|
|
| (45 intermediate revisions by 2 users not shown) |
| Line 1: |
Line 1: |
| − | Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.
| + | #REDIRECT [[CPR Wiki]] |
| − | | |
| − | We are constantly extending and updating this Wiki, please get in contact info(at)cpr-robots.com for missing information!
| |
| − | | |
| − | | |
| − | == General ==
| |
| − | * [[Use Cases robolink]]: Use cases for the igus robolink robot arm with CPR control environment
| |
| − | * [[Use Cases Mover Robots]]: Use cases for the Mover robots, which are suitable, which are not?
| |
| − | * [[Use Cases SRA]]: Use cases for the SRA service robot arm.
| |
| − | | |
| − | * [[Specifications Mover Robots]]: joint length, velocities, precision ...
| |
| − | * [[Specifications SRA]]: joint length, velocities, precision ...
| |
| − | * [[CAD Data]]: .STEP and / or .obj files for the robots
| |
| − | | |
| − | | |
| − | | |
| − | == igus robolink ==
| |
| − | | |
| − | * [[Referencing robolink]]: Referencing the robolink arm
| |
| − | * [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
| |
| − | * [[Set up, testing of single joints]]: How to connect the robot with the control, how to test single joints
| |
| − | * [[Define the zero position offsets]]: How to find and set the robot specific zero position offsets
| |
| − | | |
| − | | |
| − | | |
| − | == Programming Environment CPRog ==
| |
| − | | |
| − | * [[CPRog Updates]]: Download the up-to-date version of the programming environment and current user guides
| |
| − | * [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference] Definition of the Programming Language Commands
| |
| − | * [[Changing Robot Parameter]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
| |
| − | * [[2D Camera Integration]]: How to integrate e.g. a smart camera into CPRog
| |
| − | * [[CPRog Examples]]: Example programs for CPRog
| |
| − | * [[Scene Objects]]: Integration of custom scene obejects in CPRog
| |
| − | | |
| − | | |
| − | | |
| − | == How to interface with the CPR robots ==
| |
| − | | |
| − | * [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
| |
| − | * [[Plugin Interface]]: A plugin mechanism allows direct integration of existing or custom functionality in CPRog
| |
| − | * [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
| |
| − | * [[CAN Protocol]]: Write your own robot controller 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
| |
| − | | |
| − | | |
| − | | |
| − | == Hardware Configuration ==
| |
| − | | |
| − | * [[Config Software ModuleCtrl]]: This software tool allows to test single joints and set control parameters
| |
| − | | |
| − | | |
| − | | |
| − | == Troubleshooting and Assistance ==
| |
| − | | |
| − | * [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
| |
| − | * [[Operating the Gripper]]: how to open and close the gripper withing CPRog and out of custom software
| |
| − | * [[CPRog Software Troubleshooting]]: tips how to deal with the programming environment
| |
