Jump to content

Template:Main page: Difference between revisions

From Wiki
Created page with "__NOTOC__ {{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}} <!--__NOTOC__ BANNER ACROSS TOP OF PAGE --> {| id="mp-topbanner" style="width:100%; margin:1.2em 0 6px 0; border:1px solid #50798a;" | style="width:48%;" | <!-- "WELCOME TO CPR wiki AND ARTICLE COUNT --> {| style="border:none; background:none;" | style="text-align:center;" | <div style="font-size:162..."
 
mNo edit summary
 
Line 1: Line 1:
__NOTOC__
__NOTOC__
{{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}}
{{DISPLAYTITLE:<span style="position: absolute; clip: rect(1px 1px 1px 1px); clip: rect(1px, 1px, 1px, 1px);">{{FULLPAGENAME}}</span>}}
<!--__NOTOC__        BANNER ACROSS TOP OF PAGE        -->
<!--__NOTOC__        BANNER ACROSS TOP OF PAGE        -->
{| id="mp-topbanner" style="width:100%; margin:1.2em 0 6px 0; border:1px solid #50798a;"
{| id="mp-topbanner" style="width:100%; text-align:center; margin:1.2em 0 6px 0; border:5px solid #50798a;"
| style="width:48%;" |
|  
<!--        "WELCOME TO CPR wiki AND ARTICLE COUNT        -->
<!--        "WELCOME TO CPR wiki AND ARTICLE COUNT        -->
{| style="border:none; background:none;"
<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the iRC Wiki!</div>
| style="text-align:center;" |
<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">↑ Try using the search-bar at the top ↑</div>
<div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the Robotics Wiki</div>
Commonplace Robotics, as a part of igus GmbH, develops intuitive robot control software.
<div style="color: grey; font-size:162%; border:none; margin:0; padding:.1em;">Tools, tips, and troubleshooting</div>
 
Commonplace Robotics and igus GmbH are working closely together to develop an intuitive robot control software.
You can find all igus robots and many more in our [https://rbtx.com/en-US RBTX marketplace]!
|}
<!--        PORTAL LIST ON RIGHT-HAND SIDE        -->
| style="width:13%; font-size:95%;" |
* [[:Category:CPRog|CPRog/iRC Software]]
* [[:Category:ModuleCtrl|ModuleCtrl]]
| style="width:13%; font-size:95%;" |
* [[:Category:robolink|robolink arm]]
* [[:Category:Mover|Mover arm]]
| style="width:13%; font-size:95%;" |
* [http://www.cpr-robots.com/ CPR Robots]
* [http://www.github.com/CPR-Robots git repositories]
| style="width:13%; font-size:95%;" |
* '''[[Special:AllPages|All pages]]'''
* '''[[:Category:Downloads|Downloads]]'''
|}
|}


= igus ReBeL =
* [[igus ReBeL]] software, documentation and troubleshooting


= iRC - igus Robot Control Software =
<div style="clear:both;" /div>
[[File:Tablet.png|300px|link=IgusRobotControl-Release14-EN]]
← Get the latest iRC Version [[IgusRobotControl-Release14-EN|here]]!
<div style="clear:both;" /div>
 
 
<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">
 
<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> iRC - Software </span></h3>
* [[Software_Updates|Software Downloads]]
* [[Software_Updates|Software Downloads]]
* [[Documentation|Documentation and User Guides]]
* [[Documentation|Documentation and User Guides]]
* [[:Category:Robot Programming|Programming Examples and additional information]]
* [[:Category:Configuration|Configuration]]
* [[Configuration Files Overview]]
* [[Configuration Files Overview]]
* [[Example Library|Program Examples]]
* [[Control Interfaces]]
</div>


= igus robots and gantries =
<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
* [[Referencing robolink]]: Referencing the robolink arm
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> IRC - Hardware </span></h3>
* 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]].
* [[Configuration Files Overview]]
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
* [[Digital Inputs / Outputs]]
** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics|How to operate a vacuum gripper]]
* [[Motor Brake]]
** How to add [[Additional DIO-Modules]]
* [[External Axis]]
** How to add [[Additional DIO-Boards of the DCi Control Electronics]]
</div>
** [[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


= AMR - Autonomous Mobile Robots =
<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Robots </span></h3>
* [[igus ReBeL]]
* [[AMR Documentation|Mobile Robots]]
* [[:Category:Robolink|Robolink]]
</div>


* [[AMR Documentation]]: Documentation and software updates for the CPR Mobile Platforms
</div>


= iRC Electronics for Stepper Motors =
* [[External_Axis|Adding additional axes]]
* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Open Loop]]
* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V1]]
* [[Set_up,_testing_of_single_joints|Set up and testing of single joints]]


= iRC Electronics for BLDC Motors =
<div style="display: flex; flex-direction: row; flex-flow: row wrap; justify-content: space-between; padding: 0; gap: 10px; margin-top: 10px; margin-bottom: 10px;">
* Configuration and test software [[Config_Software_ModuleCtrl|ModuleCtrl Closed Loop]]
* Configuration: [[Firmware_Parameter_Configuration|firmware parameters V2]]
* [[Rebel_Joint|ReBeL Joint]]: Documentation for the set up of single Rebel joints


= How to interface with the robots =
<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Examples </span></h3>
* [[Example_Library|Example Programs]]
</div>


* [[Control Interfaces]]: Summary of all PC/PLC control interfaces
<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
** [[Camera]]: How to integrate a camera system; different options are shown
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Troubleshooting </span></h3>
** [[Modbus_Server]]: Using the Modbus TCP interface to communicate with a PLC, e.g. Siemens S7
* [[Troubleshooting|Systematic Troubleshooting]]
** [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
* [[Robot Hardware Troubleshooting]]
** [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
* [[CPRog Software Troubleshooting]]
* [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
* [[Support Routes]]
* [[CAN Protocol]]: Write your own robot control software that directly sends commands to the CAN bus. Documentation and example code
</div>
* [[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 =
<div style="flex: 1; min-width: 210px; border: 1px solid #a2a9b1; padding: 0 10px 10px 10px; box-shadow: 0 2px 2px rgba( 0, 0, 0, 0.2 );">
 
<h3><span class="header_icon" aria-hidden="true" role="presentation"></span><span> Legacy </span></h3>
* [[Firmware Parameter Configuration]]: The motor controller firmware can be configured using CPRog/iRC
* [[DCi quickstart guide|Robolink DCi]]
* [[Config Software ModuleCtrl]]: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics.
* [[:Category:Mover|Mover]]
* [[Configuration for a linear Axis]]: Test and adapt the motor modules to run with a linear axis
</div>
* 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 =
* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery.
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
* [[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
* [[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 =
</div>
* [[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


= 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 15:21, 3 December 2025


Welcome to the iRC Wiki!
↑ Try using the search-bar at the top ↑

Commonplace Robotics, as a part of igus GmbH, develops intuitive robot control software.

You can find all igus robots and many more in our RBTX marketplace!


Retrieved from "https://wiki.cpr-robots.com/index.php?title=Template:Main_page&oldid=853"