Rebel Joint: Difference between revisions
Created page with "This page provides information and first steps support on the igus Rebel joint modules. =Manual= Documentation for the ReBeL robot arms: * EN: [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_Rebel_V14.pdf UserGuide_iRC_Rebel_V14.pdf] * DE: [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_Rebel_V14.pdf Bedienungsanleitung_iRC_Rebel_V14.pdf] Documentation for the motor controller: * EN: [https://cpr-ro..." |
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Protocol specification: | Protocol specification: | ||
* [https:// | * [https://downloads.cpr-robots.com/Documentation/EN/Software/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)] | ||
* [https:// | * [https://downloads.cpr-robots.com/Documentation/DE/Software/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)] | ||
=Demo Source Code= | =Demo Source Code= | ||
Latest revision as of 10:34, 24 September 2025
This page provides information and first steps support on the igus Rebel joint modules.
Manual
Documentation for the ReBeL robot arms:
Documentation for the motor controller:
This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below.
Test and Configuration Software
The software tool "ModuleControl" allows to move a single joint in different operations modes. It also allows to change the motion parameter on the board. ModuleControl needs a USB to CAN adapter from PeakSysteme, the PCAN-USB.
Please download the software at the ModuleControl wiki page, please use the ClosedLoop-Version: Config Software ModuleCtrl
Communication Protocol
The motor controller uses a CAN based custom protocol called CPRCANV2. This simple protocol sends and receives 32 bit position information. CANopen ist not supported.
Protocol specification:
Demo Source Code
A C# Visual Studio 2019 solution is available to show the basic communication with a Rebel joint. This demo code makes use of the Peak Systeme PCAN-USB adapter. The demo source code lies on github: CANV2ProtocolDemoClient
Contact
In case of questions please contact Alexander Mühlens at igus GmbH.