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#REDIRECT [[CPR Wiki]]
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<!--        "WELCOME TO CPR wiki AND ARTICLE COUNT        -->
 
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<div style="color:#50798a; font-size:162%; border:none; margin:0; padding:.1em;">Welcome to the CPR wiki</div>
 
<div id="articlecount" style="font-size:85%;"> [[Special:Statistics|{{NUMBEROFPAGES}}]] pages and [[Special:Statistics|{{NUMBEROFARTICLES}}]] articles.</div>
 
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* [[:Category:CPRog|CPRog Software]]
 
* [[:Category:ModuleCtrl|ModuleCtrl]]
 
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* [[:Category:robolink|robolink arm]]
 
* [[:Category:Mover|Mover arm]]
 
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* '''[[Special:AllPages|Index]]'''
 
* '''[[:Category:Other|Other]]'''
 
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Tools, tips and troubleshooting for the Commonplace Robotics Mover4, Mover6 and SRA robot arms and the Slider platform.
 
 
 
We are constantly extending and updating this Wiki, please [[Support Routes|get in contact]] for further information!
 
 
 
== General ==
 
* [[Use Cases robolink]]: Use cases for the igus robolink robot arm with CPR control environment
 
* [[Use Cases Mover Robots]]: Use cases for the Mover robots. Which use cases work ok, which do not?
 
* [[Use Cases SRA]]: Use cases for the Service Robot Arm (SRA).
 
 
 
* [[Specifications Mover Robots]]: joint length, velocities, precision ...
 
* [[Specifications SRA]]: joint length, velocities, precision ...
 
* [[CAD Data]]: .STEP and / or .obj files for the robots
 
 
 
== igus robolink ==
 
 
 
* [[Referencing robolink]]: Referencing the robolink arm
 
* [[Digital Inputs / Outputs]]: How to connect gripper, sensors, ...
 
* [[Set up, testing of single joints]]: How to connect the robot with the control, how to test single joints
 
* [[Define the zero position offsets]]: How to find and set the robot specific zero position offsets
 
 
 
== Programming Environment CPRog ==
 
 
 
* [[CPRog Updates]]: Download the up-to-date version of the programming environment and current user guides
 
* [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference] Definition of the Programming Language Commands
 
* [[Changing Robot Parameter]]: Many robot parameters like joint max velocities or software end switches can be adapted to your needs.
 
* [[2D Camera Integration]]: How to integrate e.g. a smart camera into CPRog
 
* [[CPRog Examples]]: Example programs for CPRog
 
* [[Scene Objects]]: Integration of custom scene obejects in CPRog
 
* [[Gearplay Compensation]]: Use CPRog to compensate gear play in joint 1
 
* [[Logic Program]]: Run a second program in parallel to define logic functions
 
 
 
== 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
 
* [[CRI Ethernet Interface]]: Connect via network connection. Find documentation and example code here
 
* [[CAN Protocol]]: Write your own robot controller 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 tool allows to test single joints and set firmware parameters of the control electronics.
 
 
 
== Troubleshooting and Assistance ==
 
 
 
* [[Robot Hardware Troubleshooting]]: what to do when the arm does not react as expected?
 
* [[CPRog Software Troubleshooting]]: tips how to deal with the programming environment
 
* [[Operating the Gripper]]: how to open and close the gripper withing CPRog or using custom software
 
* [[Support Routes]]
 

Latest revision as of 18:32, 18 June 2018

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