Difference between revisions of "CPR Wiki"

From Wiki
(remove reference to plugin interface, changed firmware parameters to robot parameters)
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* [[Software Updates]] Download the up-to-date version of the programming environment and current user guides / manuals
 
* [[Software Updates]] Download the up-to-date version of the programming environment and current user guides / manuals
 
* [[Documentation]] Find Documentation in EN and DE
 
* [[Documentation]] Find Documentation in EN and DE
* [[Changing Robot Parameters]]: Many firmware parameters like joint max velocities or software end switches can be adapted to your needs.
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* [[Changing Robot Parameters]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
 
* 2D Camera Integration: The [[Konfiguration]] pages shows how to integrate e.g. a smart camera
 
* 2D Camera Integration: The [[Konfiguration]] pages shows how to integrate e.g. a smart camera
 
* [[CPRog Examples]]: Example programs in CPRog
 
* [[CPRog Examples]]: Example programs in CPRog
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* [[PLC Interface]]: Using digital Inputs / Outputs the robot can be controlled (enable, start, stop, ..) by a master PLC
 
* [[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
 
* [[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
 
* [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here

Revision as of 10:10, 3 February 2021


Welcome to the Commonplace Robotics Wiki
Right now there are 383 pages in this wiki.


Tools, tips and troubleshooting for the Commonplace Robotics Mover4 and Mover6 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
  • 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!