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<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the Robotics Wiki</div>
<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">Tools, tips, and troubleshooting</div>
Commonplace Robotics and igus GmbH are working closely together to develop an intuitive robot control software.
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* [[:Category:CPRog|CPRog/iRC Software]]
* [[:Category:ModuleCtrl|ModuleCtrl]]
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* [[:Category:robolink|robolink arm]]
* [[:Category:Mover|Mover arm]]
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* [http://www.cpr-robots.com/ CPR Robots]
* [http://www.github.com/CPR-Robots git repositories]
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* '''[[Special:AllPages|All pages]]'''
* '''[[:Category:Downloads|Downloads]]'''
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= igus ReBeL =
* [[igus ReBeL]] software, documentation and troubleshooting

= iRC - igus Robot Control Software =
* [[Software_Updates|Software Downloads]]
* [[Documentation|Documentation and User Guides]]
* [[:Category:Robot Programming|Programming Examples and additional information]]
* [[:Category:Configuration|Configuration]]
* [[Configuration Files Overview]]

= igus robots and gantries =
* [[Referencing robolink]]: Referencing the robolink arm
* Write your first [[CPRog Examples|first motion program in CPRog/iRC]]. - Also have a look at the [[#Programming_environment_CPRog/iRC|CPRog/iRC section below]].
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
[[How to operate a vacuum gripper using CPRog and the Modular Control Electronics|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 using CPRog and the Modular 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 - Autonomous Mobile Robots =

* [[AMR Documentation]]: Documentation and software updates for the CPR Mobile Platforms

= iRC Electronics for Stepper Motors =
* [[External_Axis|Adding additional axes]]
* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Open Loop]]
* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V1]]
* [[Set_up,_testing_of_single_joints|Set up and testing of single joints]]

= iRC Electronics for BLDC Motors =
* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Closed Loop]]
* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V2]]
* [[Rebel_Joint|ReBeL Joint]]: Documentation for the set up of single Rebel joints

= How to interface with the robots =

* [[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
* [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
* [[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 configuration and diagnostics =

* [[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: [https://www.peak-system.com/fileadmin/media/files/pcanview.zip PCAN View]
* [[Motor Current Parameter]]: Measurements on the relation between motor current, torque and velocity

= Troubleshooting and Support =
* [[Troubleshooting|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]]

= Legacy Mover and CPRog =
* [[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 [[CPRog Examples|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

= Legacy Embedded Control Software TinyCtrl =
* [[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 [[Support Routes|get in touch]] for further information!