Difference between revisions of "Rebel Joint"

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=Manual=
 
=Manual=
Product user guide: (will follow soon).
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Documentation for the ReBeL robot arms:
 
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* EN: [https://cpr-robots.com/download/igusRobotControl/Documentation/UserGuide_iRC_Rebel.pdf UserGuide_iRC_Rebel.pdf]
Documentation of the motor controller in
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* DE: [https://cpr-robots.com/download/igusRobotControl/Documentation/Bedienungsanleitung_iRC_Rebel.pdf Bedienungsanleitung_iRC_Rebel.pdf]
 
 
EN: [https://cpr-robots.com/download/DocumentationEN/BLDCBoard_UserGuide_iRC_V0-7_en.pdf BLDCBoardUserGuide_V0-7_en.pdf]
 
 
 
DE: [https://cpr-robots.com/download/DocumentationEN/BLDCBoard_UserGuide_iRC_V0-7_de.pdf BLDCBoardUserGuide_V0-7_de.pdf]
 
  
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Documentation for the motor controller:
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* EN: [https://cpr-robots.com/download/DocumentationEN/BLDCBoard_UserGuide_iRC_en.pdf BLDCBoard_UserGuide_iRC_en.pdf]
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* DE: [https://cpr-robots.com/download/DocumentationDE/BLDCBoard_UserGuide_iRC_de.pdf BLDCBoard_UserGuide_iRC_de.pdf]
  
 
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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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 ModuleControlClosedLoop]
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Please download the software at the ModuleControl wiki page, please use the ClosedLoop-Version: [[Config Software ModuleCtrl]]
  
 
=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 CPRCANV2 protocol specification]
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Protocol specification:  
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* [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)]
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* [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)]
  
 
=Demo Source Code=
 
=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.
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A C# Visual Studio 2019 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: [https://github.com/CommonplaceRobotics/CANV2ProtocolDemoClient CANV2ProtocolDemoClient]
 
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.

Latest revision as of 08:30, 15 August 2022

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

Manual

Documentation for the ReBeL robot arms:

Documentation for the motor controller:

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# Visual Studio 2019 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.