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Bedienerdokumentation: iRC_R13_UserGuide_de.pdf iRC Command Sheet (Englisch) Schaltplan: iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_24V_DE.pdf iRC Schaltplan 48v

all other axes. See pinout below: 1. Switch on the robot and start CPRog/iRC. It takes about 20-30s for the embedded computer to boot, so that it can be

Changelog User Guide: iRC_R13_UserGuide_en.pdf iRC Command Sheet Schematics: iRC_CircuitDiagram_48V_EN.pdf iRC_CircuitDiagram_24V_EN.pdf iRC circuit diagram

short explanation: YouTube Video Documentation: CRI V17 (since iRC/CPRog V14) CRI V16 (until iRC/CPRog V13) CRI Client Structure - basic guide for any programming

basic text editor. Reload the project in CPRog/iRC to apply changes. Version 12 (and newer) of CPRog/iRC simplifies access to the configuration files of

Stop button Start CPRog/iRC Connect, Reset, Enable This is e.g. useful for an initial test: The tab "Input/Output" in CPRog/iRC allows to check the input

in parallel. Updater iRC and RobotControl for Embedded Control: Updater_iRC_V14-002-6.zip iRC-Windows-Software only: Installer_iRC_V14-002-6.exe This software

software. CPRog: Robot control and programming software igus Robot Control (iRC): Functionally equal to CPRog but with an igus specific selection of robots

button Start CPRog/iRC Connect, Reset, Enable This is e.g. useful for an initial test: The tab "DIN-Rail Input/Output" in CPRog/iRC allows to check the

parallel zu V13. Updater iRC und TinyCtrl für Embedded Control: Updater_iRC_V14-002-6.zip Nur die iRC-Windows-Software: Installer_iRC_V14-002-6.exe This software

troubleshooting issues. This article explains how to access these files. CPRog/iRC can collect all relevant log files automatically starting with V902-11-018

camera English iRC circuit diagram 48V (PDF) iRC circuit diagram 24V (PDF) German iRC Schaltplan 48V (PDF) iRC Schaltplan 24V (PDF) iRC circuit diagram

The CPRog/iRC Software supports one reference switch per axis, which allows precise and reproducible referencing. When you switch on the robot for the

written in the Data\Backup directory in the CPRog/iRC installation directory (e.g. C:\CPRog\Data\Backup or C:\iRC-igusRobotControl\Data\Backup) Change the file

CPRog/iRC Gearplay Compensation: Use CPRog/iRC to compensate backlash in joint 1 Logic Program: Run a second program in parallel to a custom CPRog/iRC program

create a new tool configuration. Open the installation folder of iRC/CPRog, e.g. C:\iRC-igusRobotControl. In there open the folder "Data" -> "Tools". Copy

of the according product. The parameters the iRC uses can be found in the robot description file, e.g. C:\iRC-igusRobotControl\Data\Robots\igus-REBEL\RE

without a connected PC. You can download iRC and updates for the embedded control here: iRC Version 13 - English iRC Version 13 - Deutsch The software Module

CPRog/iRC this can be done by editing the correct robot configuration file for your robot. These files are located in C:\CPRog\Data\Robots\ or C:\iRC-igu

robot with respect to a userframe one hast to put iRC/CPRog in cartesian mode first. In cartesian mode iRC/CPRog will show the position and orientation of

axes are defined in the Project Configuration File (configured via the CPRog/iRC PC application). If you know a robot type that got the same axis you are using

Quickstart: iRC_R12_FirstSteps.pdf User Guide: iRC_R12_UserGuide_en.pdf iRC Command Sheet Schematics: iRC_CircuitDiagram_48V_EN.pdf Schematics: iRC_CircuitDiagram_24V_EN

Problemen kommen. Updater iRC und TinyCtrl für EmbeddedControl: Updater_iRC_V12-028.zip Nur die iRC-Windows-Software: Installer_iRC_V12-028.exe Was wurde geändert:

The control electronics come with a digital input / output module (DIO Module). This page shows how to connect actuators, valves or sensors to the module

each of them. Most changes can be done via the configuration area in CPRog/iRC. To access it click "File" -> "Configure Project" or "Configure Interfaces"

igus Robot Control (iRC) or CPRog runs on your PC, it is only required for configuring, programming and simulating your robot. iRC and CPRog are the same

IgusRobotControl-DE It contains the software for the embedded control, and an according iRC version. Please find user guides for your robot here: Documentation. After

compatible gamepad or joystick PC with CPRog or iRC connected to the robot Earlier versions of CPRog/iRC have a static button binding. While version 13-030

Dieser Artikel erklärt, wie Sie auf diese Dateien zugreifen können. CPRog/iRC kann ab V902-11-018 alle relevanten Log- und Konfigurationsdateien automatisch

motion command can be used to define curved paths. It is supported from CPRog/iRC and TinyCtrl V13. This article gives a short introduction and hints on how

The app interface (since iRC/CPRog V14) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to

In CPRog/iRC the main motion program is a single thread, it is not possible to define e.g. interrupts. To realize parallel running logic functionality

installation directory of CPRog/iRC: Usually C:\iRC-igusRobotControl\ or C:\CPRog\. The following Data paths are in here. 2. Start CPRog/iRC. At the left side next

defective cable, etc. CPRog/iRC does some tests to help you identify the issue. You may see the following messages: CPRog/iRC V13 differentiates two types

