Difference between revisions of "Rebel Joint"
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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. | 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. | ||
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* [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)] | * [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)] | ||
* [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)] | * [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)] | ||
Revision as of 11:54, 18 July 2022
This page provides information and first steps support on the igus Rebel joint modules.
Manual
Documentation for the ReBeL robot arms:
Documentation for the motor controller:
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. ModuleControl needs a USB to CAN adapter from PeakSysteme, the PCAN-USB.
Please download the software at the ModuleControl wiki page, please use the ClosedLoop-Version: Config Software ModuleCtrl
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:
Demo Source Code
A C# VisualStudio2019 solution is available to show the basic communication with a Rebel joint. This demo code makes use of the Peak Systeme PCAN-USB adapter. The demo source code lies on github: CANV2ProtocolDemoClient
Contact
In case of questions please contact Alexander Mühlens at igus GmbH.
