Difference between revisions of "Rebel Joint"
| Line 11: | Line 11: | ||
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. ModuleControl needs a USB to CAN adapter from PeakSysteme, the PCAN-USB. | 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. ModuleControl needs a USB to CAN adapter from PeakSysteme, the PCAN-USB. | ||
| − | Download: [[https://cpr-robots.com/download/ModuleControl/InstallerCPRModuleCtrlClosedLoop_V01-007.exe | + | Download: [[https://cpr-robots.com/download/ModuleControl/InstallerCPRModuleCtrlClosedLoop_V01-007.exe ModuleControlClosedLoop]] |
=Communication Protocol= | =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. | 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: [[https://www.cpr-robots.com/download/CAN/UserGuide_ProtocolCPRCAN.pdf | + | Protocol specification: [[https://www.cpr-robots.com/download/CAN/UserGuide_ProtocolCPRCAN.pdf CPRCANV2 protocol specification]] |
Demo source code will follow. | Demo source code will follow. | ||
Revision as of 10:44, 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. ModuleControl needs a USB to CAN adapter from PeakSysteme, the PCAN-USB.
Download: [ModuleControlClosedLoop]
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: [CPRCANV2 protocol specification]
Demo source code will follow.
Contact
In case of questions please contact Jacob Geber at igus GmbH.
