igus robolink Quick Start Manual Download Page 1

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10.2013

Layout & configuration

robolink

Igus Motion Editor

igus GmbH

Spicher Strasse 1a, 51147 Cologne, Germany
Tel: +49-(0)2203 / 9649-7331
eMail: [email protected]

Preliminary documentation for the control for robolink® articulated

arms for use with the igus IME Software (igus® motion editor)

Revision 01, Version 10.2013
Prepared by B.Eng. Felix Berger

+49 – (0)2203 – 9649 - 7331

Summary of Contents for robolink

Page 1: ...51147 Cologne Germany Tel 49 0 2203 9649 7331 eMail FBerger igus de Preliminary documentation for the control for robolink articulated arms for use with the igus IME Software igus motion editor Revisi...

Page 2: ...ontrol 1 RS485 connector Conrad 740389 05 1 RS485 socket Conrad 740631 05 1 USB Cable A Mini B Conrad 975416 05 1m Ribbon Cable Conrad 601922 05 1 6 1 D Sub Ribbon cable connector Conrad 711357 05 2 D...

Page 3: ...03 9649 7331 eMail FBerger igus de 2a Hardware configuration Crumb2560 1 Bridge contacts 4x 2 Quartz 16 000MHz 3 RS485 connector Conrad 740389 05 4 Headers 6x2 5 Headers 24x2 or shorter only the highl...

Page 4: ...y contrib libusb Restart the PC and press F8 during the boot process when driver signature problems occur Then deactivate the driver signature The deactivation is effective until the next restart 3 Co...

Page 5: ...PC to reactivate driver signature 2 Connect Crumb2560 with PC Laptop with USB cable 3 Install CP210x VCP driver 4 Execute Flashtool exe in the IME directory 5 Configure as shown in the picture and fl...

Page 6: ...ontrol 6 Select the COM interface of the RS485 converter under the Communication tab 7 Update firmware System Change Firmware Select Firmware RS485 04 02 2011 8 Verify successful update 9 Reset the co...

Page 7: ...s cable shown here is a fast and cost effective alternative to professional bus cables We assume no guarantee for malfunctions and transmission errors 1 Harness the bus cable as shown Pin 1 connector...

Page 8: ...y Tel 49 0 2203 9649 7331 eMail FBerger igus de 3 Prepare terminating resistors 120 resistor between pin 2 7 and 4 9 Use D Sub connector with solder cup Conrad 742066 05 4 Interface cable Crumb2560 ig...

Page 9: ...onnecting all cables and the bus cable Input 1 NC Input 2 NC Input 3 NC Input 4 NC Input 5 NC Input 6 NC Signal GND GND Output 1 NC Output 2 NC Output 3 NC Analogue In Robolink Hall Sensor GND GND Bra...

Page 10: ...link Igus Motion Editor igus GmbH Spicher Strasse 1a 51147 Cologne Germany Tel 49 0 2203 9649 7331 eMail FBerger igus de 6b Device connection Crumb2560 The Crumb2560 controller output is max 20mA 5V W...

Page 11: ..._per_turn 6400 360 1 8 X i X 1 full step 2 half step i gear reduction max_current 30 Current moving hold_current 20 Current stop length 0 10 Displayed length joystick_axis 0 Joystick axis joystick_inv...

Page 12: ...otorAddress Hardware address of the control config SetRotencIng Encoder resolution Reduction gearing Encoder resolution RL 50 Pivot 4960 RL 50 Rotation 4640 RL 90 Pivot 9920 RL 90 Rotation 9920 config...

Page 13: ...ogne Germany Tel 49 0 2203 9649 7331 eMail FBerger igus de 3 Load Java parameters into the control COM port baud rate 115200 Enter motor address Compile programme Transfer programme Repeat for control...