Wiki - Recent changes [en]

Firmware Parameter Configuration

OLT — Fri, 12 Jun 2026 11:57:11 GMT

Structured Programming

OLT — Wed, 10 Jun 2026 08:57:53 GMT

Sub-programs

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	See the programs "Packaging.xml" and "Layer1.xml" of the examples. Packaging.xml packs a whole box consisting of multiple layers. "Layer1.xml" picks and places several objects into a layer using the sub programs "PickPart.xml" and "PlacePart.xml".		See the programs "Packaging.xml" and "Layer1.xml" of the examples. Packaging.xml packs a whole box consisting of multiple layers. "Layer1.xml" picks and places several objects into a layer using the sub programs "PickPart.xml" and "PlacePart.xml".

			'''Note: Recursive sub-program calls are not allowed!'''

	= Matrix command =		= Matrix command =

Log Files

OLT — Fri, 29 May 2026 11:19:51 GMT

USB Stick

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	<br clear=all>		<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 =		= 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.		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.

MediaWiki:Common.css

OLT — Wed, 27 May 2026 08:26:44 GMT

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	/* CSS placed here will be applied to all skins */		/* CSS placed here will be applied to all skins */
			#ca-nstab-main { display: none !important; }
			#ca-talk { display: none !important; }
			#ca-history { display: none !important;}
			#ca-viewsource { display: none !important; }
			#ca-view { display: none !important; }

Template:Main page

OLT — Wed, 27 May 2026 07:59:34 GMT

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	<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 );">		<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>		<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> iRC - Software </span></h3>
	* [[Software_Updates\|Software Downloads]]		* [[Software_Updates\|Software '''Downloads''']]
	* [[Documentation\|Documentation and User Guides]]		* [[Documentation\|Documentation and '''User Guides''']]
	* [[Configuration Files Overview]]		* [[Configuration Files Overview]]
	* [[Control Interfaces]]		* [[Control Interfaces]]
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	<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 );">		<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>		<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Robots </span></h3>
	* [[igus ReBeL]]		* '''[[igus ReBeL]]'''
	* [[:Category:Gantry\|Gantry]]		* [[:Category:Gantry\|Gantry]]
	* [[:Category:Delta\|Delta]]		* [[:Category:Delta\|Delta]]

File:RBTX Academy.png

OLT — Fri, 22 May 2026 13:06:15 GMT

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

New page

Example Library

OLT — Fri, 22 May 2026 09:36:27 GMT

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

General Examples

OLT — Fri, 22 May 2026 09:35:30 GMT

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

Stacking Application

OLT — Fri, 22 May 2026 09:30:05 GMT

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

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

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

OLT — Fri, 22 May 2026 09:29:45 GMT

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

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

	[[File:MarkEnds_Setup.jpg\|thumb\|250px\|link=]]		[[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.		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.		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

OLT — Fri, 22 May 2026 09:28:55 GMT

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	'''Developer''': CPR		'''Developer''': CPR

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

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

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

Arrange Application

OLT — Fri, 22 May 2026 09:28:32 GMT

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

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

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

Pick and Place Stack Application

OLT — Fri, 22 May 2026 09:28:00 GMT

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

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

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

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

Pen Glueing Application

OLT — Fri, 22 May 2026 09:27:30 GMT

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

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

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

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

Part Alignment Application

OLT — Fri, 22 May 2026 09:26:53 GMT

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

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

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

Parallel Picking Application

OLT — Fri, 22 May 2026 09:26:22 GMT

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

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

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

OLT — Fri, 22 May 2026 09:17:59 GMT

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

	= Setup =		= Setup =
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	== Part 1: Stacking ==		== Part 1: Stacking ==

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

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	== Part 2: Screw ==		== Part 2: Screw ==

	[[File:Assemble_Screw_Endeffector.jpg\|thumb\|250px\|link=]]		[[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 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").		The positions of the components are fixed (result of "Step 1").

Simulation

OLT — Thu, 21 May 2026 07:53:46 GMT

Created page with "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 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..."

New page

[[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

OLT — Thu, 21 May 2026 07:39:31 GMT

OLT uploaded File:Simulation.PNG

New page

Conditions

OLT — Thu, 21 May 2026 07:17:17 GMT

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..."

