Difference between revisions of "Rebel Joint"

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Protocol specification: [https://www.cpr-robots.com/download/CAN/UserGuide_ProtocolCPRCAN.pdf CPRCANV2 protocol specification]
 
Protocol specification: [https://www.cpr-robots.com/download/CAN/UserGuide_ProtocolCPRCAN.pdf CPRCANV2 protocol specification]
  
Demo source code will follow.
+
A C# VisualStudio2019 solution is available to show the basic communication with a Rebel joint. This demo code makes use of the Peak Systeme PCAN-USB adapter.
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The demo source code lies on github: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient]
  
 
=Contact=
 
=Contact=
 
In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.
 
In case of questions please contact [mailto:amuehlens@igus.net Alexander Mühlens] at igus GmbH.

Revision as of 11:24, 24 August 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

A C# VisualStudio2019 solution is available to show the basic communication with a Rebel joint. This demo code makes use of the Peak Systeme PCAN-USB adapter. The demo source code lies on github: CANV2ProtocolDemoClient

Contact

In case of questions please contact Alexander Mühlens at igus GmbH.