CPR Wiki

Welcome to the Commonplace Robotics Wiki 423 pages and 105 articles.

CPRog Software ModuleCtrl

robolink arm Mover arm

CPR Robots git repositories

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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.

Use cases and specifications

• 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 robot arms

• 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 / manuals
• 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 Support

• 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

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

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• <A href=\"/index.php?title=Use_Cases_robolink\" title=\"Use Cases robolink\">Use Cases robolink</A>: Use cases for the igus robolink robot arm with CPR control environment\n
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• <A href=\"/index.php?title=Use_Cases_Mover_Robots\" title=\"Use Cases Mover Robots\">Use Cases Mover Robots</A>: Use cases for the Mover robots. Which use cases work ok, which do not?\n
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• <A href=\"/index.php?title=Use_Cases_SRA\" title=\"Use Cases SRA\">Use Cases SRA</A>: Use cases for the Service Robot Arm (SRA). \n
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• <A href=\"/index.php?title=Specifications_Mover_Robots\" title=\"Specifications Mover Robots\">Specifications Mover Robots</A>: joint length, velocities, precision ... \n
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• <A href=\"/index.php?title=Specifications_SRA\" title=\"Specifications SRA\">Specifications SRA</A>: joint length, velocities, precision ...\n
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• <A href=\"/index.php?title=CAD_Data\" title=\"CAD Data\">CAD Data</A>: .STEP and / or .obj files for the robots\n
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igus robolink robot arms

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• <A href=\"/index.php?title=Referencing_robolink\" title=\"Referencing robolink\">Referencing robolink</A>: Referencing the robolink arm\n
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• <A href=\"/index.php?title=Digital_Inputs_/_Outputs\" title=\"Digital Inputs / Outputs\">Digital Inputs / Outputs</A>: How to connect gripper, sensors, ...\n
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• <A href=\"/index.php?title=Set_up,_testing_of_single_joints\" title=\"Set up, testing of single joints\">Set up, testing of single joints</A>: How to connect the robot with the control, how to test single joints\n
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• <A href=\"/index.php?title=Define_the_zero_position_offsets\" title=\"Define the zero position offsets\">Define the zero position offsets</A>: How to find and set the robot specific zero position offsets\n
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Programming environment CPRog

\n

\n
• <A href=\"/index.php?title=CPRog_Updates\" title=\"CPRog Updates\">CPRog Updates</A>: Download the up-to-date version of the programming environment and current user guides / manuals\n
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• <A target=\"_blank\" rel=\"nofollow noreferrer noopener\" class=\"external text\" href=\"http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf\">CPRog Command Reference</A> Definition of the Programming Language Commands \n
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• <A href=\"/index.php?title=Changing_Robot_Parameter\" title=\"Changing Robot Parameter\">Changing Robot Parameter</A>: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.\n
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• <A href=\"/index.php?title=2D_Camera_Integration\" title=\"2D Camera Integration\">2D Camera Integration</A>: How to integrate e.g. a smart camera into CPRog\n
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• <A href=\"/index.php?title=CPRog_Examples\" title=\"CPRog Examples\">CPRog Examples</A>: Example programs for CPRog\n
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• <A href=\"/index.php?title=Scene_Objects\" title=\"Scene Objects\">Scene Objects</A>: Integration of custom scene obejects in CPRog\n
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• <A href=\"/index.php?title=Gearplay_Compensation\" title=\"Gearplay Compensation\">Gearplay Compensation</A>: Use CPRog to compensate gear play in joint 1\n
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• <A href=\"/index.php?title=Logic_Program\" title=\"Logic Program\">Logic Program</A>: Run a second program in parallel to define logic functions\n
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How to interface with the CPR robots

\n

\n
• <A href=\"/index.php?title=PLC_Interface\" title=\"PLC Interface\">PLC Interface</A>: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC\n
\n
• <A href=\"/index.php?title=Plugin_Interface&action=edit&redlink=1\" class=\"new\" title=\"Plugin Interface (page does not exist)\">Plugin Interface</A>: A plugin mechanism allows direct integration of existing or custom functionality in CPRog\n
\n
• <A href=\"/index.php?title=CRI_Ethernet_Interface\" title=\"CRI Ethernet Interface\">CRI Ethernet Interface</A>: Connect via network connection. Find documentation and example code here\n
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• <A href=\"/index.php?title=CAN_Protocol\" title=\"CAN Protocol\">CAN Protocol</A>: Write your own robot controller that directly sends commands to the CAN bus. Documentation and example code\n
\n
• <A href=\"/index.php?title=ROS_packages\" title=\"ROS packages\">ROS packages</A>: Integrate the robots into your ROS environment. Documentation and packages for hardware communication, teleop and moveIt\n
\n

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Firmware configuration and diagnostics

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\n
• <A href=\"/index.php?title=Config_Software_ModuleCtrl\" title=\"Config Software ModuleCtrl\">Config Software ModuleCtrl</A>: This software tool allows to test single joints and set firmware parameters of the control electronics.\n
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Troubleshooting and Support

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\n
• <A href=\"/index.php?title=Robot_Hardware_Troubleshooting\" title=\"Robot Hardware Troubleshooting\">Robot Hardware Troubleshooting</A>: what to do when the arm does not react as expected?\n
\n
• <A href=\"/index.php?title=CPRog_Software_Troubleshooting\" title=\"CPRog Software Troubleshooting\">CPRog Software Troubleshooting</A>: tips how to deal with the programming environment\n
\n
• <A href=\"/index.php?title=Operating_the_Gripper\" title=\"Operating the Gripper\">Operating the Gripper</A>: how to open and close the gripper withing CPRog or using custom software\n
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• <A href=\"/index.php?title=Support_Routes\" title=\"Support Routes\">Support Routes</A>\n
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We are constantly extending and updating this Wiki, please <A href=\"/index.php?title=Support_Routes\" title=\"Support Routes\">get in contact</A> for further information" } </script>