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• IgusRobotControl-Release13-DE (category IRC) (section Software iRC - Release 13)
  Bedienerdokumentation: iRC_R13_UserGuide_de.pdf iRC Command Sheet (Englisch) Schaltplan: iRC_Schaltplan_48V_DE.pdf iRC_Schaltplan_24V_DE.pdf iRC Schaltplan 48v
  3 KB (236 words) - 10:38, 15 January 2024
• External Axis (category CPRog/iRC v980-11-XXX)
  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
  5 KB (653 words) - 17:01, 8 March 2023
• IgusRobotControl-Release13-EN (section Software iRC)
  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
  3 KB (250 words) - 10:37, 15 January 2024
• CRI Ethernet Interface (section CProg and iRC specific settings)
  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
  2 KB (236 words) - 14:28, 28 March 2024
• Robot Configuration File (section Configuration via CPRog/iRC)
  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
  8 KB (791 words) - 10:21, 17 January 2024
• How to operate a vacuum gripper using CPRog and the Modular Control Electronics (category CPRog/iRC v980-11-XXX) (section Operate the gripper in CPRog/iRC)
  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
  4 KB (652 words) - 10:36, 10 February 2022
• IgusRobotControl-Release14-EN (section Software iRC)
  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
  2 KB (213 words) - 11:38, 17 May 2024
• Software Updates
  software. CPRog: Robot control and programming software igus Robot Control (iRC): Functionally equal to CPRog but with an igus specific selection of robots
  3 KB (377 words) - 10:59, 4 April 2024
• How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics (category CPRog/iRC v980-11-XXX) (section Operate the gripper in CPRog/iRC)
  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
  4 KB (649 words) - 10:37, 10 February 2022
• IgusRobotControl-Release14-DE (section Software iRC)
  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
  2 KB (208 words) - 11:38, 17 May 2024
• Log Files (section CPRog / iRC)
  troubleshooting issues. This article explains how to access these files. CPRog/iRC can collect all relevant log files automatically starting with V902-11-018
  2 KB (253 words) - 11:44, 29 August 2023
• Documentation
  camera English iRC circuit diagram 48V (PDF) iRC circuit diagram 24V (PDF) German iRC Schaltplan 48V (PDF) iRC Schaltplan 24V (PDF) iRC circuit diagram
  3 KB (152 words) - 15:34, 2 January 2024
• Referencing robolink (category CPRog/iRC v980-11-XXX) (section Step by step instructions for current CProg/iRC versions (980-11-XXX))
  The CPRog/iRC Software supports one reference switch per axis, which allows precise and reproducible referencing. When you switch on the robot for the
  7 KB (1,082 words) - 11:42, 1 December 2023
• Firmware Parameter Configuration
  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
  19 KB (1,742 words) - 09:56, 20 March 2024
• CPR Wiki (section iRC - igus Robot Control Software)
  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
  8 KB (822 words) - 17:39, 9 January 2024
• Tool Configuration (section iRC/CPRog on PC (for simulation))
  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
  7 KB (1,077 words) - 11:01, 13 February 2024
• DH Parameter (section Are they used in the iRC?)
  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
  1 KB (181 words) - 17:53, 9 January 2024
• Igus ReBeL
  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
  3 KB (238 words) - 13:37, 13 February 2024
• Set Software End switches to Limit Joint Movement (section CPRog/iRC)
  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
  3 KB (429 words) - 17:47, 8 March 2023
• Frames of reference
  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
  4 KB (719 words) - 16:47, 19 December 2023
• Gear Scale
  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
  2 KB (385 words) - 09:55, 14 June 2023
• IgusRobotControl-Release12-EN (section Software iRC)
  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
  2 KB (168 words) - 09:53, 25 October 2023
• IgusRobotControl-Release12-DE (section Software iRC)
  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:
  2 KB (158 words) - 09:53, 25 October 2023
• Digital Inputs / Outputs (section Start the Robot and iRC / CPRog)
  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
  5 KB (708 words) - 14:39, 23 March 2023
• Project Configuration File (section Simulation (CPRog/iRC on the PC))
  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"
  3 KB (285 words) - 10:26, 16 August 2023
• Robot Control Update Process (section Updating iRC or CPRog on PC)
  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
  5 KB (741 words) - 14:30, 12 February 2024
• Configure for a different robot (section Use the Updater to install the according iRC Windows software)
  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
  3 KB (481 words) - 17:25, 8 March 2023
• Joystick and Gamepad
  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
  8 KB (1,229 words) - 13:49, 7 February 2024
• Logdateien (section CPRog / iRC)
  Dieser Artikel erklärt, wie Sie auf diese Dateien zugreifen können. CPRog/iRC kann ab V902-11-018 alle relevanten Log- und Konfigurationsdateien automatisch
  2 KB (262 words) - 14:41, 11 October 2022
• Circular Motion
  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
  6 KB (891 words) - 16:16, 19 December 2023
• Apps for the Robot Control
  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
  3 KB (431 words) - 11:04, 30 April 2024
• Logic Program
  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
  1 KB (151 words) - 10:56, 6 July 2021
• Change Network Address of Embedded Linux PC (section CPRog / iRC)
  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
  5 KB (728 words) - 13:41, 3 November 2023
• Troubleshooting Connection Issues (section Error messages from CPRog/iRC)
  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
  5 KB (817 words) - 17:18, 6 December 2023
• Remote Variable Access
  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
  4 KB (523 words) - 11:56, 20 January 2023
• Modbus Server
  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
  7 KB (1,003 words) - 10:28, 17 May 2024
• CANopen
  various manufacturers with an embedded control based on TinyCtrl and CPRog/iRC. The following operating modes are supported for motor modules: Interpolated
  1 KB (127 words) - 11:29, 4 November 2021
• Structured Programming
  File:ExamplesStructuredProgramming.zip Find explanations of all robot commands in the CPRog/iRC software documentation. Sub-programs are useful for extracting repeated tasks
  2 KB (360 words) - 12:32, 30 April 2021
• Robot Programs and Updates
  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
  2 KB (380 words) - 12:32, 8 May 2024
• Transferring Robot Programs via CRI
  most applications defining and transmitting the program manually via CPRog/iRC, then starting it via CRI or a different interface should be sufficient. Variables
  2 KB (310 words) - 17:00, 8 August 2022
• Moving Robots via CRI
  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
  3 KB (527 words) - 14:14, 23 August 2021
• Referencing Program
  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
  3 KB (483 words) - 14:38, 29 April 2024
• Rebel Joint
  arms: EN: UserGuide_iRC_Rebel.pdf DE: Bedienungsanleitung_iRC_Rebel.pdf Documentation for the motor controller: EN: BLDCBoard_UserGuide_iRC_en.pdf DE: BLDC
  2 KB (203 words) - 09:30, 15 August 2022
• Changing Speed Limits
  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
  6 KB (955 words) - 11:36, 15 February 2024
• Restore SD Card of Embedded Computer
  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
  4 KB (630 words) - 17:07, 23 January 2024
• RobotControl
  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.
  296 bytes (40 words) - 16:07, 2 January 2024
• Configuration Files Overview
  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
  5 KB (771 words) - 11:30, 16 August 2023
• Error Codes
  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
  5 KB (262 words) - 12:00, 5 March 2024
• Troubleshooting Encoder Errors
  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
  7 KB (1,143 words) - 12:39, 8 May 2024
• Troubleshooting Referencing Issues
  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
  5 KB (749 words) - 12:38, 8 May 2024

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