous with backlash
| https://en.wikipedia.org/wiki/Backlash_(engineering)
|-
| ME
| Motor encoder, i.e. an encoder mounted directly at the motor
|
|-
| PLC
| Programmable Logic Controller
| https://en.wikipedia.org/wiki/Programmable_logic_controller
|-
| ROS
| Robot Operating System
| http://www.ros.org
|-
| SRA
| Service Robot Arm
|-
| TinyCtrl / RobotControl
| CPR Robot control software for embedded linux computers
|}

Global Signals

2026-05-21T06:41:08Z

OLT: Created page with "Global signals are internal flags that can be set in the robot program like digital outputs and evaluated like digital inputs. They can be used for example to store simple state information or to communicate between robot program and logic program. Since global signals can also be read and set via the CRI and Modbus interfaces, robot programs can also use them to communicate with external applications or a PLC. The concept of global signals is similar to coils in Modbu..."

Global signals are internal flags that can be set in the robot program like digital outputs and evaluated
like digital inputs. They can be used for example to store simple state information or to communicate
between robot program and logic program.

Since global signals can also be read and set via the CRI
and Modbus interfaces, robot programs can also use them to communicate with external applications
or a PLC. The concept of global signals is similar to coils in Modbus or a boolean in high-level language
programming.

In conditions in the robot program, the '''GSig''' keyword can be used to query the state of the global
signal. For example GSig1 for the first signal. There are 100 global signals available.

Global Signals can be defined via the "Inputs / Outputs" Tab in the configuration section.

Additional DIO-Modules

2026-05-20T10:29:26Z

OLT:

The Commonplace Robotics control for comes with one digital input / output (DIO) module with seven digital inputs (24V via Optocoupler) and 7 digital outputs (24V max 300 mA via reed relay).
If these DIOs are not enough it is possible to add three (a fourth one can be added, but only 4 in- and outputs can be used there) further DIO modules to the control for a total number of 32 inputs and outputs.

This article explains the mechanical, electrical and software setup that is needed to add additional DIO modules.

Please read the [[Documentation|User Guide]] for more information and wiring examples.

=Mechanical Integration=
[[file:Caution.png|frameless|50px]] Do not hotplug! Disconnect the control from the power source before changing components of plugging / unplugging cables!

*Add the bus extenders to the control. They have to be pressed in the C-Rail and pressed to the existing control beneath the Digital IO module.
*Plug the additional digital IO module
*Set the CAN ID with the selector on the front face:
**First (already existing) IO module: 0 (this results in CAN ID 0x70 = 112)
**Second (additional) IO module: 2 (this results in CAN ID 0x80 = 128)
**Third (additional) IO module: 4 (this results in CAN ID 0x90 = 144)
**Fourth (additional) IO module: 6 (this results in CAN ID 0xA0 = 160)
**Fifth (additional) IO module (restricted): 8 (this results in CAN ID 0xB0 = 176)
[[file:DIO_bus_settings.png|DIO_bus_settings.png]]

=Electrical Integration=
[[file:DIO_pinout.png|thumb|400px|left]]
==Digital Inputs==
* Connect the ground pin (Output connector 1, to GND
* Supply 24V to one of the input pins
* Example on the left: 24V via switch to input pin 4
* Result in CPRog/iRC: digital input Din24 is triggered

==Digital Outputs==
*Connect the supply pin to 24V power supply
*The supply is forwarded to one of the outputs pins via reed relays
*Connect a valve or another component to the output pin
*Connect the component to GND to close the electrical circuit
*See the example with the lamp on output 5 on the left.

*In CPRog:
**Reset and Enable the robot
**Set DOut 25 to true to switch on the lamp
<br clear=all>

=Software Integration=
* Connect CPRog/iRC to the robot control.
* Open the configuration by clicking File -> Configure Project -> I/Os
* In the DIN rail I/O section set the number of modules
* Optional: Name the inputs and outputs and set the reset and error states.
* Click Save project
* Wait for at least 30 seconds, then restart the robot control and reload the project in iRC

[[Category:robolink]][[Category:CPRog]][[Category:DIO_Modules]]

Starter Guide

2026-05-19T14:22:34Z

OLT:

[[File:RBTX_Academy.png|400px|right|link=https://rbtx.de/en-GB/academy]]

Please have a look at the [[Documentation | '''User Guide''']] for detailed information.

