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robolink
Layout & configuration
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
fberger@igus.de
+49 – (0)2203 – 9649 - 7331
igus GmbH
Spicher Strasse 1a, 51147 Cologne, Germany
Tel: +49-(0)2203 / 9649-7331
eMail: FBerger@igus.de
Igus Motion Editor
- 1 -
10.2013
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Summary of Contents for igus robolink
- Page 1 Igus Motion Editor Layout & configuration 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 fberger@igus.de +49 – (0)2203 – 9649 - 7331...
- Page 2 ® robolink Igus Motion Editor Layout & configuration Hardware parts list Quantity Part Source Order no. Comment robolink articulated arm igus Nanotec SMCI47-S-2 Nanotec RS485 Bus RS485 Converter cable Nanotec ZK-RS485-USB Crumb2560 V1.1 AVR Chip45 crumb2560-1.1 16.000 MHz + ATmega module...
- Page 3 ® robolink Igus Motion Editor Layout & configuration 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 highlighted sections are used) 6. Headers (24x2 or shorter) (only the highlighted sections are used)
- Page 4 ® robolink Igus Motion Editor Layout & configuration 3a) Install boot loader 1. Connect AVR programming adapter to USB (PC/Laptop) 2. Use driver from the IgusMotionEditor directory (…/contrib/libusb) Restart the PC and press F8 during the boot process when driver signature problems occur.
- Page 5 ® robolink Igus Motion Editor Layout & configuration 3b) Flash firmware 1. Restart 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 flash firmware 6.
- Page 6 ® robolink Igus Motion Editor Layout & configuration 4) Nanotec SMCI47-S NanoPro configuration 1. Set motor address to "1" as shown 2. Using a RS485 converter cable, connect the control with PC/laptop 3. Supply control with 48V DC 4. Install and start NanoPro 5.
- Page 7 ® robolink Igus Motion Editor Layout & configuration 5) Prepare bus cable Note: The bus 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/plug always on the red core! 1-6x SMCI47-S connector/s –...
- Page 8 Layout & configuration 3. Prepare terminating resistors: 120Ω resistor between pin 2+7 and 4+9 Use D-Sub connector with solder cup (Conrad 742066-05). 4. Interface cable Crumb2560 (igus CF130.03.05.UL) Use D-Sub plug with solder cup (Conrad 742082-05). Pin D-Sub Pin Crumb2560...
- Page 9 - NC - Analogue In Robolink Hall-Sensor Brake - NC - - NC - +5 V Robolink +5V Channel B Robolink Channel B Channel A Robolink Channel A Index Robolink Index Robolink GND Winding A Motor A - white Winding A\...
- Page 10 ® robolink Igus Motion Editor Layout & configuration 6b) Device connection Crumb2560 The Crumb2560 controller output is max. 20mA / 5V. We recommend using an optical coupler. igus GmbH - 10 - Spicher Strasse 1a, 51147 Cologne, Germany 10.2013 Tel: +49-(0)2203 / 9649-7331...
- Page 11 ® robolink Igus Motion Editor Layout & configuration 7) Configure Igus Motion Editor Calibration file Example settings for a 2-axis RL-50-001 joint [Joint0] name=Pivoting # Displayed Name type=X # Joint type (X = Pivoting / Z = Rotation) address=1 # Motor controller address lower_limit=-1.5708...
- Page 12 ® robolink Igus Motion Editor Layout & configuration 2. Java programme NanoJEasy Example settings for a 2-axis RL-50-001 joint - final static int ENCODER_SHIFT: Gearbox 16 = 1; Gearbox 35 = 2 - config.GetMotorAddress: Hardware address of the control - config.SetRotencIng: Encoder resolution / Reduction gearing...
- Page 13 ® robolink Igus Motion Editor Layout & configuration 3. Load Java parameters into the control - COM port / baud rate (115200) / Enter motor address - Compile programme - Transfer programme - Repeat for controls 1-6 - The Java programme was successfully loaded when the red LED on the control...
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