Commonplace Robotics Mover 4 Скачать руководство пользователя страница 31 | Manualshive

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Commonplace Robotics Mover 4 Скачать руководство пользователя страница 31

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8.2

ROS – Robot Operating System

The Willow Garage Robot Operating System (see www.ros.org) is wide spread in the
research community, especially when dealing with service robots. For the Mover4
packages are available to connect with the hardware and to command the robot by
joint and position messages. A RViz plugin and a moveIt interface are available.
The packages can be downloaded at

https://www.github.com/CPR-Robots

8.3

Direct Access using the CAN Protocol

It is also possible to directly access the Mover4 on CAN field bus level, using a
custom control software. The necessary protocol specification is found in the
following section.

Code examples can be found on the Wiki in the Interfacing section:

http://wiki.cpr-robots.com

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Содержание Mover 4

Страница 1: ...1 Bedienungsanleitung Mover4...

Страница 2: ...2...

Страница 3: ...5429 374983 4 info cpr robots com www cpr robots com The CE sign confirms that this product meets the requirements of the directive 2004 108 EC EMC and 2002 95 EC RohS The according documentation is...

Страница 4: ...or the USB Adapter 12 3 5 Licensing 13 4 Robot Arm Mover4 14 4 1 Geometry 14 4 2 Digital Inputs and Outputs 15 4 3 Mounting Flange for the Gripper 15 4 4 Drawing of the Robot Base 16 5 Moving the Robo...

Страница 5: ...am with TextEdit 25 7 Configuration 28 7 1 Application Configuration 28 7 2 Robot Configuration 29 8 Interfacing 30 8 1 CRI Interface 30 8 2 ROS Robot Operating System 31 8 3 Direct Access using the C...

Страница 6: ...t be used by children without the supervision by adults Not suited for children below 3 years Small parts pose choking hazards Sharp or otherwise dangerous tools or parts must not be mounted on the ro...

Страница 7: ...ur joint modules with aluminum profiles Each joint module contains a servo motor The front end of the robot the flange allows mounting a gripper or another tool The robot base has to be fastened on a...

Страница 8: ...0 5A supply via Harting SEK 6 poles Communication Definition of position setpoints for all four joints with 20 Hz cycle Reading of the current position and the motor current 2 3 System Requirements Th...

Страница 9: ...dapter Pic 2 Cable loom and USB adapter The cable loom connects the power supply the USB adapter and the robot as depicted above All connectors fit only one way The USB adapter may be white or black d...

Страница 10: ...CPRog Installation Maybe you have to allow changes to be made on your system After the installer has started you need to choose between English and German as language Then you need to confirm the lice...

Страница 11: ...d When finishing the installation you can choose to directly start CPRog Now you can start CPRog using the link on the desktop or via the start menu Installation Failure The installation assistant che...

Страница 12: ...button Install USB CAN adapter or using the manufacturers installation CD After starting the installation you need to accept the license agreement and set the installation folder In the next step ple...

Страница 13: ...limited to 10 minutes afterwards you need to restart CPRog When you do need a license key please send a short mail with the following information to licensing cpr robots com Your Name or the name of...

Страница 14: ...4 1 Geometry Pic 3 Mover4 simplified side view The picture shows the joints length of the Mover4 robot arm Including the gripper the arm reaches 550 mm CPRog offers functionalities to limit the works...

Страница 15: ...to 24V digital inputs allowing to communicate with a PLC on 24V level The outputs are able to provide 1A each forwarding the external supply voltage from pin 9 The inputs are 12 to 24V Two further di...

Страница 16: ...D Pin3 DOut 11 5V TTL Pin4 DOut 12 5V TTL Pin5 not connected Pin 6 not connected Pic 5 Drawingof the flange 4 4 Drawing of the Robot Base The robot can be mounted using the M4 through holes Pic 6 Draw...

Страница 17: ...upper area the three ribbons Scene Motion and Programming provide access to the main functionalities On the left corner information on the robots current state are provided On the lower side four sec...

