CPR Wiki

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Welcome to the Commonplace Robotics Wiki
Right now there are 89 pages in here.


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

igus robolink robot arms

Programming environment CPRog

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

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