Difference between revisions of "Rebel Joint"
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Protocol specification: | Protocol specification: | ||
| − | * [https://www.cpr-robots.com/download/CAN/ | + | * [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_en.pdf CPRCANV2 protocol specification (EN)] |
| − | * [https://www.cpr-robots.com/download/CAN/ | + | * [https://www.cpr-robots.com/download/CAN/CPR_CAN_Protocol_V2_UserGuide_de.pdf CPRCANV2 protocol specification (DE)] |
=Demo Source Code= | =Demo Source Code= | ||
Revision as of 12:29, 25 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
DE: BLDCBoardUserGuide_V2-0_de.pdf
EN: BLDCBoardUserGuide_V0-7_en.pdf (Update will follow soon)
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.
