https://wiki.cpr-robots.com/index.php?action=history&feed=atom&title=Rebel_Joint 2026-05-01T23:41:18Z Revision history for this page on the wiki MediaWiki 1.44.0 https://wiki.cpr-robots.com/index.php?title=Rebel_Joint&diff=919&oldid=prev 2026-03-26T08:33:39Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 08:33, 26 March 2026</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l30">Line 30:</td> <td colspan="2" class="diff-lineno">Line 30:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Contact=</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Contact=</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.</div></td></tr> <tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;"></ins></div></td></tr> <tr><td colspan="2" class="diff-side-deleted"></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div><ins style="font-weight: bold; text-decoration: none;">[[Category:Rebel]]</ins></div></td></tr> </table>

OLT https://wiki.cpr-robots.com/index.php?title=Rebel_Joint&diff=704&oldid=prev 2025-09-24T10:34:45Z

<p></p> <table style="background-color: #fff; color: #202122;" data-mw="interface"> <col class="diff-marker" /> <col class="diff-content" /> <col class="diff-marker" /> <col class="diff-content" /> <tr class="diff-title" lang="en"> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">← Older revision</td> <td colspan="2" style="background-color: #fff; color: #202122; text-align: center;">Revision as of 10:34, 24 September 2025</td> </tr><tr><td colspan="2" class="diff-lineno" id="mw-diff-left-l21">Line 21:</td> <td colspan="2" class="diff-lineno">Line 21:</td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Protocol specification:  </div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>Protocol specification:  </div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [https://<del style="font-weight: bold; text-decoration: none;">www</del>.cpr-robots.com/<del style="font-weight: bold; text-decoration: none;">download</del>/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* [https://<ins style="font-weight: bold; text-decoration: none;">downloads</ins>.cpr-robots.com/<ins style="font-weight: bold; text-decoration: none;">Documentation/EN/Software</ins>/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)]</div></td></tr> <tr><td class="diff-marker" data-marker="−"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #ffe49c; vertical-align: top; white-space: pre-wrap;"><div>* [https://<del style="font-weight: bold; text-decoration: none;">www</del>.cpr-robots.com/<del style="font-weight: bold; text-decoration: none;">download</del>/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)]</div></td><td class="diff-marker" data-marker="+"></td><td style="color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #a3d3ff; vertical-align: top; white-space: pre-wrap;"><div>* [https://<ins style="font-weight: bold; text-decoration: none;">downloads</ins>.cpr-robots.com/<ins style="font-weight: bold; text-decoration: none;">Documentation/DE/Software</ins>/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)]</div></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><br></td></tr> <tr><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Demo Source Code=</div></td><td class="diff-marker"></td><td style="background-color: #f8f9fa; color: #202122; font-size: 88%; border-style: solid; border-width: 1px 1px 1px 4px; border-radius: 0.33em; border-color: #eaecf0; vertical-align: top; white-space: pre-wrap;"><div>=Demo Source Code=</div></td></tr> </table>

OLT https://wiki.cpr-robots.com/index.php?title=Rebel_Joint&diff=276&oldid=prev 2025-08-11T12:10:01Z

<p>Created page with &quot;This page provides information and first steps support on the igus Rebel joint modules. =Manual= Documentation for the ReBeL robot arms: * EN: [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_Rebel_V14.pdf UserGuide_iRC_Rebel_V14.pdf] * DE: [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_Rebel_V14.pdf Bedienungsanleitung_iRC_Rebel_V14.pdf] Documentation for the motor controller: * EN: [https://cpr-ro...&quot;</p> <p><b>New page</b></p><div>This page provides information and first steps support on the igus Rebel joint modules. <br /> <br /> =Manual=<br /> Documentation for the ReBeL robot arms:<br /> * EN: [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_Rebel_V14.pdf UserGuide_iRC_Rebel_V14.pdf]<br /> * DE: [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_Rebel_V14.pdf Bedienungsanleitung_iRC_Rebel_V14.pdf]<br /> <br /> Documentation for the motor controller:<br /> * EN: [https://cpr-robots.com/download/DocumentationEN/BLDCBoard_UserGuide_iRC_en.pdf BLDCBoard_UserGuide_iRC_en.pdf]<br /> * DE: [https://cpr-robots.com/download/DocumentationDE/BLDCBoard_UserGuide_iRC_de.pdf BLDCBoard_UserGuide_iRC_de.pdf]<br /> <br /> This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below.<br /> <br /> =Test and Configuration Software=<br /> The software tool &quot;ModuleControl&quot; allows to move a single joint in different operations modes. It also allows to change the motion parameter on the board. ModuleControl needs a USB to CAN adapter from PeakSysteme, the PCAN-USB.<br /> <br /> Please download the software at the ModuleControl wiki page, please use the ClosedLoop-Version: [[Config Software ModuleCtrl]]<br /> <br /> =Communication Protocol=<br /> The motor controller uses a CAN based custom protocol called CPRCANV2. This simple protocol sends and receives 32 bit position information. CANopen ist not supported.<br /> <br /> Protocol specification: <br /> * [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)]<br /> * [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)]<br /> <br /> =Demo Source Code=<br /> A C# Visual Studio 2019 solution is available to show the basic communication with a Rebel joint. This demo code makes use of the Peak Systeme PCAN-USB adapter.<br /> The demo source code lies on github: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient]<br /> <br /> =Contact=<br /> In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.</div>

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