Страница 18: ...enu Alternatively the function of the left mouse button can be changed in the upper menu area at Scene Navigation Possibilities are Selection Rotation Panning or Zooming 5 3 Moving the Robot with Joyp...

Страница 19: ...le jogging in Cartesian mode virtual walls can be switched on to limit the motion and thereby avoiding e g collisions See section 7 for details When the virtual walls are active the robot blocks furth...

Страница 20: ...ordinate system outlines after selecting with the mouse The motions are possible in simulation and with the real robot They are also scaled with the override buttons 5 5 Connect with the Hardware The...

Страница 21: ...led is remaining If further error messages remain visible try again and see section 11 3 for possible approaches Step 3 Enable the motors Now the robot can be jogged as described above The LED is gree...

Страница 22: ...nction takes back the motor enabling so the error reset and enable motor buttons have to be pressed The precision of the calibration is vital for replaying old programs If theses old programs recorded...

Страница 23: ...ng at the current position Velocity in mm s or percent Wait Waits for a time span defined in s Gripper The gripper command open 100 or closes 0 the gripper DigitalOut Sets a digital output The button...

Страница 24: ...added together with a short break A sound indicates that the point was recorded Program Buttons If there are still commands in the memory they can be deleted using the Delete button Afterwards linear...

Страница 25: ...13 Graphical program editor In the upper left area common elements are found Undo Redo and Load Save Two further buttons need explanation The dust bin deletes the selected puzzle piece The light bulb...

Страница 26: ...ure buttons allow direct interaction Recording a motion command lin or joint according to the robots current motion type with the current robot position Recording a break Recording a gripper command D...

Страница 27: ...nu the current program is written and loaded by the robot So the robot is again in synch with the text editor When choosing Save As from the File menu the current program is saved under a different na...

Страница 28: ...mepos 5 0 10 0 130 0 70 0 0 0 0 0 OffsetX 0 0 OffsetY 0 0 OffsetZ 0 0 OffsetRX 0 0 OffsetRY 0 0 OffsetRZ 0 0 Parent 1 Tool TwoFingerGripper xml Objects in the Virtual Environment can be added static o...

Страница 29: ...nt controller can be adapted e g the position and velocity PID settings This can be done with the button Load Amp Config in the program start menu This button reads a parameter file and transfers the...

Страница 30: ...t custom algorithms in a CRI client e g a vision system Possiblities then are e g Send a list of motion or digital out commands to the robot and then start the assembled program Jog the robot arm by s...

Страница 31: ...robot by joint and position messages A RViz plugin and a moveIt interface are available The packages can be downloaded at https www github com CPR Robots 8 3 Direct Access using the CAN Protocol It is...

Страница 32: ...t position data width The protocol description is available on our Wiki in the Interfacing section http wiki cpr robots com Please refer also to the C implementations found on www githu com CPR Robots...

Страница 33: ...links every second CAN error has occurred 10 1 2 CAN bus and CPRog status bar Error Bit in error byte Meaning Possible action Bus dead The CAN bus is not accessable Normaly the reason is that the robo...

Страница 34: ...Current value too high Decrease applied load on motor Increase maxCurrent CAN CAN Error Bit8 CAN error occured CAN bus to crowded All connectrions ok A normal state after start up of the board is an e...

Страница 35: ...0xc0000135 Is the Microsoft NET Framework missing Install the current NET framework from the Microsoft homepage Program does not start error message CPRog has encountered a problem and needs to close...

Страница 36: ...een okmarkon the joystick button TheLog Messages window shows if the joypadhas been connected correctly On the joypad When the red light beneath the mode button of the joypad is on you have to press t...

Страница 37: ...el 70 acc 40 smooth true Descr Joint Nr 1 a1 5 19 a2 26 08 a3 124 72 a4 14 39 a5 0 a6 0 velPercent 35 acc 40 smooth true Descr Relative Nr 17 x 0 y 0 z 20 0 a 0 b 0 c 0 vel 50 acc 40 smooth true Descr...

Страница 38: ...38...

Страница 39: ...Commonplace Robotics November 2016...

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