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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 info(at)cpr-robots.com for missing 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 are suitable, which are not?
• Use Cases SRA: Use cases for the SRA service robot arm.

• 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
• Definition of the Programming Language:
  • CPRog Motion Commands: Joint, linear and relative motion
  • CPRog Input / Output Commands: Digital Out and the different signal types
  • CPRog Structure Commands: Loops, If-Then-Else, Wait, Sub-Programs
  • CPRog Advanced Commands: Variables and PlugIns
• Changing Robot Parameter: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.

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

Hardware Configuration

• Config Software ModuleCtrl: This software tool allows to test single joints and set control parameters

Troubleshooting and Assistance

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