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| − | | + | #REDIRECT [[CPR Wiki]] |
| − | <!--__NOTOC__ BANNER ACROSS TOP OF PAGE -->
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| − | <!-- "WELCOME TO CPR wiki AND ARTICLE COUNT -->
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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 id="articlecount" style="font-size:85%;"> [[Special:Statistics|{{NUMBEROFPAGES}}]] pages and [[Special:Statistics|{{NUMBEROFARTICLES}}]] articles.</div>
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| − | <!-- PORTAL LIST ON RIGHT-HAND SIDE -->
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| − | | style="width:13%; font-size:95%;" |
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| − | * [[:Category:CPRog|CPRog Software]]
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| − | * [[:Category:ModuleCtrl|ModuleCtrl]]
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| − | | style="width:13%; font-size:95%;" |
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| − | * [[:Category:robolink|robolink arm]]
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| − | * [[:Category:Mover|Mover arm]]
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| − | | style="width:13%; font-size:95%;" |
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| − | * [http://www.cpr-robots.com/ CPR Robots]
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| − | * [http://www.github.com/CPR-Robots git repositories]
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| − | * '''[[Special:AllPages|Index]]'''
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| − | * '''[[:Category:Downloads|Downloads]]'''
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| − | |}
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| − | __TOC__
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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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| − | == Use cases and specifications ==
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| − | * [[Use Cases robolink]]: Use cases for the igus robolink robot arm with CPR control environment
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| − | * [[Use Cases Mover Robots]]: Use cases for the Mover robots. Which use cases work ok, which do not?
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| − | * [[Use Cases SRA]]: Use cases for the Service Robot Arm (SRA).
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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==
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| − | | |
| − | * [[Referencing robolink]]: Referencing the robolink arm
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| − | * [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
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| − | * [[Set up, testing of single joints]]: How to connect the robot with the control, how to test single joints
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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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| − | * [[CPRog Updates]]: Download the up-to-date version of the programming environment and current user guides
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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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| − | * [[Changing Robot Parameter]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
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| − | * [[2D Camera Integration]]: How to integrate e.g. a smart camera into CPRog
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| − | * [[CPRog Examples]]: Example programs for CPRog
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| − | * [[Scene Objects]]: Integration of custom scene obejects in CPRog
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| − | * [[Gearplay Compensation]]: Use CPRog to compensate gear play in joint 1
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| − | * [[Logic Program]]: Run a second program in parallel to define logic functions
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| − | | |
| − | == How to interface with the CPR robots ==
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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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| − | * [[Plugin Interface]]: A plugin mechanism allows direct integration of existing or custom functionality in CPRog
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| − | * [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
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| − | * [[CAN Protocol]]: Write your own robot controller that directly sends commands to the CAN bus. Documentation and example code
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| − | * [[ROS packages]]: Integrate the robots into your ROS environment. Documentation and packages for hardware communication, teleop and moveIt
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| − | | |
| − | == Firmware configuration and diagnostics==
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| − | | |
| − | * [[Config Software ModuleCtrl]]: This software tool allows to test single joints and set firmware parameters of the control electronics.
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| − | | |
| − | == Troubleshooting and Support ==
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| − | * [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
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| − | * [[CPRog Software Troubleshooting]]: tips how to deal with the programming environment
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| − | * [[Operating the Gripper]]: how to open and close the gripper withing CPRog or using custom software
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| − | * [[Support Routes]]
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| − | We are constantly extending and updating this Wiki, please [[Support Routes|get in contact]] for further information!
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