Difference between revisions of "Rebel Joint"

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This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below.
 
This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below.
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=Test and Configuration Software=
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The software tool "ModuleControl" allows to move a single joint in different operations modes. It also allows to change the motion parameter on the board.
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Download: [[http://www.cpr-robots.com/download/ModuleControl/InstallerCPRModuleCtrlClosedLoop_V01-007.exe| ModuleControl ClosedLoop]]
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=Communication Protocol=
 
=Communication Protocol=

Revision as of 09:40, 23 June 2021

This page provides information and first steps support on the igus Rebel joint modules.

Manual

Product user guide: (will follow soon).

Documentation of the motor controller: here.

This document contains dimensions, pin-outs, behavior and the description of the parameter. The communication protocol is described below.

Test and Configuration Software

The software tool "ModuleControl" allows to move a single joint in different operations modes. It also allows to change the motion parameter on the board.

Download: [ModuleControl ClosedLoop]


Communication Protocol

The motor controller uses a CAN based custom protocol called CPRCANV2. This simple protocol sends and receives 32 bit position information. CANopen ist not supported.

Protocol specification: [protocol specification]

Demo source code will follow.

Contact

In case of questions please contact Jacob Geber at igus GmbH.