Apps for the Robot Control - Revision history

MAB: Added PositionLogger

2026-03-09T12:35:26Z

Added PositionLogger

← Older revision		Revision as of 12:35, 9 March 2026
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	Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.		Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.

	= Minimal ~~App~~ examples and source code =		= Minimal app examples and source code =
	As a starting point to develop your own robot control apps you can use our Minimal App (available for C++ and Python). These include a simplified API, documentation and examples. The examples show how to read and write variables, how extend the robot program with new functions and how to create a user interface that integrates into iRC/CPRog.		As a starting point to develop your own robot control apps you can use our Minimal App (available for C++ and Python). These include a simplified API, documentation and examples. The examples show how to read and write variables, how extend the robot program with new functions and how to create a user interface that integrates into iRC/CPRog.

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	[[Math Tools App\|Math Tools]] extends the igus Robot Control with occasionally needed program functions, mainly around kinematics, math and timing. The app is open source and python-based so you can easily add your own functions as needed.		[[Math Tools App\|Math Tools]] extends the igus Robot Control with occasionally needed program functions, mainly around kinematics, math and timing. The app is open source and python-based so you can easily add your own functions as needed.

			= Position Logger =
			The PositionLogger app adds basic functions for logging the robot's position to a CSV file. This is intended for testing and as an extendable example - with some Python skills you can log any info that is relevant to you.

			The position logger adds the following app commands:
			* Clear log: Deletes the log file, should be called before logging is started to reset the log file
			* Add TCP to log: Adds the current tool center point position
			* Add position variable to log: Adds a position from a variable

			Downloads:
			* [https://github.com/CommonplaceRobotics/RobotControlApps/tree/master/PositionLogger Info and source code]
			* [https://github.com/CommonplaceRobotics/RobotControlApps/releases App package]

	= Socket App =		= Socket App =

OLT: /* Installing Apps */

2025-12-03T15:00:37Z

Installing Apps

← Older revision		Revision as of 15:00, 3 December 2025
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	= Installing Apps =		= Installing Apps =
	Apps come as ZIP packages. To install an app connect iRC/CPRog to the robot, then click "File" -> "Configure Interfaces" -> "Apps" -> "Install" and select the ZIP package.		Apps come as ZIP packages. To install an app connect iRC/CPRog to the robot, then click "File" → "Configure Interfaces" → "Apps" → "Install" and select the ZIP package.

	Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.		Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.

OLT at 14:59, 3 December 2025

2025-12-03T14:59:07Z

← Older revision		Revision as of 14:59, 3 December 2025
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	Please note that the app interface still is quite new and does not provide all features like [[CRI Ethernet Interface\|CRI]] or [[Modbus Server\|Modbus]]. We will extend it in near future.		Please note that the app interface still is quite new and does not provide all features like [[CRI Ethernet Interface\|CRI]] or [[Modbus Server\|Modbus]]. We will extend it in near future.

			You made a cool app yourself and want to share it with the world?
			Please [mailto:support@cpr-robots.com contact] us and we will make it accessible here!

	= Installing Apps =		= Installing Apps =

OLT at 13:48, 11 August 2025

2025-08-11T13:48:03Z

← Older revision		Revision as of 13:48, 11 August 2025
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	In the video and for tests we used the ELP-USB4K03-SFV (5-50 mm). You can use all USB Cameras (Type A oder 3.0), which do not have an auto focus or wide angle.		In the video and for tests we used the ELP-USB4K03-SFV (5-50 mm). You can use all USB Cameras (Type A oder 3.0), which do not have an auto focus or wide angle.

			[[Category:Apps]]

OLT: Created page with "The app interface (since iRC/CPRog V14) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to the program editor and add user interface components for interaction and configuration. The app interface is based on GRPC which supports many different programming languages. We have prepared sample APIs for C++ and Python with a minimal sample app that can be used as a base for new apps..."

2025-08-11T12:28:30Z

Created page with "The app interface (since iRC/CPRog V14) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to the program editor and add user interface components for interaction and configuration. The app interface is based on GRPC which supports many different programming languages. We have prepared sample APIs for C++ and Python with a minimal sample app that can be used as a base for new apps..."