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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

OLT — Thu, 21 May 2026 06:42:41 GMT

← Older revision		Revision as of 06:42, 21 May 2026
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	\| AE		\| AE
	\| Stands for "Abtriebencoder", which is an output encoder, i.e. an encoder mounted at the gear rather than at the motor.		\| Stands for "Abtriebencoder", which is an output encoder, i.e. an encoder mounted at the gear rather than at the motor.
	~~\| https://www.igus.co.uk/product/14792~~
	\|-		\|-
	\| A1, A2, A3...		\| A1, A2, A3...
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	\| http://www.cpr-robots.com		\| http://www.cpr-robots.com
	\|-		\|-
	\| CPRog		\| CPRog / iRC
	\| 3D robot programming and control software with graphical program editor		\| 3D robot programming and control software with graphical program editor
	~~\| http://www.cpr-robots.com/products/cprog.html~~
	\|-		\|-
	\| DIO		\| DIO
	\| Digital input/output		\| Digital input/output
	\| [[Digital_Inputs_/_Outputs]]		\| [[Digital_Inputs_/_Outputs]]
			\|-
			\| GSig
			\| Global Signal
			\| [[Global Signals]]
	\|-		\|-
	\| DOF		\| DOF
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	\| SRA		\| SRA
	\| Service Robot Arm		\| Service Robot Arm
	\| ~~http://www.cpr-robots.com/products/sra.html~~		\|
	\|-		\|-
	\| TinyCtrl		\| TinyCtrl / RobotControl
	\| CPR Robot control software for embedded linux computers		\| CPR Robot control software for embedded linux computers
	~~\| https://www.cpr-robots.com/products/tinyctrl.html~~
	\|}		\|}

Global Signals

OLT — Thu, 21 May 2026 06:41:08 GMT

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..."

New page

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

OLT — Wed, 20 May 2026 10:29:26 GMT

← Older revision		Revision as of 10:29, 20 May 2026
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	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).		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 ~~two~~ further DIO modules to the control for a total number of 21 inputs and outputs.		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.		This article explains the mechanical, electrical and software setup that is needed to add additional DIO modules.
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	**Second (additional) IO module: 2 (this results in CAN ID 0x80 = 128)		**Second (additional) IO module: 2 (this results in CAN ID 0x80 = 128)
	**Third (additional) IO module: 4 (this results in CAN ID 0x90 = 144)		**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]]		[[file:DIO_bus_settings.png\|DIO_bus_settings.png]]

Starter Guide

OLT — Tue, 19 May 2026 14:22:34 GMT

← Older revision		Revision as of 14:22, 19 May 2026
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	[[File:RBTX_Academy.png\|400px\|right]]		[[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.		Please have a look at the [[Documentation \| '''User Guide''']] for detailed information.
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	= Connecting =		= Connecting =

	[[File:HW_Connection.png\|400px\|right]]		[[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.		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.
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	Make sure the IP-address of your PC-ethernet-port is [[Troubleshooting_Connection_Issues#Check_the_network_configuration_of_your_PC \| set correctly]].		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]]		[[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".		Power up the robot and start the iRC Software and click on "File -> Connect To Robot -> New Connection -> Auto Connect".
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	[[Troubleshooting Connection Issues]]		[[Troubleshooting Connection Issues]]

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

	<div style="clear:both;" /div>		<div style="clear:both;" /div>
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	= Activating the Robot =		= Activating the Robot =

	[[File:Connect.PNG\|300px\|right]]		[[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).		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).
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	You can now try to move single axes, by using the "Jogging" area.		You can now try to move single axes, by using the "Jogging" area.

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

	[[File:ReferencingMenu.PNG\|300px\|right]]		[[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).		If you run into software limits, you first need to '''reference''' your robot (not needed for robots with absolute encoders like the ReBeL).
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	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.		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]]		[[File:ProgramEditor.png\|700px\|link=]]

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

File:IPv4 Settings.png

OLT — Tue, 19 May 2026 14:21:11 GMT

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

New page

Template:Main page

OLT — Tue, 19 May 2026 08:43:55 GMT

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

	<!--~~__NOTOC__~~ BANNER ACROSS TOP OF PAGE -->		<!-- BANNER ACROSS TOP OF PAGE -->
	{\| id="mp-topbanner" style="width:100%; text-align:center; margin:1.2em 0 6px 0; border:5px solid #50798a;"		<!-- {\| id="mp-topbanner" style="width:100%; text-align:center; margin:1.2em 0 6px 0; border:5px solid #50798a;" -->
			{\| id="mp-topbanner" style="width:100%; text-align:center;"
	\|		\|
	<!-- "WELCOME TO CPR wiki AND ARTICLE COUNT -->		<!-- "WELCOME TO CPR wiki AND ARTICLE COUNT -->
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	Commonplace Robotics, as a part of igus GmbH, develops intuitive robot control software.		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]!		You can find all igus robots and many more in our [https://rbtx.com/en-US '''RBTX marketplace''']!
	\|}		\|}


	<div style="clear:both;" /div>		<div style="clear:both;" /div>
	[[File:~~Tablet~~.png\|~~300px~~\|link=IgusRobotControl-~~Release14~~-EN]]
	← Get the latest iRC Version [[IgusRobotControl-~~Release14~~-EN\|here]]!		[[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="clear:both;" /div>

Stacking Application

OLT — Mon, 18 May 2026 14:00:46 GMT

← Older revision		Revision as of 14:00, 18 May 2026
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	This ReBeL stacks different components to a single stack that is later added as insert for a product.		This ReBeL stacks different components to a single stack that is later added as insert for a product.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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]!		You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/Stacking/Stacking_Video.mp4 here]!
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	'''Robot Type''': igus ReBeL REBEL-6DOF-03		'''Robot Type''': igus ReBeL REBEL-6DOF-03

