Difference between revisions of "CPR Wiki"

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* [[CPRog Downloads]] Download the up-to-date version of the programming environment and current user guides / manuals
 
* [[CPRog Downloads]] Download the up-to-date version of the programming environment and current user guides / manuals
 
* [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference] Definition of the Programming Language Commands  
 
* [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference] Definition of the Programming Language Commands  
* [[Changing Robot Parameters]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
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* [[Changing Robot Parameters]]: Many firmware 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
 
* [[2D Camera Integration]]: How to integrate e.g. a smart camera into CPRog
 
* [[CPRog Examples]]: Example programs in CPRog
 
* [[CPRog Examples]]: Example programs in CPRog

Revision as of 07:22, 19 June 2018


Welcome to the Commonplace Robotics Wiki
Right now there are 384 pages in this wiki.


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

Embedded Control Software TinyCtrl

  • TinyCtrl Downloads: Download the most recent version of the embedded robot control software and current user guides / manuals

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
  • 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

  • Config Software ModuleCtrl: This software diagnosis and set-up 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!