You can find an online video introduction on the basics, as well as individual training in the [https://rbtx.de/en-GB/academy '''RBTX-Academy''']

<div style="clear:both;" /div>

= Connecting =

[[File:HW_Connection.png|400px|right|link=]]

Connect your PC to the robot, using a ethernet cable. You can find the ethernet port in the embedded controller, when using a IRC or in the base of the robot when using a ReBeL.

Make sure the IP-address of your PC-ethernet-port is [[Troubleshooting_Connection_Issues#Check_the_network_configuration_of_your_PC | set correctly]].

[[File:IPv4_Settings.png|300px|right|link=]]

Power up the robot and start the iRC Software and click on "File -> Connect To Robot -> New Connection -> Auto Connect".
You should now be connected to the robot. You can check the status in the main view.

[[Troubleshooting Connection Issues]]

[[File:ConnectToRobot.PNG|400px|link=]]

<div style="clear:both;" /div>

= Activating the Robot =

[[File:Connect.PNG|300px|right|link=]]

When first connecting to the robot, it will be deactivated. This means that the logic is already running, but the motors are not active yet. Press "Enable", to activate the motors and release the brakes (if there are any).

If everything is set up correctly, the status will switch to ''green''.

If you can't activate the robot, please have a look at the [[Troubleshooting Identification]] guide.

<div style="clear:both;" /div>

= Moving the robot =

You can now try to move single axes, by using the "Jogging" area.

[[File:JoggingArea.PNG|350px|link=]]

[[File:ReferencingMenu.PNG|300px|right|link=]]

If you run into software limits, you first need to '''reference''' your robot (not needed for robots with absolute encoders like the ReBeL).
Press the '''Reference''' Button at the top ("Start"-Tab) to go to the referencing area. Press "Reference all" to reference the axes. Keep an eye on the axes, to avoid collision!

[[Troubleshooting Referencing Issues]]

<div style="clear:both;" /div>

= Programming =

The key to automation is to create robot programs, that execute a specific order of pre-defined movements and commands.
This can be done by using the [[Program Editor]].

Go to "Start -> Edit Program" to open the program editor. Here you will find everything you need to create a robot program.

For your first test, try to add a joint movement by pressing "Motion -> Joint motion". This will create a motion command, to the current location.
Then '''jog''' the robot elsewhere and add another joint motion command. Save the file and give a name of your choice.
You can now go back to the main window and press "Start" at the top. The robot will now move to both positions in order.

[[File:ProgramEditor.png|700px|link=]]

For more examples and guides check out the [[Example Library]].

File:IPv4 Settings.png

2026-05-19T14:21:11Z

OLT: OLT uploaded a new version of File:IPv4 Settings.png

Template:Main page

2026-05-19T08:43:55Z

OLT:

__NOTOC__
{{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}}



{| id="mp-topbanner" style="width:100%; text-align:center;"
|

<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the iRC Wiki!</div>
<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">↑ Try using the search-bar at the top ↑</div>
Commonplace Robotics, as a part of igus GmbH, develops intuitive robot control software.

You can find all igus robots and many more in our [https://rbtx.com/en-US '''RBTX marketplace''']!
|}

<div style="clear:both;" /div>

[[File:IRC_V15.png|500px|center|link=IgusRobotControl-Release15-EN]]
<div style="text-align: center;">
'''Get the latest iRC Version [[IgusRobotControl-Release15-EN|here]]!'''
</div>

<div style="clear:both;" /div>

<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> iRC - Software </span></h3>
* [[Software_Updates|Software Downloads]]
* [[Documentation|Documentation and User Guides]]
* [[Configuration Files Overview]]
* [[Control Interfaces]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> IRC - Hardware </span></h3>
* [[Configuration Files Overview]]
* [[Digital Inputs / Outputs]]
* [[Motor Brake]]
* [[External Axis]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Robots </span></h3>
* [[igus ReBeL]]
* [[:Category:Gantry|Gantry]]
* [[:Category:Delta|Delta]]
* [[:Category:Scara|Scara]]
* [[AMR Documentation|Mobile Robots]]
</div>

</div>

<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Programming </span></h3>
* [[AI Programming Assist]]
* [[Example_Library|Example Programs]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Troubleshooting </span></h3>
* [[Troubleshooting|Systematic Troubleshooting]]
* [[Robot Hardware Troubleshooting]]
* [[Support Routes]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Legacy </span></h3>
* [[:Category:Robolink|Robolink]]
* [[DCi quickstart guide|Robolink DCi]]
* [[:Category:Mover|Mover]]
* [[CPRog Software Troubleshooting]]
</div>

</div>

We are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!

