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IgusRobotControl Release History

OLT — Mon, 17 Aug 2026 15:16:19 GMT

← Older revision		Revision as of 15:16, 17 August 2026
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	*Updater iRC and RobotControl:		*Updater iRC and RobotControl:
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_igusRobotControl_V15.0.2.zip Updater_igusRobotControl_V15.0.2.zip]		**[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_igusRobotControl_V15.0.2.zip Updater_igusRobotControl_V15.0.2.zip]
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_iRC_V15.0.0-2.zip Updater_igusRobotControl_V15.0.0.zip]		<!-- **[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Updater_iRC_V15.0.0-2.zip Updater_igusRobotControl_V15.0.0.zip] -->

	*iRC-Windows-Software only:		*iRC-Windows-Software only:
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.2.exe Installer_igusRobotControl_V15.0.2.exe]		**[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.2.exe Installer_igusRobotControl_V15.0.2.exe]
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.0-2.exe Installer_igusRobotControl_V15.0.0.exe]		<!-- **[https://downloads.cpr-robots.com/Software/igusRobotControl/V15/Installer_igusRobotControl_V15.0.0-2.exe Installer_igusRobotControl_V15.0.0.exe] -->

	=IgusRobotControl V14=		=IgusRobotControl V14=

Fairino

MAB — Fri, 14 Aug 2026 08:59:41 GMT

Created page with "Starting with version 15.1 igus Robot Control is able to control Fairino robot arms. This can be done without additional hardware by connecting the robot directly to the PC or via our Embedded Control module. '''Important: This currently is in testing stage. Please read this article, be careful and contact us if you got feedback.''' This feature requires a license. You can test it for free for 30 minutes, after which the robot is..."

New page

Starting with version 15.1 igus Robot Control is able to control Fairino robot arms. This can be done without additional hardware by connecting the robot directly to the PC or via our Embedded Control module.

'''Important: This currently is in testing stage. Please read this article, be careful and [[Support Routes|contact us]] if you got feedback.'''

This feature [[License Request|requires a license]]. You can test it for free for 30 minutes, after which the robot is disconnected. You can start a new test period by restarting the software.

= Supported Robots =
Currently the following Fairino robots are supported:
* FR3

Further robots will be added in future, contact us if you need a specific one.

= Behavior and Known Issues =
Some important notes about the robot's behavior:
* You may not be able to drag and move the robot by hand while iRC is in control. Simply click "Disable" in iRC to allow this.
* Not all Fairino specific status/error codes are available in our software. If a cryptic error code is shown or if the information shown in iRC is not sufficient please check the Fairino web interface for the complete information.
* Not all IO states are available to iRC: You can read and set the normal base and tool IOs ("DI", "DO"), but the configurable IOs ("CI", "CO") are currently not available.
* Currently there may be situations in which iRC is not able to take control over the robot. Restart iRC and/or the robot control. Make sure there is no program running on the Fairino control box.

= Set Up Guide =
First pick your setup:
* PC only:
** Easy to set up
** The PC must be connected to the robot as long as you want to control it
** The PC's timing may not be perfect: The robot's motion may stutter occasionally
* Embedded Control
** You will need an embedded control module
** Better performance
** PC does not need to stay connected while the robot program is running

== iRC on PC ==
# The standard configuration is set up to connect to the Fairino's standard IP address at the Ethernet port at the e-stop (192.168.58.2). Change the IP address of your PC's Ethernet port to one in the same network (e.g. 192.168.58.100).
# Start igus Robot Control and open the simulation selection
# In the "Configuration" section below the projects list check "Connect to hardware"
# Open the category "3rd-party" -> "Fairino" and select the correct robot type
# Wait a few seconds for the robot control to connect and receive the robot's state. The hardware state box on the left to the 3D view should NOT indicate that it is a simulation or not connected.
# Click "Enable" in the ribbon above the 3D view to take control
# Now you can jog and use robot programs as usual.

== Embedded Control ==
Note: This guide is incomplete.

