Difference between revisions of "CPR Wiki"
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* [[Referencing robolink]]: Referencing the robolink arm | * [[Referencing robolink]]: Referencing the robolink arm | ||
| − | * Write your first [[CPRog Examples|first motion program in CPRog]]. - Also have a look at the [[#Programming_environment_CPRog|CPRog section below]]. | + | * Write your first [[CPRog Examples|first motion program in CPRog/iRC]]. - Also have a look at the [[#Programming_environment_CPRog|CPRog/iRC section below]]. |
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ... | * [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ... | ||
| − | ** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics]] | + | ** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics|How to operate a vacuum gripper]] |
** How to add [[Additional DIO-Modules]] | ** How to add [[Additional DIO-Modules]] | ||
** How to add [[Additional DIO-Boards of the DCi Control Electronics]] | ** How to add [[Additional DIO-Boards of the DCi Control Electronics]] | ||
| − | ** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics]] | + | ** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics|How to operate an electrical parallel gripper]] |
* [[External Axis]]: How to add an additional external axis to e.g. a gantry robot: | * [[External Axis]]: How to add an additional external axis to e.g. a gantry robot: | ||
* [[Set up, testing of single joints]]: '''Advanced!''' How to connect the robot with the control electronics, how to test single joints | * [[Set up, testing of single joints]]: '''Advanced!''' How to connect the robot with the control electronics, how to test single joints | ||
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* [[DCi upgrade guide]]: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot | * [[DCi upgrade guide]]: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot | ||
| − | == Programming environment CPRog == | + | == Programming environment CPRog/iRC == |
* [[Software Updates]] Download the up-to-date version of the programming environment and current user guides / manuals | * [[Software Updates]] Download the up-to-date version of the programming environment and current user guides / manuals | ||
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* [[Changing Robot Parameters]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs. | * [[Changing Robot Parameters]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs. | ||
* 2D Camera Integration: The [[Konfiguration]] pages shows how to integrate e.g. a smart camera | * 2D Camera Integration: The [[Konfiguration]] pages shows how to integrate e.g. a smart camera | ||
| − | * [[CPRog Examples]]: Example programs in CPRog | + | * [[CPRog Examples]]: Example programs in CPRog/iRC |
| − | * [[Scene Objects]]: Integration of custom (scene) objects in CPRog | + | * [[Scene Objects]]: Integration of custom (scene) objects in CPRog/iRC |
| − | * [[Gearplay Compensation]]: Use CPRog to compensate backlash in joint 1 | + | * [[Gearplay Compensation]]: Use CPRog/iRC to compensate backlash in joint 1 |
| − | * [[Logic Program]]: Run a second program in parallel to a [[CPRog Examples|custom CPRog program]] to define logic functions | + | * [[Logic Program]]: Run a second program in parallel to a [[CPRog Examples|custom CPRog/iRC program]] to define logic functions |
* [[Bounding Box / Virtual Box]]: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot. | * [[Bounding Box / Virtual Box]]: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot. | ||
| − | * [[Acceleration and Motion Smoothing]]: What does the smooth parameter in the CPRog Program Editor do? Smooth changes of direction! | + | * [[Acceleration and Motion Smoothing]]: What does the smooth parameter in the CPRog/iRC Program Editor do? Smooth changes of direction! |
| − | * [[Consistency Check]] between CPRog, the program and the connected robot: What does it do and how to handle it | + | * [[Consistency Check]] between CPRog/iRC, the program and the connected robot: What does it do and how to handle it |
| − | * [[Global Variables in CPRog]] | + | * [[Global Variables in CPRog|Global Variables]] |
== Embedded Control Software TinyCtrl == | == Embedded Control Software TinyCtrl == | ||
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== Firmware configuration and diagnostics== | == Firmware configuration and diagnostics== | ||
| − | * [[ | + | * [[Firmware Configuration]]: The motor controller firmware can be configured using CPRog/iRC |
* [[Config Software ModuleCtrl]]: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics. | * [[Config Software ModuleCtrl]]: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics. | ||
* [[Configuration for a linear Axis]]: Test and adapt the motor modules to run with a linear axis | * [[Configuration for a linear Axis]]: Test and adapt the motor modules to run with a linear axis | ||
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* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery. | * [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery. | ||
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected? | * [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected? | ||
| − | * [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog programming/robot control environment | + | * [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog/iRC programming/robot control environment |
* [[Operating the Mover gripper using custom software]]: how to open and close the gripper using custom software | * [[Operating the Mover gripper using custom software]]: how to open and close the gripper using custom software | ||
* [[Referencing the Mover Robot Arm]]: what to do, when the position of the virtual an the real robot does not match | * [[Referencing the Mover Robot Arm]]: what to do, when the position of the virtual an the real robot does not match | ||
Revision as of 10:16, 3 February 2021
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Tools, tips and troubleshooting for the Commonplace Robotics Mover4 and Mover6 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 don't?
