Difference between revisions of "Rebel Joint"
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This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below. | This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below. | ||
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| + | =Test and Configuration Software= | ||
| + | The software tool "ModuleControl" allows to move a single joint in different operations modes. It also allows to change the motion parameter on the board. | ||
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| + | Download: [[http://www.cpr-robots.com/download/ModuleControl/InstallerCPRModuleCtrlClosedLoop_V01-007.exe| ModuleControl ClosedLoop]] | ||
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=Communication Protocol= | =Communication Protocol= | ||
Revision as of 09:40, 23 June 2021
This page provides information and first steps support on the igus Rebel joint modules.
Manual
Product user guide: (will follow soon).
Documentation of the motor controller: here.
This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below.
Test and Configuration Software
The software tool "ModuleControl" allows to move a single joint in different operations modes. It also allows to change the motion parameter on the board.
Download: [ModuleControl ClosedLoop]
Communication Protocol
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.
Protocol specification: [protocol specification]
Demo source code will follow.
Contact
In case of questions please contact Jacob Geber at igus GmbH.