# Connect the embedded control to a network switch or set up the WiFi so you can connect both the robot and the PC.
# Install the Fairino configuration using the [[Software Updates|iRC updater]]. In the updater find the configuration in folder "3rd-party".
# [[Change Network Address of Embedded Linux PC|Change the IP address of the Ethernet port]] or add a second IP address in the same network as the robot.
#* The following command '''temporarily''' adds a second IP address. This is reverted on power loss or restart (TODO: explain how to set a permanent IP address):
sudo ip addr add 192.168.58.145/24 dev eth0
# Connect iRC to the robot control and take control as explained in section "iRC on PC".

== Change IP Address ==

Depending on the robot's configuration and the Ethernet port you use you may need to change the IP address in the iRC configuration.

To do this open the [[Robot Configuration File]], find the following line and change the IP address in parameter "Address":
<BusConfiguration Protocol="Fairino" Address="192.168.58.2" CycleTimeMS="10" PreciseTiming="true">

Tilt / Swivel Joints

MAB — Fri, 14 Aug 2026 08:02:31 GMT

Tilt/Swivel Joints

← Older revision		Revision as of 08:02, 14 August 2026
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	* In line "<Joints NrOfJoints="3" />" increase the number of robot joints by the number of tilt/swivel joints.		* In line "<Joints NrOfJoints="3" />" increase the number of robot joints by the number of tilt/swivel joints.
	* Below this line you should find an entry for each axis, e.g. "<Joint0...", "<Joint1...>" etc. Add new entries for each joint and increase the number in the XML tag name. Set up the parameters as usual (you need to set at least the CAN ID and the GearScale parameters).		* Below this line you should find an entry for each axis, e.g. "<Joint0...", "<Joint1...>" etc. Add new entries for each joint and increase the number in the XML tag name. Set up the parameters as usual (you need to set at least the CAN ID and the GearScale parameters).
	* Change line "<Kinematic..." as follows (do not change the parameters within the "Kinematic" line). ~~Add~~ a "<SwivelJoint~~...~~" line for each joint ~~and set~~ the offset to the ~~next~~ flange ~~in mm~~ (~~in most cases as "zOffset"~~).		* Change line "<Kinematic..." as follows (do not change the parameters within the "Kinematic" line) as follows: Add a line "<SwivelBase" to define the offset in mm from the previous joints flange to the rotation axis of the first tilt/swivel joint. Then add a "<SwivelJoint" line for each joint to define the offset from its rotation axis to then next. The last entry defines the offset to the tool flange (or TCP if no tool is configured).
	<Kinematic Type="Cartesian" FourthAxis="False" dirA1="1 0 0" dirA2="0 1 0" dirA3="0 0 -1" xOffset="0" yOffset="0" zOffset="0">		<Kinematic Type="Cartesian" FourthAxis="False" dirA1="1 0 0" dirA2="0 1 0" dirA3="0 0 -1" xOffset="0" yOffset="0" zOffset="0">
			<SwivelBase xOffset="0" yOffset="0" zOffset="100"/>
	<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>		<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>
	<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>		<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>

Vision App

OLT — Wed, 05 Aug 2026 11:30:38 GMT

Downloads

← Older revision		Revision as of 11:30, 5 August 2026
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	Download App (pro version): [https://downloads.cpr-robots.com/Software/igusRobotControl/Apps/VisionApp/VisionAppPro_V1.0.zip VisionAppPro.zip]		Download App (pro version): [https://downloads.cpr-robots.com/Software/igusRobotControl/Apps/VisionApp/VisionAppPro_V1.0.zip VisionAppPro.zip]

	'''Note''': You will need [[License_Request \| License]] in order to run the pro-version, which you can get via [https://rbtx.de/de-DE/components/software RBTX].		'''Note''': You will need [[License_Request \| License]] in order to run the pro-version, which you can get via [https://rbtx.de/de-DE/components/software/vision-app-pro-for-igus-robot-control-irc RBTX].
	Pro-features include:		Pro-features include:
	* Detection of different objects		* Detection of different objects

IRC Operator HMI

OLT — Wed, 05 Aug 2026 11:27:41 GMT

Download

← Older revision		Revision as of 11:27, 5 August 2026
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	App Download: [https://downloads.cpr-robots.com/Software/igusRobotControl/Apps/OperatorHMI/OperatorHMI.zip OperatorHMI.zip]		App Download: [https://downloads.cpr-robots.com/Software/igusRobotControl/Apps/OperatorHMI/OperatorHMI.zip OperatorHMI.zip]

