CPR Wiki

From CPR Wiki

Welcome to the Commonplace Robotics Wiki
Right now there are 332 pages in this wiki.

Tools, tips and troubleshooting for the Commonplace Robotics Mover4 and Mover6 robot arms and modular control electronics used with igus robolink robot arms.

Use cases and specifications

igus robots and gantries

AMR - Autonomous Mobile Robots

Programming environment CPRog/iRC

Embedded Control Software TinyCtrl

How to interface with the CPR robots

  • 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
  • Communication with Beckhoff TwinCat: The robot control can receive data from the Beckhoff TwinCat PLC
  • CRI Ethernet Interface: Connect via network connection. Find documentation and example code here
  • 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
  • Camera Interface: Receive coordinates and object information from an object recognition camera.

Firmware configuration and diagnostics

Troubleshooting and Support

We are constantly extending and updating this Wiki, please get in touch for further information!