Difference between revisions of "CPR Wiki"

From Wiki
Line 47: Line 47:
 
* [[Set up, testing of single joints]]: How to connect the robot with the control electronics, how to test single joints
 
* [[Set up, testing of single joints]]: How to connect the robot with the control electronics, how to test single joints
 
* [[Define the zero position offsets]]: How to find and set the robot specific zero position offsets
 
* [[Define the zero position offsets]]: How to find and set the robot specific zero position offsets
 +
* [[Embedded Control Quickstart Guide]]: Quick start guide for DCi robolink robots. (under construction)
  
 
== Programming environment CPRog ==
 
== Programming environment CPRog ==

Revision as of 17:39, 5 July 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

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.
  • CAN Bus monitor for Windows: PCAN View

Troubleshooting and Support

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