	'''Note''': You will need [[License_Request \| License]] in order to run the app for more than 30 minutes (testing period). You can get one via [https://rbtx.de/de-DE/components/software RBTX]		'''Note''': You will need [[License_Request \| License]] in order to run the app for more than 30 minutes (testing period). You can get one via [https://rbtx.de/de-DE/components/software/operator-hmi-for-igus-robot-control-simple-user-interface-for-robots RBTX]

Tilt / Swivel Joints

MAB — Thu, 30 Jul 2026 12:30:51 GMT

← Older revision		Revision as of 12:30, 30 July 2026
(4 intermediate revisions by the same user not shown)
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	* XYZ room gantries		* XYZ room gantries
	* XY flat gantries		* XY flat gantries
	* YZ line gantries		* XZ line gantries
	* further kinematics may be added on demand, please contact us		* further kinematics may be added on demand, please contact us

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	<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>		<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>
	</Kinematic>		</Kinematic>
	* Change the motion limits in line "<SoftwareMinMax"		* Change the motion limits in line "<SoftwareMinMax" so that the corresponding axes (for a 3 axis gantry A4-A6, for a 2 axis A3-A5) move no more than +/- 179°.
	* Change the speed and acceleration in lines "<JointVelocities...", "<JointAccelerations..." etc.		* Change the speed and acceleration in lines "<JointVelocities...", "<JointAccelerations..." etc.

	== Visualization ==		== Visualization ==
	If you like to visualize the joints in the 3D view you can add 3D models in OBJ format to the robot configuration directory (next to the robot configuration file). These files must be named "SwivelJoint0.obj", "SwivelJoint1.obj" ~~and~~ "SwivelJoint2.obj".		If you like to visualize the joints in the 3D view you can add 3D models in OBJ format to the robot configuration directory (next to the robot configuration file). These files must be named as follows:

			* "SwivelJoint0.obj" - the static base of the first joint, this connects to the previous robot joint (e.g. the gantry's Z axis)
			* "SwivelJoint1.obj" - the first joint that rotates around Z (cartesian A orientation)
			* "SwivelJoint2.obj" - the second joint that rotates around Y (cartesian B orientation)
			* "SwivelJoint3.obj" - the third joint that rotates around X (cartesian C orientation)

			If less than 3 tilt/swivel axes are defined elements 2 and 3 may not be displayed, the last element is the flange to the tool.

	= Fourth Axis =		= Fourth Axis =
Line 72:		Line 79:
	* Change the motion limits in line "<SoftwareMinMax"		* Change the motion limits in line "<SoftwareMinMax"
	* Change the speed and acceleration in lines "<JointVelocities...", "<JointAccelerations..." etc.		* Change the speed and acceleration in lines "<JointVelocities...", "<JointAccelerations..." etc.

			[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Tool]]

Tilt / Swivel Joints

MAB — Tue, 28 Jul 2026 11:20:35 GMT

Created page with "Additional axes can be added to some robot kinematics to allow the tool's orientation to be changed. In the simplest case this is a fourth axis at a XYZ gantry that turns the gripper. In more complex situations the tool can also be tilted, e.g. to do manipulations at the workpiece's side. The igus Robot Control supports this in three ways: The tilt/swivel joints, the legacy fourth axis and as external axes. This guide explains the different approaches a..."

New page

Additional axes can be added to some robot kinematics to allow the tool's orientation to be changed. In the simplest case this is a fourth axis at a XYZ gantry that turns the gripper. In more complex situations the tool can also be tilted, e.g. to do manipulations at the workpiece's side.

The [[RobotControl|igus Robot Control]] supports this in three ways: The tilt/swivel joints, the legacy fourth axis and as external axes. This guide explains the different approaches and how to set them up.

= External Axes =
Adding the tool joint(s) as external axes is the easiest and most flexible approach. These can simply be added via the configuration section in the PC software. Please follow the [[External Axis|external axes]] guide on how to set these up.