CPRog/iRC V902-11-007 and TinyCtrl V980-11-085 and newer: GetNrVariable GetPosVariable The CRI commands to change variables are supported in CPRog/iRC V902-11-011

default the Modbus server is disabled. It can be enabled using CPRog/iRC. Connect CPRog/iRC to the robot by clicking "Connect" Click File -> Configure Interfaces

various manufacturers with an embedded control based on TinyCtrl and CPRog/iRC. The following operating modes are supported for motor modules: Interpolated

File:ExamplesStructuredProgramming.zip Find explanations of all robot commands in the CPRog/iRC software documentation. Sub-programs are useful for extracting repeated tasks

If you updated a robot control or iRC/CPRog to a new major release (e.g. from V13 to V14) you may have noticed that programs that were created with the

most applications defining and transmitting the program manually via CPRog/iRC, then starting it via CRI or a different interface should be sufficient. Variables

robot to move to coordinates from external sources. For these cases CPRog/iRC and TinyCtrl offer the following interfaces: Move-To commands via CRI (positions

generally is best when referencing is always done at the same position. Since iRC / TinyCtrl version V13-040 a program can be executed after referencing that

arms: EN: UserGuide_iRC_Rebel.pdf DE: Bedienungsanleitung_iRC_Rebel.pdf Documentation for the motor controller: EN: BLDCBoard_UserGuide_iRC_en.pdf DE: BLDC

First open the installation directory of iRC / CPRog in the file browser. The standard path for iRC is C:\iRC-igusRobotControl, for CPRog C:\CPRog. In

Connect the computer to the robot control but do not start iRC yet. Unpack and start the iRC updater. Follow the steps in the section at the left side ("Embedded

axis positions, handles IO etc. It runs both on the Embedded Control and in iRC on the PC for simulation. Until V13 RobotControl was called TinyCtrl.

changed via CPRog/iRC. This way you do not need to change any files yourself and mistakes are less likely. Connect your robot with iRC (if it is not connected

the hardware modules and therefore depends on the hardware protocol. CPRog/iRC displays a summary of all module error codes at the left side next to the

Connect iRC to the robot, click the Enable button. Do NOT try to reference! Use the jog buttons in the jogging/motion tab at the bottom of iRC. Try to

likely won't be able to reference either. Try the following: Connect CPRog/iRC to the robot Click "Reset" and "Enable" Make sure the error display shows

Accessing all info available in iRC/CPRog Using all control functions available in iRC/CPRog Configuring the robot (as in iRC/CPRog) Transmitting programs

source code: Available packages at https://github.com/CommonplaceRobotics/iRC_ROS This repository aims to bring ROS2 support to igus robots. The main focus

input pins Example on the left: 24V via switch to input pin 4 Result in CPRog/iRC: digital input Din24 is triggered Connect the supply pin to 24V power supply

Close and disconnect all other applications that connect to the robot, e.g. iRC and PLCs. Press the emergency stop of the robot to prevent accidental motion

interface can be set up graphically using CPRog/iRC or by manually changing the configuration files. Start CPRog/iRC and load the correct project for your robot

Set this to "On" if you want to be able to see the camera's image in CPRog/iRC, otherwise "Off" is recommended "Image format" to "Windows bitmap" Make sure

Camera Interface The iRC provides a Modbus interface to connect to a plc. Using this interface a camera can be connected. The iRC is a Modbus server, so

shown in CPRog/iRC. Open the robot configuration file. You can find it in the data directory in the installation directory of CPRog/iRC, e.g.: C:\CPRo

Anwendbar für: iRC igus Robot Control ab Version V902-11, TinyCtrl ab Version V980-11 Die SPS-Schnittstelle ermöglicht es, die Robotersteuerung von einer

Documentation: Documentation EN / Dokumentation DE Please use this version for: igus iRC with stepper motors, Mover robots The Installer The Documentation / Manual

unique device ID. This ID is required for creating the license. Start CPRog/iRC and connect to your robot. Open to the license section (File -> License).

may have to be adapted to your specific set up! Please refer to the CPRog/iRC documentation for further information on the commands and variables. If the

"jogging" section at the bottom of iRC to move each axis and watch whether the physical axes move in the same direction. If iRC shows the position value being

Firmware Update. The robot control system consists of three main components: iRC / CPRog - this is the control and programming software running on PC RobotControl

Ground connections are only hinted. Please see also the following schematics: iRC_CircuitDiagram_48V_EN.pdf - to be extended, Connection K3-Out to DIn21 ist

cloud interface and other applications. WiFi can be configured via CPRog/iRC: Click "File" -> "Configure Interfaces" -> "Network". To enable or change

interchangable. Connect iRC / CPRog to the robot. Then click "File" -> "Get Amp Configuration" to download the firmware parameters. iRC / CPRog will confirm

side of iRC shows which error occured. If it happens during program execution the program is stopped or paused and a message box appears in iRC. Try to

192.168.3.11 for the embedded control or 127.0.0.1 for connecting to CPRog/iRC on the same computer Standard port: 3920 The program must send the ALIVEJOG

another joint starts each 5 seconds. This delay can be configured with CPRog/iRC V902-12-019 or newer and TinyCtrl V980-12-019 or newer. The RefDelay parameters

complex programs. Creating and uploading the program must be done using CPRog/iRC. Write the position to the Modbus variable of your choice: Variable mb_pos_w1

Move the axis to the position that should be 0, then read the position from iRC and multiply it with the Gear Scale. Set parameter Offset to the negative

the laptop is no longer required for operation. Initially, please install iRC on your Windows PC To establish a connection between Linux embedded control