Wiki - Recent changes [en]

AI Programming Assist

OLT — Wed, 08 Apr 2026 16:14:59 GMT

Example

@@ Line 2: / Line 2: @@
 Instead of writing your robot program from scratch, you can use an AI assistant to create the basic structure of you program for you.
 The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown Runbooks''' come into play. These files tell the agent everything they need to know.
@@ Line 9: / Line 11: @@
 Download [https://downloads.cpr-robots.com/Wiki-Files/AI_Assistant/Markdown/iRC_Programming_Guide_for_LLM.md Markdown Runbook for iRC programming]

File:Copilot programming enquire.png

OLT — Wed, 08 Apr 2026 12:45:32 GMT

OLT deleted page File:Copilot programming enquire.png Deleted old revision 20260408124504!Copilot_programming_enquire.png: content was: "", and the only contributor was "OLT" (talk)

File:Copilot programming enquire.png

OLT — Wed, 08 Apr 2026 12:45:04 GMT

OLT uploaded a new version of File:Copilot programming enquire.png

New page

File:Copilot program result.png

OLT — Wed, 08 Apr 2026 12:43:33 GMT

OLT uploaded File:Copilot program result.png

New page

File:Copilot programming enquire.png

OLT — Wed, 08 Apr 2026 12:43:17 GMT

OLT uploaded File:Copilot programming enquire.png

New page

File:Copilot programming prompt.png

OLT — Wed, 08 Apr 2026 12:43:01 GMT

OLT uploaded File:Copilot programming prompt.png

New page

AI Programming Assist

OLT — Wed, 08 Apr 2026 10:22:37 GMT

← Older revision		Revision as of 10:22, 8 April 2026
Line 1:		Line 1:
	~~Creating a complex robot program can be a daunting task, when you are not familiar with programming.~~ Using an AI agent can help you getting started with your project really fast.		Using an AI agent can help you getting started with your project really fast!

			Instead of writing your robot program from scratch, you can use an AI assistant to create the basic structure of you program for you.

	The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown Runbooks''' come into play. These files tell the agent everything they need to know.		The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown Runbooks''' come into play. These files tell the agent everything they need to know.

	We've created a general Markdown Runbook for iRC programming, that you can use freely.		We've created a general Markdown Runbook for iRC programming, that you can use freely.
	Just download the file and post it into an AI agent of your choice. It will then know how to create a robot program and will help you creating yours.		Just download the file and post it into an AI agent of your choice. It will then know how to create a robot program and will help you creating yours!

	[https://downloads.cpr-robots.com/Wiki-Files/AI_Assistant/Markdown/iRC_Programming_Guide_for_LLM.md ~~Download~~ Markdown Runbook for iRC programming]		Download [https://downloads.cpr-robots.com/Wiki-Files/AI_Assistant/Markdown/iRC_Programming_Guide_for_LLM.md Markdown Runbook for iRC programming]

Upgrade Phytec Module to Embedded Control

OLT — Wed, 08 Apr 2026 10:15:07 GMT

← Older revision		Revision as of 10:15, 8 April 2026
Line 31:		Line 31:

	Your robot should then start as usual.		Your robot should then start as usual.

			= Write the Configuration =

			As per default, the Embedded Control only has an empty project on it. In order to let the control know, which robot you have, you have to write the correct configuration on it.
			To do this get the latest '''Updater''' here: [[IgusRobotControl]]

			You can find the instructions on how to use the updater here: [[Robot Control Update Process]]

			Make sure to choose "Update complete folder" in Step 3 and navigate to the correct project (zip-file).
			When the process has been completed, restart the robot and you are good to go!

Modbus Server

OLT — Wed, 08 Apr 2026 08:58:54 GMT

PLC integration

← Older revision		Revision as of 08:58, 8 April 2026
Line 50:		Line 50:

	The Modbus interface can also be used with different PLC types, the necessary information are found below and in the documentation.		The Modbus interface can also be used with different PLC types, the necessary information are found below and in the documentation.

