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

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!