Template:Main page

2026-05-18T14:35:29Z

OLT:

__NOTOC__
{{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}}



{| id="mp-topbanner" style="width:100%; text-align:center;"
|

<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the iRC Wiki!</div>
<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">↑ Try using the search-bar at the top ↑</div>
Commonplace Robotics, as a part of igus GmbH, develops intuitive robot control software.

You can find all igus robots and many more in our [https://rbtx.com/en-US '''RBTX marketplace''']!
|}

<div style="clear:both;" /div>

[[File:Tablet.png|500px|center|link=IgusRobotControl-Release14-EN]]
<div style="text-align: center;">
'''Get the latest iRC Version [[IgusRobotControl-Release14-EN|here]]!'''
</div>

<div style="clear:both;" /div>

<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> iRC - Software </span></h3>
* [[Software_Updates|Software Downloads]]
* [[Documentation|Documentation and User Guides]]
* [[Configuration Files Overview]]
* [[Control Interfaces]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> IRC - Hardware </span></h3>
* [[Configuration Files Overview]]
* [[Digital Inputs / Outputs]]
* [[Motor Brake]]
* [[External Axis]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Robots </span></h3>
* [[igus ReBeL]]
* [[:Category:Gantry|Gantry]]
* [[:Category:Delta|Delta]]
* [[:Category:Scara|Scara]]
* [[AMR Documentation|Mobile Robots]]
</div>

</div>

<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Programming </span></h3>
* [[AI Programming Assist]]
* [[Example_Library|Example Programs]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Troubleshooting </span></h3>
* [[Troubleshooting|Systematic Troubleshooting]]
* [[Robot Hardware Troubleshooting]]
* [[Support Routes]]
</div>

<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Legacy </span></h3>
* [[:Category:Robolink|Robolink]]
* [[DCi quickstart guide|Robolink DCi]]
* [[:Category:Mover|Mover]]
* [[CPRog Software Troubleshooting]]
</div>

</div>

We are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!

Stacking Application

2026-05-18T14:00:46Z

OLT:

This ReBeL stacks different components to a single stack that is later added as insert for a product.

'''Developer''': [https://rbtx.com RBTX]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/Stacking/Stacking_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Stacking/Stacking_Program.zip Stacking_Programs.zip]

= Setup =
'''Robot Type''': igus ReBeL REBEL-6DOF-03

[[File:Stacking_Setup.JPG|thumb|250px|link=]]
The ReBeL is equipped with a vacuum gripper with 2 suction cups.
The rails enter the work space on fixed entry point.

3 Stacks of different parts a placed around the ReBeL. Every component is picked the ReBeL and added to a single stack.

Mark Ends Application

2026-05-18T14:00:33Z

OLT:

In this application a Rebel detects the endings of a hose and marks them with a felt pen.

'''Developer''': [https://rbtx.com RBTX]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/MarkEnds/MarkEnds_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/MarkEnds/MarkEnds.zip MarkEnds.zip]

= Setup =
'''Robot Type''': igus ReBeL REBEL-6DOF-03

[[File:MarkEnds_Setup.jpg|thumb|250px|link=]]
The ReBeL is placed in front of a conveyor belt, which is added as external axis to the project. An [[2D Camera Integration | ifm-camera]] is placed over the conveyor belt to detect the endings of the hose.

A felt pen is fixed to the ReBeL and moves to the location of the hose. When the camera detects an ending the conveyor belt stops and the ReBeL marks the ending. Afterwards the conveyor belts moves again, until the second ending is detected.

RoundRobin Application

2026-05-18T14:00:05Z

OLT:

This robot cell was developed as a delta showcase for fairs. It shows a typical pick and place task for delta robots in conjunction with conveyor belts.

'''Developer''': CPR

You can find a video of the result [https://downloads.cpr-robots.com/Wiki-Files/Examples/RoundRobin/DR1000-RoundRobin.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/RoundRobin/RoundRobin.zip RoundRobin_Programs.zip]

= Setup =
'''Robot Type''': igus Delta DLE-DR-1000-3

[[File:RoundRobinDelta.jpg|thumb|500px|link=]]
The delta robot is equipped with a vacuum pump for picking little glasses with metal caps.

Whenever the robot is idle, it picks a glass from a tray and places them on the first conveyor. The conveyor then sorts the glasses into of the two end positions using a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] as lane adjustment tool. In a real application a suitable sensor would analyse the glasses and sort them accordingly. Here it switches the destination after each glass.

