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Welcome to CPR Wiki,

423 pages and 105 articles.

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 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 are suitable, which are not?
Use Cases SRA: Use cases for the SRA service robot arm.

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

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

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

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

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
Remote Assistance: Using TeamViewer we can assist on your desktop
Operating the Gripper: how to open and close the gripper withing CPRog and out of custom software