Difference between revisions of "Rebel Joint"
| Line 4: | Line 4: | ||
Product user guide: (will follow soon). | Product user guide: (will follow soon). | ||
| − | Documentation of the motor controller: [ | + | Documentation of the motor controller: [https://cpr-robots.com/download/DocumentationDE/BLDCBoard_UserGuide_iRC_V0-6.pdf BLDCBoardUserGuide_V0.6]. |
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. | ||
| 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: | + | 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: | + | 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 10:47, 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: BLDCBoardUserGuide_V0.6.
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.
