CPR Wiki

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Welcome to the Commonplace Robotics Wiki
Right now there are 314 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.

igus ReBeL

  • igus ReBeL software, documentation and troubleshooting

iRC - igus Robot Control Software

igus robots and gantries

AMR - Autonomous Mobile Robots

iRC Electronics for Stepper Motors

iRC Electronics for BLDC Motors

How to interface with the robots

  • 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
  • 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

Firmware configuration and diagnostics

Troubleshooting and Support

Legacy Mover and CPRog

Legacy Embedded Control Software TinyCtrl

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