Difference between revisions of "CPR Wiki"

From Wiki
(remove reference to plugin interface, changed firmware parameters to robot parameters)
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* [[Referencing robolink]]: Referencing the robolink arm
 
* [[Referencing robolink]]: Referencing the robolink arm
* 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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* Write your first [[CPRog Examples|first motion program in CPRog/iRC]]. - Also have a look at the [[#Programming_environment_CPRog|CPRog/iRC section below]].
 
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
 
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics]]
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** [[How to operate a vacuum gripper using CPRog and the Modular Control Electronics|How to operate a vacuum gripper]]
 
** 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 add [[Additional DIO-Boards of the DCi Control Electronics]]
** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics]]
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** [[How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics|How to operate an electrical parallel gripper]]
 
* [[External Axis]]: How to add an additional external axis to e.g. a gantry robot:  
 
* [[External Axis]]: How to add an additional external axis to e.g. a gantry robot:  
 
* [[Set up, testing of single joints]]: '''Advanced!''' How to connect the robot with the control electronics, how to test single joints
 
* [[Set up, testing of single joints]]: '''Advanced!''' How to connect the robot with the control electronics, how to test single joints
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* [[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
  
== Programming environment CPRog ==
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== Programming environment CPRog/iRC ==
  
 
* [[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
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* [[Changing Robot Parameters]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
 
* [[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
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* [[CPRog Examples]]: Example programs in CPRog/iRC
* [[Scene Objects]]: Integration of custom (scene) objects in CPRog
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* [[Scene Objects]]: Integration of custom (scene) objects in CPRog/iRC
* [[Gearplay Compensation]]: Use CPRog to compensate backlash in joint 1
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* [[Gearplay Compensation]]: Use CPRog/iRC to compensate backlash in joint 1
* [[Logic Program]]: Run a second program in parallel to a [[CPRog Examples|custom CPRog program]] to define logic functions
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* [[Logic Program]]: Run a second program in parallel to a [[CPRog Examples|custom CPRog/iRC program]] to define logic functions
 
* [[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!
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* [[Acceleration and Motion Smoothing]]: What does the smooth parameter in the CPRog/iRC 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
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* [[Consistency Check]] between CPRog/iRC, the program and the connected robot: What does it do and how to handle it
* [[Global Variables in CPRog]]
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* [[Global Variables in CPRog|Global Variables]]
  
 
== Embedded Control Software TinyCtrl ==
 
== Embedded Control Software TinyCtrl ==
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== Firmware configuration and diagnostics==
 
== Firmware configuration and diagnostics==
  
* [[CPRog download Amp Configuration]]: The motor amplifier configuration can be downloaded from CPRog  
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* [[Firmware Configuration]]: The motor controller firmware can be configured using CPRog/iRC
 
* [[Config Software ModuleCtrl]]: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics.
 
* [[Config Software ModuleCtrl]]: This software diagnosis and set-up tool allows to test single joints and set firmware parameters of the control electronics.
 
* [[Configuration for a linear Axis]]: Test and adapt the motor modules to run with a linear axis
 
* [[Configuration for a linear Axis]]: Test and adapt the motor modules to run with a linear axis
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* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery.
 
* [[Troubleshooting|Systematic Troubleshooting]]: Fault identification and recovery.
 
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
 
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
* [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog programming/robot control environment
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* [[CPRog Software Troubleshooting]]: tips how to deal with the CPRog/iRC 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
 
* [[Referencing the Mover Robot Arm]]: what to do, when the position of the virtual an the real robot does not match

Revision as of 10:16, 3 February 2021


Welcome to the Commonplace Robotics Wiki
Right now there are 384 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/iRC

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!