Once the glass reaches the end holder, a light barrier detects it and sends a signal to the robot control. The robot then picks the glass from there and, depending on the position of the glass, puts it back into the middle tray, or onto the second conveyor.

The second conveyor simply transports the glasses forward. In a real application, this conveyor belt would lead outside of the cell for further processing. Here it stops at the end, where the delta robot can pick it and put it back into the tray.

This setup works infinitely with a variable amount of objects.

[[Category:Delta]]

Arrange Application

2026-05-18T13:59:56Z

OLT:

This applications aims at arranging a flower-like bouquet out of wine gum.

'''Developer''': [https://rbtx.com RBTX]

You can find a video of the result [https://downloads.cpr-robots.com/Wiki-Files/Examples/Arrange/Arrange_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Arrange/Arrange_Programs.zip Arrange_Programs.zip]

= Setup =
'''Robot Type''': igus Delta DLE-DR-0050

[[File:Arrange_Setup.JPG|thumb|500px|link=]]
The delta robot is equipped with a vacuum pump and an [[2D Camera Integration | ifm-camera]].

The vacuum pump is mounted on a external rotary axis, for correct alignment.

The camera detects the different gummy types and picks the correct one for the current arrange step. The gummy is then placed on the correct position of target-tray in a pre-defined order.

[[Category:Delta]]

Part Alignment Application

2026-05-18T13:59:31Z

OLT:

In this application a work piece analyzed for orientation and manipulated until it is aligned properly.
It does not only fix the planar rotation, but also checks, if it is upside down.

'''Developer''': [https://rbtx.com RBTX]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Programs.zip PartAlignment_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:PartAlignment_Setup_close.JPG|thumb|250px|link=]]
The gantry is equipped with a vacuum pump, that is fixed to an [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for picking and turning the piece on a horizontally.

The work piece is placed on a conveyor belt that aligns the piece via a metal funnel. At the end of the belt is a light barrier that detects the piece. An [[2D Camera Integration | ifm-camera]] is placed above this barrier, to analyze the current orientation of the piece.

If the piece is upside-down, the gantry picks the piece and places it into a seperate gripper, which is able to turn it.
Afterwards the piece is aligned again via the conveyor.

Finally the piece is placed to it's exit destination.

Pick and Place Stack Application

2026-05-18T13:59:11Z

OLT:

This gantry picks metal rails and stacks them on top of each other.

'''Developer''': [https://rbtx.com RBTX]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Programs.zip PickAndPlaceStack_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:PickAndPlaceStack_Endeffector.JPG|thumb|250px|link=]]
A vacuum gripper with 4 suction cups is mounted to a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit].

The rails enter the work space on fixed entry point. They are picked and then rotated while traveling to their place-location. There they are stacked on top of each other.

[[File:PickAndPlaceStack_Result.JPG|thumb|250px|link=]]

Pen Glueing Application

2026-05-18T13:58:55Z

OLT:

This is a straight forward application for marking complex shapes with a glueing pen.

'''Developer''': [https://rbtx.com RBTX]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Video.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Program.zip PenGlueing_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0012

[[File:PenGlueing_Setup.JPG|thumb|250px|link=]]
A glueing pen is fixed to the gantry and follows a pre-teached path.

[[File:PenGlueing_Result.JPG|thumb|500px|Result|link=]]

Parallel Picking Application

2026-05-18T13:58:09Z

OLT:

This pick & place application shows, how some creativity can solve issues with imperfect picking. The robot picks five vials at the same time and places them in a tray. However, while picking the vials slip a bit. This problem was solved by leading the vials through a metal comb-like structure.

'''Developer''': [https://rbtx.com RBTX]

You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/ParallelPicking/ParallelPicking_Video3_Closeup.mp4 here]!

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/ParallelPicking/ParallelPicking_Programs.zip ParallelPicking_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

[[File:ParallelPicking_Setup.JPG|thumb|250px|link=]]
Five vials are placed on a tray. A simple endeffector with five gripping points was constructed to pick the vials. Due to the imperfection during gripping the vials slip a bit. For this reason a metal-comb has been added that alignes the vials. Afterwards the vials can be placed safely in the storage box.

Assemble Stacking Application

2026-05-18T13:57:26Z

OLT:

This 2-part application first picks and stacks two components and then screws them together in the next part.

'''Developer''': [https://rbtx.com RBTX]

Video part 1: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Video.mp4 Stacking]

Video part 2: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assemble_Screw_Video.mp4 Screw]

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Programs.zip Assemble_Stacking_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0012

== Part 1: Stacking ==

[[File:Assamble_Stacking_Setup.jpg|thumb|250px|link=]]
The gantry robot is equipped with a parallel gripper.

