Rebel Joint

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 will follow.

Contact

In case of questions please contact Jacob Geber at igus GmbH.