			You can find a basic communication test for KEYENCE PLCs here:
			[https://downloads.cpr-robots.com/Wiki-Files/Examples/KEYENCE_PLC/KEYENCE_PLC_Example.zip KEYENCE_Modbus_Test]

	= Modbus mapping =		= Modbus mapping =

Documentation

OLT — Tue, 07 Apr 2026 07:36:48 GMT

Circuit Diagrams

← Older revision		Revision as of 07:36, 7 April 2026
Line 46:		Line 46:
	** [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC Schaltplan BLDC 48V] (PDF)		** [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControlBLDC48V_DE.pdf iRC Schaltplan BLDC 48V] (PDF)
	** [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControl48V_SAFETY_DE.pdf iRC Schaltplan 48 V mit Safety Option] (PDF)		** [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/iRC-igusRobotControl48V_SAFETY_DE.pdf iRC Schaltplan 48 V mit Safety Option] (PDF)
			* E-Plan Macros
			** [https://downloads.cpr-robots.com/Documentation/DE/Hardware/Schaltplaene/EPLAN_Makros.zip EPLAN Macros] (EMA)


	[[Category:CPRog]][[Category:Robot Programming]][[Category:TinyCtrl]][[Category:Downloads]]		[[Category:CPRog]][[Category:Robot Programming]][[Category:TinyCtrl]][[Category:Downloads]]

Digital Output Behavior

MAB — Mon, 30 Mar 2026 14:15:58 GMT

← Older revision		Revision as of 14:15, 30 March 2026
(2 intermediate revisions by the same user not shown)
Line 1:		Line 1:
	When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.		When digital IO modules are disabled all digital outputs, even if set, are disabled, while digital inputs can still be read. This article explains how to influence this behavior depending on your application's needs.

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

	= Disabled State =		= Disabled State =
Line 10:		Line 12:

	= Configuration =		= Configuration =
	From iRC V15 the behavior of the digital IO modules can be configured to the ~~following~~ modes:		From iRC V15 the behavior of the digital IO modules can be configured to the modes "always", "nodisable", "reenable_com" and "reenable". In iRC V14 and earlier the behavior is "always", from V15 it is "reenable_com".
	* "always"~~: Disable outputs on "disable motors", does not enable on startup~~, ~~does not re-enable on error~~
	* "nodisable"~~: Keeps outputs enabled when motors are disabled~~, ~~does not enable on startup, does not re-enable on error~~
	* "reenable_com"~~: Keeps outputs enabled when motors are disabled, enables outputs on startup, does not re-enable on error~~
	* "reenable"~~: Keeps outputs enabled when motors are disabled~~, ~~enables outputs on startup, re-enables outputs on error~~

	~~In iRC V14 and earlier the~~ behavior ~~is "~~always"~~, from V15 it is "reenable_com~~".		{\| class="wikitable"
			\|+ Digital output behavior in different situations
			\|-
			! !! always !! nodisable !! reenable_com !! reenable
			\|-
			\| on "disable motors" \|\| '''disabled''' \|\| enabled \|\| enabled \|\| enabled
			\|-
			\| on startup \|\| '''disabled''' \|\| '''disabled''' \|\| enabled \|\| enabled
			\|-
			\| on COM error \|\| '''disabled''' \|\| '''disabled''' \|\| enabled \|\| enabled
			\|-
			\| on error \|\| '''disabled''' \|\| '''disabled''' \|\| '''disabled''' \|\| enabled
			\|}

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

	The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:		The behavior can be configured in the [[Robot Configuration File]]. Find the line starting with "<BusConfiguration" and add the parameter "DOutBehavior", e.g.:

AI Programming Assist

OLT — Thu, 26 Mar 2026 12:38:05 GMT

← Older revision		Revision as of 12:38, 26 March 2026
Line 1:		Line 1:
	Creating a complex robot program can be a daunting task, when you are not familiar with programming. Using an AI agent can help you getting started with your project really fast.		Creating a complex robot program can be a daunting task, when you are not familiar with programming. Using an AI agent can help you getting started with your project really fast.

	The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown''' ~~files~~ come into play. These files tell the agent everything they need to know.		The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown Runbooks''' come into play. These files tell the agent everything they need to know.

	We've created a general ~~markdown file~~ for iRC programming, that you can use freely.		We've created a general Markdown Runbook for iRC programming, that you can use freely.
	Just download the file and post it into an AI agent of your choice. It will then know how to create a robot program and will help you creating yours.		Just download the file and post it into an AI agent of your choice. It will then know how to create a robot program and will help you creating yours.

	[https://downloads.cpr-robots.com/Wiki-Files/AI_Assistant/Markdown/iRC_Programming_Guide_for_LLM.md Download Markdown ~~file~~ for iRC programming]		[https://downloads.cpr-robots.com/Wiki-Files/AI_Assistant/Markdown/iRC_Programming_Guide_for_LLM.md Download Markdown Runbook for iRC programming]

Absolute Encoder Offset

OLT — Thu, 26 Mar 2026 08:35:54 GMT

← Older revision		Revision as of 08:35, 26 March 2026
Line 30:		Line 30:
	Do this for each joint. You can check the check with iRC between updating each joint or once all are done. If the errors got worse try subtracting instead of adding. If nothing helps restore the original values and contact support.		Do this for each joint. You can check the check with iRC between updating each joint or once all are done. If the errors got worse try subtracting instead of adding. If nothing helps restore the original values and contact support.

	[[Category:ModuleCtrl]]		[[Category:ModuleCtrl]][[Category:Rebel]]

DH Parameter

OLT — Thu, 26 Mar 2026 08:35:44 GMT

← Older revision		Revision as of 08:35, 26 March 2026
Line 18:		Line 18:
	** The datasheet / technical drawing of the robot. These files are found on the igus web pages of the according product.		** The datasheet / technical drawing of the robot. These files are found on the igus web pages of the according product.
	** The parameters the iRC uses can be found in the robot description file, e.g. C:\iRC-igusRobotControl\Data\Robots\igus-REBEL\REBEL-6DOF-01\REBEL-6DOF-01.xml. The line 'Kinematic' contains the values used by the iRC.		** The parameters the iRC uses can be found in the robot description file, e.g. C:\iRC-igusRobotControl\Data\Robots\igus-REBEL\REBEL-6DOF-01\REBEL-6DOF-01.xml. The line 'Kinematic' contains the values used by the iRC.

			[[Category:Rebel]]

Overcurrent Error

OLT — Thu, 26 Mar 2026 08:34:50 GMT

← Older revision		Revision as of 08:34, 26 March 2026
Line 38:		Line 38:
	In some cases an overloaded axis can be fixed by [[Motor Current Parameters BLDC\|increasing the current limit]]. However, this is discouraged and should only be the last resort since it can damage components if not done carefully. The current of igus ReBeL axes should generally not be increased past the standard value.		In some cases an overloaded axis can be fixed by [[Motor Current Parameters BLDC\|increasing the current limit]]. However, this is discouraged and should only be the last resort since it can damage components if not done carefully. The current of igus ReBeL axes should generally not be increased past the standard value.

	[[Category:TinyCtrl]][[Category:Troubleshooting]]		[[Category:TinyCtrl]][[Category:Troubleshooting]][[Category:Rebel]][[Category:Gantry]]

ROS packages

OLT — Thu, 26 Mar 2026 08:34:03 GMT

← Older revision		Revision as of 08:34, 26 March 2026
Line 45:		Line 45:
	* [http://www.github.com/CPR-Robots Source code download]		* [http://www.github.com/CPR-Robots Source code download]

	[[Category:ROS]][[Category:Downloads]]		[[Category:ROS]][[Category:Downloads]][[Category:Rebel]]

Rebel Joint

OLT — Thu, 26 Mar 2026 08:33:39 GMT

← Older revision		Revision as of 08:33, 26 March 2026
Line 30:		Line 30:
	=Contact=		=Contact=
	In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.		In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.

			[[Category:Rebel]]

Category:Rebel

OLT — Thu, 26 Mar 2026 08:32:33 GMT

Created page with "thumb|300px"

New page

[[File:ReBeL.png|thumb|300px]]

Singularities and Kinematic Limits

OLT — Thu, 26 Mar 2026 08:27:56 GMT

← Older revision		Revision as of 08:27, 26 March 2026
Line 181:		Line 181:
	* Use joint motion if you need to move through the singularity.		* Use joint motion if you need to move through the singularity.

	[[Category:CPRog]][[Category:TinyCtrl]]		[[Category:CPRog]][[Category:TinyCtrl]][[Category:Gantry]][[Category:Rebel]][[Category:Scara]]

ReBeL Examples

OLT — Thu, 26 Mar 2026 08:27:31 GMT

← Older revision		Revision as of 08:27, 26 March 2026
Line 18:		Line 18:

	:[[Stacking Application]]		:[[Stacking Application]]

			[[Category:Rebel]]

Scara Examples

OLT — Thu, 26 Mar 2026 08:26:01 GMT

← Older revision		Revision as of 08:26, 26 March 2026
Line 8:		Line 8:

	[[File:SCARA.png\|frame\|500px]]		[[File:SCARA.png\|frame\|500px]]

			[[Category:Scara]]

Assemble Stacking Application

OLT — Thu, 26 Mar 2026 08:25:16 GMT

← Older revision	Revision as of 08:25, 26 March 2026
(One intermediate revision by the same user not shown)
(No difference)

Arrange Application

OLT — Thu, 26 Mar 2026 08:23:53 GMT

← Older revision		Revision as of 08:23, 26 March 2026
Line 16:		Line 16:

	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.		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]]

RoundRobin Application

OLT — Thu, 26 Mar 2026 08:23:46 GMT

← Older revision		Revision as of 08:23, 26 March 2026
Line 20:		Line 20:

	This setup works infinitely with a variable amount of objects.		This setup works infinitely with a variable amount of objects.

			[[Category:Delta]]

Delta Examples

OLT — Thu, 26 Mar 2026 08:23:16 GMT

← Older revision		Revision as of 08:23, 26 March 2026
Line 16:		Line 16:

	:[[RoundRobin Application]]		:[[RoundRobin Application]]

			[[Category:Delta]]

Motor Brake

OLT — Thu, 26 Mar 2026 08:22:34 GMT

← Older revision		Revision as of 08:22, 26 March 2026
Line 29:		Line 29:
	[[file:IRC_EnableBrake.PNG\|left]]		[[file:IRC_EnableBrake.PNG\|left]]

	[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]]		[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Gantry]][[Category:Scara]]

Category:Support

OLT — Thu, 26 Mar 2026 08:21:41 GMT

Created page with "Troubleshooting guides and Support."

New page

Troubleshooting guides and Support.

Troubleshooting Referencing Issues

OLT — Thu, 26 Mar 2026 08:20:18 GMT

← Older revision		Revision as of 08:20, 26 March 2026
(One intermediate revision by the same user not shown)
Line 62:		Line 62:
	[[Support Routes\|Contact us]] if you encounter issues regarding the electronics and software or if you need further help.		[[Support Routes\|Contact us]] if you encounter issues regarding the electronics and software or if you need further help.

	[[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]][[Category:Support]][[Category:Troubleshooting]]		[[Category:CPRog]][[Category:TinyCtrl]][[Category:Referencing]][[Category:Support]][[Category:Troubleshooting]][[Category:Gantry]][[Category:Delta]][[Category:Scara]]

Swap Axis Direction

OLT — Thu, 26 Mar 2026 08:19:11 GMT

← Older revision		Revision as of 08:19, 26 March 2026
Line 43:		Line 43:
	After referencing the control software should show the correct position and be able to move to the 0 position. If the position is far off try subtracting instead of adding.		After referencing the control software should show the correct position and be able to move to the 0 position. If the position is far off try subtracting instead of adding.

	[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Troubleshooting]]		[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Troubleshooting]][[Category:Gantry]]

Template:Main page

OLT — Thu, 26 Mar 2026 08:18:05 GMT

← Older revision		Revision as of 08:18, 26 March 2026
Line 27:		Line 27:
	* [[Documentation\|Documentation and User Guides]]		* [[Documentation\|Documentation and User Guides]]
	* [[Configuration Files Overview]]		* [[Configuration Files Overview]]
	* [[Example Library\|Program Examples]]
	* [[Control Interfaces]]		* [[Control Interfaces]]
	</div>		</div>
Line 42:		Line 41:
	<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:Delta\|Delta]]
			* [[:Category:Scara\|Scara]]
	* [[AMR Documentation\|Mobile Robots]]		* [[AMR Documentation\|Mobile Robots]]
	* [[:Category:Robolink\|Robolink]]
	</div>		</div>

Line 52:		Line 53:

	<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> ~~Examples~~ </span></h3>		<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Programming </span></h3>
			* [[AI Programming Assist]]
	* [[Example_Library\|Example Programs]]		* [[Example_Library\|Example Programs]]
	</div>		</div>
Line 60:		Line 62:
	* [[Troubleshooting\|Systematic Troubleshooting]]		* [[Troubleshooting\|Systematic Troubleshooting]]
	* [[Robot Hardware Troubleshooting]]		* [[Robot Hardware Troubleshooting]]
	* [[CPRog Software Troubleshooting]]
	* [[Support Routes]]		* [[Support Routes]]
	</div>		</div>
Line 66:		Line 67:
	<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> Legacy </span></h3>		<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Legacy </span></h3>
			* [[:Category:Robolink\|Robolink]]
	* [[DCi quickstart guide\|Robolink DCi]]		* [[DCi quickstart guide\|Robolink DCi]]
	* [[:Category:Mover\|Mover]]		* [[:Category:Mover\|Mover]]
			* [[CPRog Software Troubleshooting]]
	</div>		</div>

Category:Scara

OLT — Thu, 26 Mar 2026 08:16:52 GMT

Created page with "frame|300px"

New page

[[File:SCARA.png|frame|300px]]

Category:Delta

OLT — Thu, 26 Mar 2026 08:16:30 GMT

Created page with "frame|300px"

New page

[[File:DELTA.png|frame|300px]]

Category:Gantry

OLT — Thu, 26 Mar 2026 08:14:24 GMT

← Older revision		Revision as of 08:14, 26 March 2026
Line 1:		Line 1:
	~~Articles that relate to Gantry specific topics~~.		[[File:GANTRY.png\|frame\|300px]]

Gantry Examples

OLT — Thu, 26 Mar 2026 08:13:21 GMT

← Older revision		Revision as of 08:13, 26 March 2026
Line 46:		Line 46:

	:[[Pick and Place Stack Application]]		:[[Pick and Place Stack Application]]


			[[Category:Gantry]]

Changing Motion Limits

OLT — Thu, 26 Mar 2026 08:12:09 GMT

← Older revision		Revision as of 08:12, 26 March 2026
Line 34:		Line 34:


	[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]]		[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Gantry]]

Category:Gantry

OLT — Thu, 26 Mar 2026 08:09:09 GMT

Created page with "Articles that relate to Gantry specific topics."

New page

Articles that relate to Gantry specific topics.

Gantry axes moving in wrong direction

OLT — Thu, 26 Mar 2026 08:08:31 GMT

← Older revision		Revision as of 08:08, 26 March 2026
Line 39:		Line 39:
	* Incorrect referencing offset. follow [[Swap_Axis_Direction#Referencing_Offset\|Referencing Offset]] on how to fix this.		* Incorrect referencing offset. follow [[Swap_Axis_Direction#Referencing_Offset\|Referencing Offset]] on how to fix this.

	[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Troubleshooting]]		[[Category:Configuration]][[Category:CPRog]][[Category:TinyCtrl]][[Category:Troubleshooting]][[Category:Gantry]]

AI Programming Assist

OLT — Thu, 26 Mar 2026 08:06:51 GMT

Created page with "Creating a complex robot program can be a daunting task, when you are not familiar with programming. Using an AI agent can help you getting started with your project really fast. The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown''' files come into play. These files tell the agent everything they need to know. We've created a general markdown file for iRC programming, that you can use freely. Just download the file an..."

New page

Creating a complex robot program can be a daunting task, when you are not familiar with programming. Using an AI agent can help you getting started with your project really fast.

The AI agent need to be set up correctly before it knows what to do exactly. This is where '''Markdown''' files come into play. These files tell the agent everything they need to know.

We've created a general markdown file for iRC programming, that you can use freely.
Just download the file and post it into an AI agent of your choice. It will then know how to create a robot program and will help you creating yours.

[https://downloads.cpr-robots.com/Wiki-Files/AI_Assistant/Markdown/iRC_Programming_Guide_for_LLM.md Download Markdown file for iRC programming]

Starter Guide

OLT — Tue, 24 Mar 2026 11:32:19 GMT

← Older revision		Revision as of 11:32, 24 March 2026
(One intermediate revision by the same user not shown)
Line 1:		Line 1:
	~~You will find~~ a ~~quick start guide here in~~ the ~~future!~~		Please have a look at the [[Documentation \| User Guide]] for detailed information.

	~~Until then~~, please have a look at the [[~~Documentation \| User Guide~~]].		You can find an online video introduction on the basics in the [https://axis-community.com/courses/igus-rebel-programming-101/ free '''axis''' automation training courses].

			If you are looking for an individual training, have a look at the [https://rbtx.de/en-GB/academy RBTX-Academy]

			= Connecting =
			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]].

			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]]

			= Activating the Robot =
			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.

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

			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]]

			= 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.

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

IgusRobotControl Release History

MAB — Thu, 19 Mar 2026 14:27:53 GMT

V14-006-6

← Older revision		Revision as of 14:27, 19 March 2026
Line 4:		Line 4:

	*Updater iRC and RobotControl:		*Updater iRC and RobotControl:
			**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-6.zip Updater_iRC_V14-006-6.zip]
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-5.zip Updater_iRC_V14-006-5.zip]		**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-5.zip Updater_iRC_V14-006-5.zip]
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-4.zip Updater_iRC_V14-006-4.zip]		**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-4.zip Updater_iRC_V14-006-4.zip]
Line 21:		Line 22:

	*iRC-Windows-Software only:		*iRC-Windows-Software only:
			**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-6.exe Installer_iRC_V14-006-6.exe]
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-5.exe Installer_iRC_V14-006-5.exe]		**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-5.exe Installer_iRC_V14-006-5.exe]
	**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-4.exe Installer_iRC_V14-006-4.exe]		**[https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-4.exe Installer_iRC_V14-006-4.exe]

IgusRobotControl-Release14-DE

MAB — Thu, 19 Mar 2026 14:27:20 GMT

V14-006-6

← Older revision		Revision as of 14:27, 19 March 2026
Line 29:		Line 29:
	= Downloads =		= Downloads =

	'''Updater''' für iRC und RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-5.zip Updater_iRC_V14-006-5.zip]		'''Updater''' für iRC und RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-6.zip Updater_iRC_V14-006-6.zip]

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

	Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-5.exe Installer_iRC_V14-006-5.exe]		Nur die iRC-Windows-Software: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-6.exe Installer_iRC_V14-006-6.exe]

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

IgusRobotControl-Release14-EN

MAB — Thu, 19 Mar 2026 14:26:06 GMT

V14-006-6

← Older revision		Revision as of 14:26, 19 March 2026
Line 29:		Line 29:
	= Downloads =		= Downloads =

	'''Updater''' for iRC and RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-5.zip Updater_iRC_V14-006-5.zip]		'''Updater''' for iRC and RobotControl: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Updater_iRC_V14-006-6.zip Updater_iRC_V14-006-6.zip]

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

	iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-5.exe Installer_iRC_V14-006-5.exe]		iRC-Windows-Software only: [https://downloads.cpr-robots.com/Software/igusRobotControl/V14/Installer_iRC_V14-006-6.exe Installer_iRC_V14-006-6.exe]

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