Difference between revisions of "CPR Wiki"

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<div style="color:#50798a; font-size:162%; border:none; margin:0; padding:.1em;">Welcome to the Commonplace Robotics Wiki</div>
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<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the Robotics Wiki</div>
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<div id="articlecount" style="font-size:85%;"> Right now there are [[Special:Statistics|{{NUMBEROFPAGES}}]] pages in this wiki.</div>
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<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">Tools, tips, and troubleshooting</div>
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Commonplace Robotics and igus GmbH are working closely together to develop an intuitive robot control software.
 
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* [[:Category:CPRog|CPRog Software]]
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* [[:Category:CPRog|CPRog/iRC Software]]
 
* [[:Category:ModuleCtrl|ModuleCtrl]]
 
* [[:Category:ModuleCtrl|ModuleCtrl]]
 
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* [http://www.github.com/CPR-Robots git repositories]
 
* [http://www.github.com/CPR-Robots git repositories]
 
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* '''[[Special:AllPages|Index]]'''
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* '''[[Special:AllPages|All pages]]'''
 
* '''[[:Category:Downloads|Downloads]]'''
 
* '''[[:Category:Downloads|Downloads]]'''
 
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 +
= igus ReBeL =
 +
* [[igus ReBeL]] software, documentation and troubleshooting
  
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Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and modular control electronics used with igus robolink robot arms.
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= iRC - igus Robot Control Software =
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+
* [[Software_Updates|Software Downloads]]
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== Use cases and specifications ==
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* [[Documentation|Documentation and User Guides]]
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* [[Use Cases robolink]]: Use cases for the igus robolink robot arm with CPR control environment
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* [[:Category:Robot Programming|Programming Examples and additional information]]
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* [[Use Cases Mover Robots]]: Use cases for the Mover robots. Which use cases work ok, which don't?
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* [[:Category:Configuration|Configuration]]
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* [[Use Cases SRA]]: Use cases for the Service Robot Arm (SRA).
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* [[Configuration Files Overview]]
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* [[Specifications Mover Robots]]: joint length, velocities, precision ...
 
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* [[Specifications SRA]]: joint length, velocities, precision ...
 
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* [[CAD Data]]: .STEP and / or .obj files for the robots
 
−
 
 
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== igus robolink robot arms==
 
  
 +
= igus robots and gantries =
 
* [[Referencing robolink]]: Referencing the robolink arm
 
* [[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, ...
 
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
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** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics]]
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** [[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-Modules]]
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** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics]]
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** How to add [[Additional DIO-Boards of the DCi Control Electronics]]
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* Write your first [[CPRog Examples|first program]]
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** [[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
  
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* [[Set up, testing of single joints]]: How to connect the robot with the control electronics, how to test single joints
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= AMR - Autonomous Mobile Robots =
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* [[Define the zero position offsets]]: How to find and set the robot specific zero position offsets
 
  
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== Programming environment CPRog ==
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* [[AMR Documentation]]: Documentation and software updates for the CPR Mobile Platforms
  
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* [[CPRog Downloads]] Download the up-to-date version of the programming environment and current user guides / manuals
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= iRC Electronics for Stepper Motors =
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* [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference] Definition of the Programming Language Commands
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* [[External_Axis|Adding additional axes]]
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* [[Changing Robot Parameters]]: Many firmware parameters like joint max velocities or software end switches can be adapted to your needs.
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* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Open Loop]]
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* [[2D Camera Integration]]: How to integrate e.g. a smart camera into CPRog
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* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V1]]
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* [[CPRog Examples]]: Example programs in CPRog
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* [[Set_up,_testing_of_single_joints|Set up and testing of single joints]]
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* [[Scene Objects]]: Integration of custom (scene) objects in CPRog
 
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* [[Gearplay Compensation]]: Use CPRog to compensate backlash in joint 1
 
−
* [[Logic Program]]: Run a second program in parallel to a [[CPRog Examples|custom CPRog program]] to define logic functions
 
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* [[Bounding Box / Virtual Box]]: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot.
 
  
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== Embedded Control Software TinyCtrl ==
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= iRC Electronics for BLDC Motors =
 +
* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Closed Loop]]
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* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V2]]
 +
* [[Rebel_Joint|ReBeL Joint]]: Documentation for the set up of single Rebel joints
  
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* [[TinyCtrl Downloads]]: Download the most recent version of the embedded robot control software and current user guides / manuals
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= How to interface with the robots =
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* [[TinyCtrl Initial Setup of Linux Board]]: Instructions on how to install and set up TinyCtrl on a virgin Phytec Linux Board.
 
  
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== How to interface with the CPR robots ==
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* [[Control Interfaces]]: Summary of all PC/PLC control interfaces
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** [[Camera]]: How to integrate a camera system; different options are shown
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* [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
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** [[Modbus_Server]]: Using the Modbus TCP interface to communicate with a PLC, e.g. Siemens S7
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* [[Plugin Interface]]: A plugin mechanism allows direct integration of existing or custom functionality in CPRog
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** [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
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* [[Communication with Beckhoff TwinCat]]: The robot control can receive data from the Beckhoff TwinCat PLC
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** [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
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* [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
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* [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
 
* [[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
 
* [[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==
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= 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.
 
* [[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]
 
* 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 ==
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= Troubleshooting and Support =
−
 
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* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery.
 
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
 
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
−
* [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog programming/robot control environment
+
* [[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
 
* [[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
  
−
* [[Support Routes]]
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= 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!
 
We are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!

Latest revision as of 11:14, 29 August 2024


Welcome to the Robotics Wiki
Tools, tips, and troubleshooting

Commonplace Robotics and igus GmbH are working closely together to develop an intuitive robot control software.

igus ReBeL

  • igus ReBeL software, documentation and troubleshooting

iRC - igus Robot Control Software

igus robots and gantries

AMR - Autonomous Mobile Robots

iRC Electronics for Stepper Motors

iRC Electronics for BLDC Motors

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
  • 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

Troubleshooting and Support

Legacy Mover and CPRog

Legacy Embedded Control Software TinyCtrl

We are constantly extending and updating this Wiki, please get in touch for further information!

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