Advantages:
* Easy to set up
* Motion not limited to +/- 179°
* Supported by all kinematics

Limitations:
* Not coupled to the cartesian ABC orientation, therefore cartesian motion commands including the [[Command Path|DXF path command]] may not turn the axes as you expect.

= Tilt/Swivel Joints =
The tilt / swivel joint configuration links up to three robot axes to the cartesian ABC orientation. The first axis (e.g. A4 on a XYZ gantry) is linked to A, the second to B, the third to C, where A turns the tool around the Z axis and B/C tilt it around Y and X.

Advantages:
* Motion is coupled to the cartesian ABC orientation
* Supports offsets between each axis

Limitations:
* Motion limited to +/- 179°
* Needs to be set up in the [[Robot Configuration File]]
* Supported from igus Robot Control version 15.1

Supported kinematics:
* XYZ room gantries
* XY flat gantries
* YZ line gantries
* further kinematics may be added on demand, please contact us

== Configuration ==
In the [[Robot Configuration File]] add the following:
* In line "<Joints NrOfJoints="3" />" increase the number of robot joints by the number of tilt/swivel joints.
* Below this line you should find an entry for each axis, e.g. "<Joint0...", "<Joint1...>" etc. Add new entries for each joint and increase the number in the XML tag name. Set up the parameters as usual (you need to set at least the CAN ID and the GearScale parameters).
* Change line "<Kinematic..." as follows (do not change the parameters within the "Kinematic" line). Add a "<SwivelJoint..." line for each joint and set the offset to the next flange in mm (in most cases as "zOffset").
<Kinematic Type="Cartesian" FourthAxis="False" dirA1="1 0 0" dirA2="0 1 0" dirA3="0 0 -1" xOffset="0" yOffset="0" zOffset="0">
<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>
<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>
<SwivelJoint xOffset="0" yOffset="0" zOffset="50"/>
</Kinematic>
* Change the motion limits in line "<SoftwareMinMax"
* Change the speed and acceleration in lines "<JointVelocities...", "<JointAccelerations..." etc.

== Visualization ==
If you like to visualize the joints in the 3D view you can add 3D models in OBJ format to the robot configuration directory (next to the robot configuration file). These files must be named "SwivelJoint0.obj", "SwivelJoint1.obj" and "SwivelJoint2.obj".

= Fourth Axis =
The legacy configuration parameter "Fourth Axis" links an additional axis to the cartesian A orientation, turning the tool around the Z axis. This effectively is equivalent to the tilt/swivel joint approach with only one joint.

Advantages:
* Motion is coupled to the cartesian A orientation

Limitations:
* Motion limited to +/- 179°
* Does not support cartesian B and C orientation
* Needs to be set up in the [[Robot Configuration File]]

Supported kinematics:
* XYZ room gantries
* DeltaLinear
* SCARALRRR, SCARARRLR
* further kinematics may be added on demand, please contact us

== Configuration ==
In the [[Robot Configuration File]] add the following:
* In line "<Joints NrOfJoints="3" />" increase the number of robot joints by one.
* Below this line you should find an entry for each axis, e.g. "<Joint0...", "<Joint1...>" etc. Add a new entry and increase the number in the XML tag name. Set up the parameters as usual (you need to set at least the CAN ID and the GearScale parameters).
* In line "<Kinematic..." change parameter "FourthAxis" to "True".
* Change the motion limits in line "<SoftwareMinMax"
* Change the speed and acceleration in lines "<JointVelocities...", "<JointAccelerations..." etc.

Driver Error

OLT — Fri, 24 Jul 2026 08:04:56 GMT

← Older revision		Revision as of 08:04, 24 July 2026
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	\|}		\|}

	= Common Causes ==		= Common Causes =

	For BLDC gantries the most common cause is an axis that can not turn because it is overloaded. Usually because linear rails are not aligned correctly, the carriage can not move easily or the tool/object is too heavy. It can also be caused by a motor brake that does not release (check its amp configuration, wiring and whether voltage is applied at the brake output connector at the motor module or the brake relay.		For BLDC gantries the most common cause is an axis that can not turn because it is overloaded. Usually because linear rails are not aligned correctly, the carriage can not move easily or the tool/object is too heavy. It can also be caused by a motor brake that does not release (check its amp configuration, wiring and whether voltage is applied at the brake output connector at the motor module or the brake relay.

