Commonplace Robotics Mover 4 Manuale utente
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Bedienungsanleitung Mover4
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User Guide Mover4
Version 2016/11 (SW V902-09, HWE 2MV23 HWM V05 DOC V15)
© Commonplace Robotics GmbH, 2011 - 2016
Commonplace Robotics GmbH
Osterfeldstr. 1
D-49326 Melle
Germany
++49 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
deposited at the manufacturer.
Help to save our environment! When reaching the end of
lifetime, do not throw the device into the garbage, but bring
it to a public recycling place.
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Inhalt
1. Safety Instructions............................................................................................................................. 6
2. Introduction ............................................................................................................................................ 7
2.1 Product .............................................................................................................................................. 7
2.2 Specifications ............................................................................................................................... 8
2.3 System Requirements .............................................................................................................. 8
3. Installation .............................................................................................................................................. 9
3.1 Setting up the Robot ................................................................................................................. 9
3.2 Connecting the Power Supply and the USB Adapter ................................................ 9
3.3 Installation of the CPRog Software ................................................................................. 10
3.4 Installation of the Driver for 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 Robot Arm with CPRog .......................................................................................... 17
5.1 Introduction .................................................................................................................................. 17
5.2 Navigation using the Mouse................................................................................................. 18
5.3 Moving the Robot with Joypad and Buttons ................................................................ 18
5.4 Moving the Robot using the Graphics ............................................................................ 20
5.5 Connect with the Hardware ................................................................................................ 20
5.6 Reset the Zero Points of the Joints................................................................................... 21
6. Programming the Robot Arm with CPRog ............................................................................ 23
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6.1 Program Elements .................................................................................................................... 23
6.2 Recording a Program using the 3D Interface ............................................................. 24
6.3 Saving and Loading of a Program ..................................................................................... 24
6.4 Replay of a Program ............................................................................................................... 24
6.5 Editing a Program with GraphEdit .................................................................................... 25
6.6 Editing a Program 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 CAN Protocol ............................................................................ 31
9. CAN Protocol Specification ......................................................................................................... 32
10. Error Codes ..................................................................................................................................... 33
11. Troubleshooting ................................................................................................................................ 35
11.1 Installation and Program Start ........................................................................................... 35
11.2 Software CPRog ........................................................................................................................ 35
11.3 Hardware Mover4 .................................................................................................................... 36
12. Language Specification ............................................................................................................ 37
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1. Safety Instructions
The Mover4 is designed to be used by adolescents and adults
in edutainment and research areas.
The robot must not be used in industrial production facilities
of in other continuous operation scenarios.
Do not operate the robot when it is unattended.
The gripping area exposes the risk of bruises to the fingers,
especially when using the parallel gripper. Keep off during
operation! The robot must not operate unattended!
The robot must not 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 robot without according safety measures, e.g.
housings. This especially comprises milling applications or
laser sources.
Take care for a stable stand of the robot.
The robot has been designed for indoor use. They do have to
be protected of humidity, dust or excessive solar radiation.
Do not open the product.
It is necessary to backup important data before the
installation of the CPRog software.
Switch of the power supply when the robot is not in use or
unattended.
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2. Introduction
2.1 Product
The Commonplace Robotics Mover4 is a four axis robot for the use in education,
entertainment and research environments. The robot can lift a payload up to 500 g
with a reach of 500 mm plus gripper.
Pic. 1:
Mover4 and the necessary components
The modular set up of the robot connects four 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 stand or a table. At the robot base one plug
connect with power and the PC, another provides digital IO access.
The cable loom is connected with a 12V/5A DC power supply. The USB adapter
connects the control PC with the robots internal communication bus. The CPRog
software allows to control and program the robot.
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2.2 Specifications
Nr of Joints 4 servo joints
Power Supply 12V DC at max 5 A
Power Consumption Paused: 0,5 A / in motion: < 2.5 A. Fuse with 2.5 A in base
Communication CAN at 500 kBit/s
Reach 455 mm plus gripper
Payload 500 g
Inputs / Outputs At the base:
3 relay out (max. 24V/1A) and 4 digital in (12 to 24V) via D-
Sub 9 poles male.
At the flange:
2 digital Outputs (5V/ 25 mA) und 12V/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
The control the robot with the CPRog programming environment a PC with Windows
operating system is necessary (minimum values):
Operating System: Windows 7 (32 or 64 Bit) or higher.
.NET-Framework 3.5 or higher and DirectX in Version 9.0c
Processor: 1.6-GHz-Pentium
RAM: 1 GB
Up to 50 MB disk space
1 free USB port for the communication with the robot, another one for joypad
operation
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3. Installation
3.1 Setting up the Robot
The robot has to be placed on a table or stand so that he cannot tumble down.
3.2 Connecting the Power Supply and the USB Adapter
Pic.
2
:
Cable loom and USB a
dapter
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, depending on the current type.
When plugging in the USB2CAN adapter, a driver installation assistant may appear.
Please refer to section 3.4 for installation guidelines.
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3.3 Installation of the CPRog Software
Insert the CPRog CD into the drive
.
Depending on your systems
configuration the CD menu will open
automatically, or you have to start it
manually:
D:\.autorun\autorun.exe
Choose the first button „CPRog
Installation”
Maybe you have to all
ow 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
license agreement.
In the next step y
ou ca
n choose
where to install CPRog. The
recommended directory is
c:\CPRog.
When installing in a Windows
program directory like
c:\Programme it is possible that
CPRog can only be started as
administrator.
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