The positions of the components are fixed.

<div style="clear:both;" /div>
== Part 2: Screw ==

[[File:Assemble_Screw_Endeffector.jpg|thumb|250px|link=]]
The gantry robot is equipped with a screwdriver-bit that is magnitized by a fixed magnet. The endeffector is mounted on a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for turning the screw.

The positions of the components are fixed (result of "Step 1").

Assemble Stacking Application

2026-05-18T13:56:21Z

OLT:

This 2-part application first picks and stacks two components and then screws them together in the next part.

'''Developer''': [https://rbtx.com rbtx]

Video part 1: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Video.mp4 Stacking]

Video part 2: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assemble_Screw_Video.mp4 Screw]

Program files: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Programs.zip Assemble_Stacking_Programs.zip]

= Setup =
'''Robot Type''': igus Gantry DLE-RG-0012

== Part 1: Stacking ==

[[File:Assamble_Stacking_Setup.jpg|thumb|250px|link=]]
The gantry robot is equipped with a parallel gripper.

The positions of the components are fixed.

<div style="clear:both;" /div>
== Part 2: Screw ==

[[File:Assemble_Screw_Endeffector.jpg|thumb|250px|link=]]
The gantry robot is equipped with a screwdriver-bit that is magnitized by a fixed magnet. The endeffector is mounted on a [https://www.igus.eu/product/22645?C=DE&L=en&artNr=LCA-RG-DSA-1A-1280-0100 Apiro rotary unit] for turning the screw.

The positions of the components are fixed (result of "Step 1").

IgusRobotControl-Release15-EN

2026-05-18T13:54:17Z

OLT: /* Software iRC */

Diese Seite auf Deutsch: [[IgusRobotControl-Release15-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 =

[[File:IRC_V15.png|400px|right|link=https://wiki.cpr-robots.com/index.php/IgusRobotControl-Release15-EN#Downloads]]

New functionality in version 15:
* New and improved user interface
* More integrated help and support functions
* Firmware parameters can be changed in the user inteface
* Support for different tool types
* Switch-case statements
* Configurable [[Digital Output Behavior|digital output behavior]] on startup, motor disable and error
* And more...

For best compatibility always install the same version of the [[RobotControl]] software on your PC and robot, both are contained in the "Updater" download. Version 15 is not compatible to earlier versions. On your PC it installs in parallel to earlier versions, so you can use both if necessary. Old robot programs should work without changes but should be tested at low speed.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.8.1
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.1 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
* Mover robots and 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]]

= Downloads =

'''Updater''' for iRC and RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_igusRobotControl_V15.0.2.zip Updater_igusRobotControl_V15.0.2.zip]

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

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.2.exe Installer_igusRobotControl_V15.0.2.exe]

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

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV15.txt Changelog]

Older Versions: [[IgusRobotControl_Release_History | Release History]]

= Documentation =

* [https://downloads.cpr-robots.com/Documentation/EN/Software/iRC/iRC_V15_UserGuide_en.pdf User guide]
* [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]]

IgusRobotControl-Release15-DE

2026-05-18T13:53:42Z

OLT:

This page in English: [[IgusRobotControl-Release15-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 =

[[File:IRC_V15.png|400px|right|link=https://wiki.cpr-robots.com/index.php/IgusRobotControl-Release15-DE#Downloads]]

Neue Funktionen in Version 15:
* Neue und verbesserte Benutzeroberfläche
* Mehr integrierte Hilfe und Unterstützung
* Firmwareparameter können in der Benutzeröberfläche geändert werden
* Unterstützung für verschiedene Werkzeugarten
* Switch-Case-Anweisungen
* Konfigurierbares [[Digital Output Behavior|Verhalten der digitalen Ausgänge]] beim Einschalten, Deaktivieren der Motoren und Fehler
* Und weitere...

Aus Kompatibilitätsgründen empfehlen wir immer die selbe Version der [[RobotControl]] Software auf Ihrem PC und dem Roboter zu installieren, beide sind in dem "Updater"-Download enthalten. Version 15 ist nicht mit früheren Versionen kompatibel. Auf Ihrem PC installiert sie sich neben früheren Versionen, sodass Sie wenn nötig beide verwenden können. Alte Roboterprogramme sollten ohne Änderung funktionieren, testen Sie sie aber vorher mit geringer Geschwindigkeit.

