Difference between revisions of "CPR Wiki"

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* [[CAD Data]]: .STEP and / or .obj files for the robots
 
* [[CAD Data]]: .STEP and / or .obj files for the robots
  
== igus robolink robot arms==
+
== igus robolink arms and gantries==
  
 
* [[Referencing robolink]]: Referencing the robolink arm
 
* [[Referencing robolink]]: Referencing the robolink arm
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** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics]]
 
** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics]]
 
** How to add [[Additional DIO-Modules]]
 
** How to add [[Additional DIO-Modules]]
 +
** How to add [[Additional DIO-Boards of the DCi Control Electronics]]
 
** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics]]
 
** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics]]
 
* Write your first [[CPRog Examples|first motion program in CPRog]]. - Also have a look at the [[#Programming_environment_CPRog|CPRog section below]].
 
* Write your first [[CPRog Examples|first motion program in CPRog]]. - Also have a look at the [[#Programming_environment_CPRog|CPRog section below]].
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* [[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
 +
* How to add an additional external linear axis to e.g. a gantry robot: [[External Linear Axis]]
 
* [[DCi quickstart guide]]: Quick start guide for DCi robolink robots.  
 
* [[DCi quickstart guide]]: Quick start guide for DCi robolink robots.  
 
* [[DCi upgrade guide]]: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot
 
* [[DCi upgrade guide]]: How to upgrade the TinyCtrl software running on the embedded control electronics of the DCi robot
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* [[Bounding Box / Virtual Box]]: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot.
 
* [[Bounding Box / Virtual Box]]: How to use the bounding box in CPRog to avoid collisions by limiting the movement of the robot.
 
* [[Acceleration and Motion Smoothing]]: What does the smooth parameter in the CPRog Program Editor do? Smooth changes of direction!
 
* [[Acceleration and Motion Smoothing]]: What does the smooth parameter in the CPRog Program Editor do? Smooth changes of direction!
 +
* [[Consistency Check]] between CPRog, the program and the connected robot: What does it do and how to handle it
  
 
== Embedded Control Software TinyCtrl ==
 
== Embedded Control Software TinyCtrl ==
  
 +
* [[Connect DCi Robot/TinyCtrl to a Laptop via LAN]]: Instructions on establishing a connection between a windows PC and the embedded Control of e.g. a DCi Robot.
 
* [[TinyCtrl Downloads]]: Download the most recent version of the embedded robot control software and current user guides / manuals
 
* [[TinyCtrl Downloads]]: Download the most recent version of the embedded robot control software and current user guides / manuals
 +
* [[FTP and putty Access]]: How to change parameter or files using FileZilla and putty
 
* [[TinyCtrl Initial Setup of Linux Board]]: Instructions on how to install and set up TinyCtrl on a virgin Phytec Linux Board.
 
* [[TinyCtrl Initial Setup of Linux Board]]: Instructions on how to install and set up TinyCtrl on a virgin Phytec Linux Board.
* [[Connect DCi Robot/TinyCtrl to a Laptop via LAN]]: Instructions on establishing a connection between a windows PC and the embedded Control of e.g. a DCi Robot.
 
  
 
== How to interface with the CPR robots ==
 
== How to interface with the CPR robots ==
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* [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog programming/robot control environment
 
* [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog programming/robot control environment
 
* [[Operating the Mover gripper using custom software]]: how to open and close the gripper using custom software
 
* [[Operating the Mover gripper using custom software]]: how to open and close the gripper using custom software
 +
* [[Referencing the Mover Robot Arm]]: what to do, when the position of the virtual an the real robot does not match
  
 
* [[Support Routes]]
 
* [[Support Routes]]
  
 
We are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!
 
We are constantly extending and updating this Wiki, please [[Support Routes|get in touch]] for further information!

Revision as of 09:41, 21 November 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 arms and gantries

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

Troubleshooting and Support

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