Difference between revisions of "Rebel Joint"
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=Manual= | =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] | |
| − | Documentation | + | * DE: [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_Rebel_V14.pdf Bedienungsanleitung_iRC_Rebel_V14.pdf] |
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| − | EN: [https://cpr-robots.com/download/ | ||
| − | |||
| − | DE: [https://cpr-robots.com/download/ | ||
| + | Documentation for the motor controller: | ||
| + | * EN: [https://cpr-robots.com/download/DocumentationEN/BLDCBoard_UserGuide_iRC_en.pdf BLDCBoard_UserGuide_iRC_en.pdf] | ||
| + | * DE: [https://cpr-robots.com/download/DocumentationDE/BLDCBoard_UserGuide_iRC_de.pdf BLDCBoard_UserGuide_iRC_de.pdf] | ||
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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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. | 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= | =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. | 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: [https://www.cpr-robots.com/download/CAN/ | + | Protocol specification: |
| + | * [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)] | ||
=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. | ||
Latest revision as of 08:20, 9 July 2024
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.
