igus ReBeL User Manual

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Page 6: Introduction
1 INTRODUCTION 1 Introduction 1.1 Contact igus® GmbH Spicher Str. 1a D-51147 Köln Tel.: +49(0)2203 / 96498-255 E-Mail: ww-robot-control@igus.net Internet: www.igus.eu ©2022 igus® GmbH...
Page 7: Intended Use
• RoHS-Directive (2011/65/EU, 2015/863/EU) • EMV-Directive (2014/30/EU) 1.6 Regulations In addition to this technical manual, operation, commissioning is subject to the applicable local reg- ulations, such as: • Accident prevention regulations • Local regulations for occupational safety ©2022 igus® GmbH...
Page 8: System Overview
The features of the embedded control can be seen in the table 3. Embedded control Features Type Single board computer with daughter module Operating system Linux based Software TinyCtrl robot control software Interfaces CAN Bus (connection to the modules) