MediaWiki API result
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"text": "igus ReBeL software, documentation and troubleshooting Software Downloads Documentation and User Guides Programming Examples and additional information Configuration Configuration Files Overview Referencing robolink: Referencing the robolink arm Write your first first motion program in CPRog/iRC. - Also have a look at the CPRog/iRC section below. Digital Inputs / Outputs: How to connect gripper, sensors, ... How to operate a vacuum gripper How to add Additional DIO-Modules How to add Additional DIO-Boards of the DCi Control Electronics How to operate an electrical parallel gripper Motor Brake: How to configure the control for a motor brake External Axis: How to add an additional external axis to e.g. a gantry robot: Set up, testing of single joints: Advanced! How to connect the robot with the control electronics, how to test single joints Define the zero position offsets: Advanced How to find and set the robot specific zero position offsets DCi quickstart guide: Quick start guide for DCi robolink robots. DCi upgrade guide: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot AMR Documentation: Documentation and software updates for the CPR Mobile Platforms Adding additional axes Configuration and test software ModuleCtrl Open Loop Configuration: firmware parameters V1 Set up and testing of single joints Configuration and test software ModuleCtrl Closed Loop Configuration: firmware parameters V2 ReBeL Joint: Documentation for the set up of single Rebel joints Control Interfaces: Summary of all PC/PLC control interfaces Camera: How to integrate a camera system; different options are shown Modbus_Server: Using the Modbus TCP interface to communicate with a PLC, e.g. Siemens S7 PLC Interface: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC CRI Ethernet Interface: Connect via network connection. Find documentation and example code here CRI-Python-Lib: a python libary that allows the fast and simple access to the robot control via ethernet using the CRI interface CAN Protocol: Write your own robot control software that directly sends commands to the CAN bus. Documentation and example code ROS packages: Integrate the robots into your ROS environment. Documentation and packages for hardware communication, teleop and moveIt DH Parameter: Some information on Denavit-Hartenberg parameterI Firmware Parameter Configuration: The motor controller firmware can be configured using CPRog/iRC Config Software ModuleCtrl: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics. Configuration for a linear Axis: Test and adapt the motor modules to run with a linear axis CAN Bus monitor for Windows: PCAN View Motor Current Parameter: Measurements on the relation between motor current, torque and velocity Systematic Troubleshooting: Fault identification and recovery. Robot Hardware Troubleshooting: what to do when the arm does not react as expected? CPRog Software Troubleshooting: tips how to deal with the CPRog/iRC programming/robot control environment Operating the Mover gripper using custom software: how to open and close the gripper using custom software Referencing the Mover Robot Arm: what to do, when the position of the virtual an the real robot does not match Fix a display with graphics errors Support Routes Software Updates Download the up-to-date version of the programming environment and current user guides / manuals Documentation in EN and DE Changing Robot Parameters: Many robot parameters like joint max velocities or software end switches can be adapted to your needs. 2D Camera Integration: The Konfiguration pages shows how to integrate e.g. a smart camera CPRog Examples: Example programs in CPRog/iRC Gearplay Compensation: Use CPRog/iRC to compensate backlash in joint 1 Logic Program: Run a second program in parallel to a custom CPRog/iRC program to define logic functions Bounding Box / Virtual Box: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot. Acceleration and Motion Smoothing: What does the smooth parameter in the CPRog/iRC Program Editor do? Smooth changes of direction! Consistency Check between CPRog/iRC, the program and the connected robot: What does it do and how to handle it Connect DCi Robot/TinyCtrl to a Laptop via LAN: Instructions on establishing a connection between a windows PC and the embedded Control of e.g. a DCi Robot. Software Updates: Download the most recent version of the embedded robot control software and current user guides / manuals Configure for a different robot: How to configure a robot control for a different kinematic FTP and putty Access: How to change parameter or files using FileZilla and putty Change the TinyCtrl Project: Change the TinyCtrl project file e.g. to switch to another robot or to add a linear axis Restore SD Card of Embedded Computer: Restore the SD card of the embedded computer using a factory image. TinyCtrl_Initial_Setup_of_Linux_Board: Instructions on how to install and set up TinyCtrl on a virgin Phytec Linux Board. Add External Axis: How to add an additional joint to the robot. Also helpful if the configuration of a joint does not work. We are constantly extending and updating this Wiki, please get in touch for further information!",
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How to connect the robot with the control electronics, how to test single joints\n* [[Define the zero position offsets]]: '''Advanced''' How to find and set the robot specific zero position offsets\n* [[DCi quickstart guide]]: Quick start guide for DCi robolink robots. \n* [[DCi upgrade guide]]: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot\n\n= AMR - Autonomous Mobile Robots =\n\n* [[AMR Documentation]]: Documentation and software updates for the CPR Mobile Platforms \n\n= iRC Electronics for Stepper Motors =\n* [[External_Axis|Adding additional axes]]\n* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Open Loop]]\n* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V1]]\n* [[Set_up,_testing_of_single_joints|Set up and testing of single joints]]\n\n= iRC Electronics for BLDC Motors =\n* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Closed Loop]]\n* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V2]]\n* [[Rebel_Joint|ReBeL Joint]]: Documentation for the set up of single Rebel joints\n\n= How to interface with the robots =\n\n* [[Control Interfaces]]: Summary of all PC/PLC control interfaces\n** [[Camera]]: How to integrate a camera system; different options are shown\n** [[Modbus_Server]]: Using the Modbus TCP interface to communicate with a PLC, e.g. Siemens S7\n** [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC\n** [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here\n* [https://github.com/CommonplaceRobotics/CRI-Python-Lib/ CRI-Python-Lib]: a python libary that allows the fast and simple access to the robot control via ethernet using the CRI interface \n* [[CAN Protocol]]: Write your own robot control software that directly sends commands to the CAN bus. Documentation and example code\n* [[ROS packages]]: Integrate the robots into your ROS environment. Documentation and packages for hardware communication, teleop and moveIt\n* [[DH Parameter]]: Some information on Denavit-Hartenberg parameterI\n\n= Firmware configuration and diagnostics =\n\n* [[Firmware Parameter Configuration]]: The motor controller firmware can be configured using CPRog/iRC\n* [[Config Software ModuleCtrl]]: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics.\n* [[Configuration for a linear Axis]]: Test and adapt the motor modules to run with a linear axis\n* CAN Bus monitor for Windows: [https://www.peak-system.com/fileadmin/media/files/pcanview.zip PCAN View]\n* [[Motor Current Parameter]]: Measurements on the relation between motor current, torque and velocity\n\n= Troubleshooting and Support =\n* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery.\n* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?\n* [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog/iRC programming/robot control environment\n* [[Operating the Mover gripper using custom software]]: how to open and close the gripper using custom software\n* [[Referencing the Mover Robot Arm]]: what to do, when the position of the virtual an the real robot does not match\n* [[Fix a display with graphics errors]]\n* [[Support Routes]]\n\n= Legacy Mover and CPRog =\n* [[Software Updates]] Download the up-to-date version of the programming environment and current user guides / manuals\n* [[Documentation]] in EN and DE\n* [[Changing Robot Parameters]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.\n* 2D Camera Integration: The [[Konfiguration]] pages shows how to integrate e.g. a smart camera\n* [[CPRog Examples]]: Example programs in CPRog/iRC\n* [[Gearplay Compensation]]: Use CPRog/iRC to compensate backlash in joint 1\n* [[Logic Program]]: Run a second program in parallel to a [[CPRog Examples|custom CPRog/iRC program]] to define logic functions\n* [[Bounding Box / Virtual Box]]: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot.\n* [[Acceleration and Motion Smoothing]]: What does the smooth parameter in the CPRog/iRC Program Editor do? Smooth changes of direction!\n* [[Consistency Check]] between CPRog/iRC, the program and the connected robot: What does it do and how to handle it\n\n= Legacy Embedded Control Software TinyCtrl =\n* [[Connect DCi Robot/TinyCtrl to a Laptop via LAN]]: Instructions on establishing a connection between a windows PC and the embedded Control of e.g. a DCi Robot.\n* [[Software Updates]]: Download the most recent version of the embedded robot control software and current user guides / manuals\n* [[Configure for a different robot]]: How to configure a robot control for a different kinematic \n* [[FTP and putty Access]]: How to change parameter or files using FileZilla and putty \n* [[Change the TinyCtrl Project]]: Change the TinyCtrl project file e.g. to switch to another robot or to add a linear axis\n* [[Restore SD Card of Embedded Computer]]: Restore the SD card of the embedded computer using a factory image. \n* [[TinyCtrl_Initial_Setup_of_Linux_Board]]: Instructions on how to install and set up TinyCtrl on a virgin Phytec Linux Board.\n* [[Add External Axis]]: How to add an additional joint to the robot. Also helpful if the configuration of a joint does not work.\n\nWe are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!",
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