New page

The app interface (since [[IgusRobotControl-Release14-EN|iRC/CPRog V14]]) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to the program editor and add user interface components for interaction and configuration.

The app interface is based on GRPC which supports many different programming languages. We have prepared sample APIs for C++ and Python with a minimal sample app that can be used as a base for new apps. See section Minimal App below.

Please note that the app interface still is quite new and does not provide all features like [[CRI Ethernet Interface|CRI]] or [[Modbus Server|Modbus]]. We will extend it in near future.

= Installing Apps =
Apps come as ZIP packages. To install an app connect iRC/CPRog to the robot, then click "File" -> "Configure Interfaces" -> "Apps" -> "Install" and select the ZIP package.

Note that apps may support being installed to both embedded control and simulation on PC or only one of them. This depends on whether the creator of the app has included binaries for both systems.

= Minimal App examples and source code =
As a starting point to develop your own robot control apps you can use our Minimal App (available for C++ and Python). These include a simplified API, documentation and examples. The examples show how to read and write variables, how extend the robot program with new functions and how to create a user interface that integrates into iRC/CPRog.

Download the source code and find the documentation [https://github.com/CommonplaceRobotics/RobotControlApps on GitHub].
The interface will be extended with new functions in future.

= Math Tools =

[[Math Tools App|Math Tools]] extends the igus Robot Control with occasionally needed program functions, mainly around kinematics, math and timing. The app is open source and python-based so you can easily add your own functions as needed.

= Socket App =
The Socket App extends the robot control with a network interface for receiving and sending text-based messages.

Features:
* TCP client
* TCP server
* UDP
* Parse text-based messages for numbers, access these numbers in the robot program
* Send text-based messages with optional numbers from program variables

Use Cases:
* Receiving position values from object recognition cameras or other data sources
* Synchronizing values between robots
* etc...

Downloads:
* [https://wiki.cpr-robots.com/images/5/53/Socket_App_User_Guide.pdf Documentation]
* [https://wiki.cpr-robots.com/images/6/64/Socket_App_V1.0.1.zip Socket App package]

= Vision App =

The Vision App is created for 2D Object Detection. The app uses a standard USB camera which can be connected to your robot. [https://wiki.cpr-robots.com/images/8/88/VisionApp_Examples_EN.pdf This]
document describes what the Vision App can be used for and what objects can be detected.

Download calibration sheet: [https://wiki.cpr-robots.com/images/c/c3/CalibrationSheetV3.pdf CalibrationSheetV3.pdf]

Download user manual: [https://wiki.cpr-robots.com/images/c/cd/VisionApp_Manual_EN.pdf UserManual_VisionApp_EN.pdf]

Download .zip for robot: [https://wiki.cpr-robots.com/images/1/11/Vision2d.zip Vision2D.zip]

Download STL of measuring tips: [https://wiki.cpr-robots.com/images/6/6f/Messspitzen.zip Delta_and_Rebel.STL]

What has changed: [https://wiki.cpr-robots.com/images/1/1c/ChangeLogVisionApp.txt ChangeLog]

There are three Video Tutorials how to use the Vision App:
* Calibration: [https://youtu.be/fpbPiadYieQ?feature=shared English] / [https://www.youtube.com/watch?v=RV6W3cHTwMs German]
* Settings for Object Detection: [https://youtu.be/Nw9391sffrk?feature=shared English] / [https://www.youtube.com/watch?v=L-CbLLiDD8E German]
* Progamming: [https://youtu.be/llvEa73kQYw?feature=shared English] / [https://www.youtube.com/watch?v=CjtXqH9r4zI German]
The .xml File of the example programm you can download [https://wiki.cpr-robots.com/images/1/11/Tutorial.zip here]

In the video and for tests we used the ELP-USB4K03-SFV (5-50 mm). You can use all USB Cameras (Type A oder 3.0), which do not have an auto focus or wide angle.