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

OLT — Mon, 18 May 2026 14:00:33 GMT

← Older revision		Revision as of 14:00, 18 May 2026
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	In this application a Rebel detects the endings of a hose and marks them with a felt pen.		In this application a Rebel detects the endings of a hose and marks them with a felt pen.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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]!		You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/MarkEnds/MarkEnds_Video.mp4 here]!
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	'''Robot Type''': igus ReBeL REBEL-6DOF-03		'''Robot Type''': igus ReBeL REBEL-6DOF-03

	[[File:MarkEnds_Setup.jpg\|thumb\|250px]]		[[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.		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.		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

OLT — Mon, 18 May 2026 14:00:05 GMT

← Older revision		Revision as of 14:00, 18 May 2026
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	'''Robot Type''': igus Delta DLE-DR-1000-3		'''Robot Type''': igus Delta DLE-DR-1000-3

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

Arrange Application

OLT — Mon, 18 May 2026 13:59:56 GMT

← Older revision		Revision as of 13:59, 18 May 2026
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	This applications aims at arranging a flower-like bouquet out of wine gum.		This applications aims at arranging a flower-like bouquet out of wine gum.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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]!		You can find a video of the result [https://downloads.cpr-robots.com/Wiki-Files/Examples/Arrange/Arrange_Video.mp4 here]!
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	'''Robot Type''': igus Delta DLE-DR-0050		'''Robot Type''': igus Delta DLE-DR-0050

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

Part Alignment Application

OLT — Mon, 18 May 2026 13:59:31 GMT

← Older revision		Revision as of 13:59, 18 May 2026
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	It does not only fix the planar rotation, but also checks, if it is upside down.		It does not only fix the planar rotation, but also checks, if it is upside down.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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]!		You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PartAlignment/PartAlignment_Video.mp4 here]!
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	'''Robot Type''': igus Gantry DLE-RG-0004-BLDC		'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

	[[File:PartAlignment_Setup_close.JPG\|thumb\|250px]]		[[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 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.

Pick and Place Stack Application

OLT — Mon, 18 May 2026 13:59:11 GMT

← Older revision		Revision as of 13:59, 18 May 2026
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	This gantry picks metal rails and stacks them on top of each other.		This gantry picks metal rails and stacks them on top of each other.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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]!		You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PickAndPlaceStack/PickAndPlaceStack_Video.mp4 here]!
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	'''Robot Type''': igus Gantry DLE-RG-0004-BLDC		'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

	[[File:PickAndPlaceStack_Endeffector.JPG\|thumb\|250px]]		[[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].		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].

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

Pen Glueing Application

OLT — Mon, 18 May 2026 13:58:55 GMT

← Older revision		Revision as of 13:58, 18 May 2026
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	This is a straight forward application for marking complex shapes with a glueing pen.		This is a straight forward application for marking complex shapes with a glueing pen.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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]!		You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/PenGlueing/PenGlueing_Video.mp4 here]!
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	'''Robot Type''': igus Gantry DLE-RG-0012		'''Robot Type''': igus Gantry DLE-RG-0012

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

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

Parallel Picking Application

OLT — Mon, 18 May 2026 13:58:09 GMT

← Older revision		Revision as of 13:58, 18 May 2026
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	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.		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~~]		'''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]!		You can find a Video of the application [https://downloads.cpr-robots.com/Wiki-Files/Examples/ParallelPicking/ParallelPicking_Video3_Closeup.mp4 here]!
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	'''Robot Type''': igus Gantry DLE-RG-0004-BLDC		'''Robot Type''': igus Gantry DLE-RG-0004-BLDC

	[[File:ParallelPicking_Setup.JPG\|thumb\|250px]]		[[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.		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

OLT — Mon, 18 May 2026 13:57:26 GMT

← Older revision		Revision as of 13:57, 18 May 2026
(One intermediate revision by the same user not shown)
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	This 2-part application first picks and stacks two components and then screws them together in the next part.		This 2-part application first picks and stacks two components and then screws them together in the next part.

	'''Developer''': [https://rbtx.com ~~rbtx~~]		'''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 1: [https://downloads.cpr-robots.com/Wiki-Files/Examples/Assemble_Stacking/Assamble_Stacking_Video.mp4 Stacking]
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	== Part 1: Stacking ==		== Part 1: Stacking ==

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

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	== Part 2: Screw ==		== Part 2: Screw ==

	[[File:Assemble_Screw_Endeffector.jpg\|thumb\|250px]]		[[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 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").		The positions of the components are fixed (result of "Step 1").

IgusRobotControl-Release15-EN

OLT — Mon, 18 May 2026 13:54:17 GMT

Software iRC

← Older revision		Revision as of 13:54, 18 May 2026
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	= Software iRC =		= Software iRC =

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

	New functionality in version 15:		New functionality in version 15: