Difference between revisions of "Rebel Joint"
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Protocol specification: [https://www.cpr-robots.com/download/CAN/UserGuide_ProtocolCPRCAN.pdf CPRCANV2 protocol specification] | Protocol specification: [https://www.cpr-robots.com/download/CAN/UserGuide_ProtocolCPRCAN.pdf CPRCANV2 protocol specification] | ||
| + | =Demo Source Code= | ||
A C# VisualStudio2019 solution is available to show the basic communication with a Rebel joint. This demo code makes use of the Peak Systeme PCAN-USB adapter. | A C# VisualStudio2019 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: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient] | The demo source code lies on github: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient] | ||
Revision as of 12:45, 24 August 2021
This page provides information and first steps support on the igus Rebel joint modules.
Manual
Product user guide: (will follow soon).
Documentation of the motor controller: BLDCBoardUserGuide_V0.6.
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.
Download: ModuleControlClosedLoop
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: CPRCANV2 protocol specification
Demo Source Code
A C# VisualStudio2019 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.
