Difference between revisions of "Rebel Joint"

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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 CPRCANV2 protocol specification]
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Protocol specification:  
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* [https://www.cpr-robots.com/download/CAN/Protocol_CANV2_ClosedLoop.pdf CPRCANV2 protocol specification (DE)]
  
 
=Demo Source Code=
 
=Demo Source Code=

Revision as of 10:15, 22 April 2022

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 in

EN: BLDCBoardUserGuide_V0-7_en.pdf

DE: BLDCBoardUserGuide_V0-7_de.pdf


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.

Please download the software at the ModuleControl wiki page, please use the ClosedLoop-Version: Config Software ModuleCtrl

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:

Demo Source Code

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.