Apps for the Robot Control

OLT — Fri, 24 Jul 2026 08:03:01 GMT

@@ Line 40: / Line 40: @@
 :[[IRC Operator HMI]]
 <div style="clear:both;" /div>
@@ Line 63: / Line 74: @@
 <div style="clear:both;" /div>
 [[Category:Apps]]

Vision App

OLT — Fri, 24 Jul 2026 07:55:00 GMT

← Older revision		Revision as of 07:55, 24 July 2026
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	document describes what the Vision App can be used for and what objects can be detected.		document describes what the Vision App can be used for and what objects can be detected.

			= Downloads =
	Download calibration sheet: [https://wiki.cpr-robots.com/images/c/c3/CalibrationSheetV3.pdf CalibrationSheetV3.pdf]		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 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 App (free version): [https://wiki.cpr-robots.com/images/1/11/Vision2d.zip Vision2D.zip]

			Download App (pro version): [https://downloads.cpr-robots.com/Software/igusRobotControl/Apps/VisionApp/VisionAppPro_V1.0.zip VisionAppPro.zip]

			'''Note''': You will need [[License_Request \| License]] in order to run the pro-version, which you can get via [https://rbtx.de/de-DE/components/software RBTX].
			Pro-features include:
			* Detection of different objects
			* Size determination

	Download STL of measuring tips: [https://wiki.cpr-robots.com/images/6/6f/Messspitzen.zip Delta_and_Rebel.STL]		Download STL of measuring tips: [https://wiki.cpr-robots.com/images/6/6f/Messspitzen.zip Delta_and_Rebel.STL]
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	What has changed: [https://wiki.cpr-robots.com/images/1/1c/ChangeLogVisionApp.txt ChangeLog]		What has changed: [https://wiki.cpr-robots.com/images/1/1c/ChangeLogVisionApp.txt ChangeLog]

			= Tutorials =
	There are three Video Tutorials how to use the Vision App:		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]		* Calibration: [https://youtu.be/fpbPiadYieQ?feature=shared English] / [https://www.youtube.com/watch?v=RV6W3cHTwMs German]

Apps for the Robot Control

OLT — Fri, 24 Jul 2026 07:42:58 GMT

App Selection

← Older revision		Revision as of 07:42, 24 July 2026
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	:[[Math Tools App]]		:[[Math Tools App]]

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

			== IRC Operator HMI ==

			[[File:IRC_Operator_HMI.png\|thumb\|300px\|link=IRC Operator HMI]]

			The [[iRC Operator HMI]] app is a clear and user-friendly interface for HMIs that enables simple operation of the robot system.
			It is the middle ground between limited control via button panels and complex control via iRC software.

			:[[IRC Operator HMI]]

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

IRC Operator HMI

OLT — Fri, 24 Jul 2026 07:39:34 GMT

← Older revision		Revision as of 07:39, 24 July 2026
(One intermediate revision by the same user not shown)
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	= Download =		= Download =
	Manual: [https://downloads.cpr-robots.com/Documentation/EN/Software/iRC/Apps/Operator_HMI/iRC_Operator_HMI_Manual.pdf iRC_Operator_HMI_Manual.pdf]		Manual: [https://downloads.cpr-robots.com/Documentation/EN/Software/iRC/Apps/Operator_HMI/iRC_Operator_HMI_Manual.pdf iRC_Operator_HMI_Manual.pdf]

			App Download: [https://downloads.cpr-robots.com/Software/igusRobotControl/Apps/OperatorHMI/OperatorHMI.zip OperatorHMI.zip]

	'''Note''': You will need [[License_Request \| License]] in order to run the app for more than 30 minutes (testing period). You can get one via [https://rbtx.de/de-DE/components/software RBTX]		'''Note''': You will need [[License_Request \| License]] in order to run the app for more than 30 minutes (testing period). You can get one via [https://rbtx.de/de-DE/components/software RBTX]