- Specifications Mover Robots: joint length, velocities, precision ...
- CAD Data: .STEP and / or .obj files for the robots
igus robolink arms and gantries
- Referencing robolink: Referencing the robolink arm
- Write your first first motion program in CPRog/iRC. - Also have a look at the CPRog/iRC section below.
- Digital Inputs / Outputs: How to connect gripper, sensors, ...
- External Axis: How to add an additional external axis to e.g. a gantry robot:
- Set up, testing of single joints: Advanced! How to connect the robot with the control electronics, how to test single joints
- Define the zero position offsets: Advanced How to find and set the robot specific zero position offsets
- DCi quickstart guide: Quick start guide for DCi robolink robots.
- DCi upgrade guide: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot
Programming environment CPRog/iRC
- Software Updates Download the up-to-date version of the programming environment and current user guides / manuals
- Documentation Find Documentation in EN and DE
- Changing Robot Parameters: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
- 2D Camera Integration: The Konfiguration pages shows how to integrate e.g. a smart camera
- CPRog Examples: Example programs in CPRog/iRC
- Scene Objects: Integration of custom (scene) objects in CPRog/iRC
- Gearplay Compensation: Use CPRog/iRC to compensate backlash in joint 1
- Logic Program: Run a second program in parallel to a custom CPRog/iRC program to define logic functions
- Bounding Box / Virtual Box: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot.
- Acceleration and Motion Smoothing: What does the smooth parameter in the CPRog/iRC Program Editor do? Smooth changes of direction!
- Consistency Check between CPRog/iRC, the program and the connected robot: What does it do and how to handle it
- Global Variables
Embedded Control Software TinyCtrl
- Connect DCi Robot/TinyCtrl to a Laptop via LAN: Instructions on establishing a connection between a windows PC and the embedded Control of e.g. a DCi Robot.
- Software Updates: Download the most recent version of the embedded robot control software and current user guides / manuals
- Configure for a different robot: How to configure a robot control for a different kinematic
- FTP and putty Access: How to change parameter or files using FileZilla and putty
- Change the TinyCtrl Project: Change the TinyCtrl project file e.g. to switch to another robot or to add a linear axis
- TinyCtrl Initial Setup of Linux Board: Instructions on how to install and set up TinyCtrl on a virgin Phytec Linux Board.
- Add External Axis: How to add an additional joint to the robot. Also helpful if the configuration of a joint does not work.
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
- Communication with Beckhoff TwinCat: The robot control can receive data from the Beckhoff TwinCat PLC
- CRI Ethernet Interface: Connect via network connection. Find documentation and example code here
- CAN Protocol: Write your own robot control software 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
- Firmware Configuration: The motor controller firmware can be configured using CPRog/iRC
- Config Software ModuleCtrl: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics.
- Configuration for a linear Axis: Test and adapt the motor modules to run with a linear axis
- CAN Bus monitor for Windows: PCAN View
Troubleshooting and Support
- Systematic Troubleshooting: Fault identification and recovery.
- Robot Hardware Troubleshooting: what to do when the arm does not react as expected?
- CPRog Software Troubleshooting: tips how to deal with the CPRog/iRC programming/robot control environment
- Operating the Mover gripper using custom software: how to open and close the gripper using custom software
- Referencing the Mover Robot Arm: what to do, when the position of the virtual an the real robot does not match
- Fix a display with graphics errors
- Support Routes
We are constantly extending and updating this Wiki, please get in touch for further information!
