Difference between revisions of "CPR Wiki"
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<!-- "WELCOME TO CPR wiki AND ARTICLE COUNT --> | <!-- "WELCOME TO CPR wiki AND ARTICLE COUNT --> | ||
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| − | <div style=" | + | <div style="font-size:162%; border:none; margin:0; padding:.1em; font-weight: bold">Welcome to the Robotics Wiki</div> |
| − | <div | + | <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. | ||
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| − | * [[:Category:CPRog|CPRog Software]] | + | * [[: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| | + | * '''[[Special:AllPages|All pages]]''' |
* '''[[:Category:Downloads|Downloads]]''' | * '''[[:Category:Downloads|Downloads]]''' | ||
|} | |} | ||
| + | = igus ReBeL = | ||
| + | * [[igus ReBeL]] software, documentation and troubleshooting | ||
| − | + | = iRC - igus Robot Control Software = | |
| − | + | * [[Software_Updates|Software Downloads]] | |
| − | + | * [[Documentation|Documentation and User Guides]] | |
| − | * [[ | + | * [[:Category:Robot Programming|Programming Examples and additional information]] |
| − | * [[ | + | * [[:Category:Configuration|Configuration]] |
| − | * [[ | + | * [[Configuration Files Overview]] |
| − | * [[ | ||
| − | |||
| − | |||
| + | = 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]]. - Also have a look at the [[#Programming_environment_CPRog|CPRog section below]]. | + | * 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, ... | ||
| − | ** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics]] | + | ** [[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]] | ||
** How to add [[Additional DIO-Boards of the DCi Control Electronics]] | ** How to add [[Additional DIO-Boards of the DCi Control Electronics]] | ||
| − | ** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics]] | + | ** [[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 | * [[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 | * [[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 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 | * [[DCi upgrade guide]]: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot | ||
| − | = | + | = AMR - Autonomous Mobile Robots = |
| − | * [[ | + | * [[AMR Documentation]]: Documentation and software updates for the CPR Mobile Platforms |
| − | |||
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| − | == | + | = 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 = |
| − | * | + | * 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 = | |
| − | * [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC | + | * [[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 | |
| − | * [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here | + | ** [[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 | ||
| + | * [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 = | |
| − | * [[ | + | * [[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 | * [[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 = | |
* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery. | * [[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 | * [[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]] | * [[Fix a display with graphics errors]] | ||
* [[Support Routes]] | * [[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 | ||
| + | |||
| + | = 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
|
igus ReBeL
- igus ReBeL software, documentation and troubleshooting
iRC - igus Robot Control Software
- Software Downloads
- Documentation and User Guides
- Programming Examples and additional information
- Configuration
- Configuration Files Overview
igus robots and gantries
- Referencing robolink: Referencing the robolink arm
- Write your first first motion program in CPRog/iRC. - Also have a look at the CPRog/iRC section below.
- Digital Inputs / Outputs: How to connect gripper, sensors, ...
- 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
- AMR Documentation: Documentation and software updates for the CPR Mobile Platforms
iRC Electronics for Stepper Motors
- Adding additional axes
- Configuration and test software ModuleCtrl Open Loop
- Configuration: firmware parameters V1
- Set up and testing of single joints
iRC Electronics for BLDC Motors
- Configuration and test software ModuleCtrl Closed Loop
- Configuration: firmware parameters V2
- ReBeL Joint: Documentation for the set up of single Rebel joints
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
- 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.
- Configuration for a linear Axis: Test and adapt the motor modules to run with a linear axis
- CAN Bus monitor for Windows: PCAN View
- Motor Current Parameter: Measurements on the relation between motor current, torque and velocity
Troubleshooting and Support
- 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
- 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 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 get in touch for further information!
