Difference between revisions of "Rebel Joint"
m (Removed update date) |
m (fixed typo) |
||
| Line 25: | Line 25: | ||
=Demo Source Code= | =Demo Source Code= | ||
| − | A C# | + | 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. |
The demo source code lies on github: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient] | The demo source code lies on github: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient] | ||
=Contact= | =Contact= | ||
In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH. | In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH. | ||
Revision as of 08:30, 15 August 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# 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. The demo source code lies on github: CANV2ProtocolDemoClient
Contact
In case of questions please contact Alexander Mühlens at igus GmbH.
