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Welcome to the CPR wiki 422 pages and 105 articles.

CPRog Software ModuleCtrl

robolink arm Mover arm

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Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.

We are constantly extending and updating this Wiki, please get in contact for further information!

General

• Use Cases robolink: Use cases for the igus robolink robot arm with CPR control environment
• Use Cases Mover Robots: Use cases for the Mover robots. Which use cases work ok, which do not?
• Use Cases SRA: Use cases for the Service Robot Arm (SRA).

• Specifications Mover Robots: joint length, velocities, precision ...
• Specifications SRA: joint length, velocities, precision ...
• CAD Data: .STEP and / or .obj files for the robots

igus robolink

• Referencing robolink: Referencing the robolink arm
• Digital Inputs / Outputs: How to connect gripper, sensors, ...
• Set up, testing of single joints: How to connect the robot with the control, how to test single joints
• Define the zero position offsets: How to find and set the robot specific zero position offsets

Programming environment CPRog

• CPRog Updates: Download the up-to-date version of the programming environment and current user guides
• CPRog Command Reference Definition of the Programming Language Commands
• Changing Robot Parameter: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
• 2D Camera Integration: How to integrate e.g. a smart camera into CPRog
• CPRog Examples: Example programs for CPRog
• Scene Objects: Integration of custom scene obejects in CPRog
• Gearplay Compensation: Use CPRog to compensate gear play in joint 1
• Logic Program: Run a second program in parallel to define logic functions

How to interface with the CPR robots

• PLC Interface: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
• Plugin Interface: A plugin mechanism allows direct integration of existing or custom functionality in CPRog
• CRI Ethernet Interface: Connect via network connection. Find documentation and example code here
• CAN Protocol: Write your own robot controller 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

Firmware configuration and diagnostics

• Config Software ModuleCtrl: This software tool allows to test single joints and set firmware parameters of the control electronics.

Troubleshooting and Assistance

• Robot Hardware Troubleshooting: what to do when the arm does not react as expected?
• CPRog Software Troubleshooting: tips how to deal with the programming environment
• Operating the Gripper: how to open and close the gripper withing CPRog or using custom software
• Support Routes