CPR Wiki

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.

CPRog/iRC Software ModuleCtrl

robolink arm Mover arm

CPR Robots git repositories

All pages Downloads

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, ...
  • How to operate a vacuum gripper
  • How to add Additional DIO-Modules
  • How to add Additional DIO-Boards of the DCi 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

• 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!