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.8.1
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.1 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Mover Roboter und 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]]

= Downloads =

'''Updater''' für iRC und RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_igusRobotControl_V15.0.2.zip Updater_igusRobotControl_V15.0.2.zip]

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

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.2.exe Installer_igusRobotControl_V15.0.2.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/VersionInfoV15.txt Changelog]

Ältere Versionen: [[IgusRobotControl_Release_History | Release History]]

= Dokumentation =

* [https://downloads.cpr-robots.com/Documentation/DE/Software/iRC/iRC_V15_UserGuide_de.pdf Bedienungsanleitung]
* [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-Release15-DE

2026-05-18T13:50:56Z

OLT:

This page in English: [[IgusRobotControl-Release15-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 =

[[File:IRC_V15.png|400px|right]]

Neue Funktionen in Version 15:
* Neue und verbesserte Benutzeroberfläche
* Mehr integrierte Hilfe und Unterstützung
* Firmwareparameter können in der Benutzeröberfläche geändert werden
* Unterstützung für verschiedene Werkzeugarten
* Switch-Case-Anweisungen
* Konfigurierbares [[Digital Output Behavior|Verhalten der digitalen Ausgänge]] beim Einschalten, Deaktivieren der Motoren und Fehler
* Und weitere...

Aus Kompatibilitätsgründen empfehlen wir immer die selbe Version der [[RobotControl]] Software auf Ihrem PC und dem Roboter zu installieren, beide sind in dem "Updater"-Download enthalten. Version 15 ist nicht mit früheren Versionen kompatibel. Auf Ihrem PC installiert sie sich neben früheren Versionen, sodass Sie wenn nötig beide verwenden können. Alte Roboterprogramme sollten ohne Änderung funktionieren, testen Sie sie aber vorher mit geringer Geschwindigkeit.

= Anforderungen =
PC:
* Windows 10 oder 11, 64 bit
* .NET Framework 4.8.1
* [https://learn.microsoft.com/de-de/cpp/windows/latest-supported-vc-redist?view=msvc-170 Aktuelle MSVC Redistributable]
* OpenGL 3.1 oder neuer
* Der Treiber des Grafikkartenherstellers (der Standard-Treiber von Microsoft funktioniert nicht)

Roboter:
* Alle aktuellen Roboter mit igus Robot Control und integriertem Steuerungsrechner
* Mover Roboter und 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]]

= Downloads =

'''Updater''' für iRC und RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_igusRobotControl_V15.0.2.zip Updater_igusRobotControl_V15.0.2.zip]

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

Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.2.exe Installer_igusRobotControl_V15.0.2.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/VersionInfoV15.txt Changelog]

Ältere Versionen: [[IgusRobotControl_Release_History | Release History]]

= Dokumentation =

* [https://downloads.cpr-robots.com/Documentation/DE/Software/iRC/iRC_V15_UserGuide_de.pdf Bedienungsanleitung]
* [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-Release15-EN

2026-05-18T13:50:45Z

OLT:

Diese Seite auf Deutsch: [[IgusRobotControl-Release15-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 =

[[File:IRC_V15.png|400px|right]]

New functionality in version 15:
* New and improved user interface
* More integrated help and support functions
* Firmware parameters can be changed in the user inteface
* Support for different tool types
* Switch-case statements
* Configurable [[Digital Output Behavior|digital output behavior]] on startup, motor disable and error
* And more...

For best compatibility always install the same version of the [[RobotControl]] software on your PC and robot, both are contained in the "Updater" download. Version 15 is not compatible to earlier versions. On your PC it installs in parallel to earlier versions, so you can use both if necessary. Old robot programs should work without changes but should be tested at low speed.

= Requirements =
PC:
* Windows 10 or 11, 64 bit
* .NET Framework 4.8.1
* [https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170 Current MSVC Redistributable]
* OpenGL 3.1 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
* Mover robots and 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]]

= Downloads =

'''Updater''' for iRC and RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_igusRobotControl_V15.0.2.zip Updater_igusRobotControl_V15.0.2.zip]

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

iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.2.exe Installer_igusRobotControl_V15.0.2.exe]

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

Latest changes: [https://downloads.cpr-robots.com/Software/igusRobotControl/VersionInfoV15.txt Changelog]

Older Versions: [[IgusRobotControl_Release_History | Release History]]

= Documentation =

* [https://downloads.cpr-robots.com/Documentation/EN/Software/iRC/iRC_V15_UserGuide_en.pdf User guide]
* [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]]

File:IRC V15.png

2026-05-18T13:49:32Z

OLT: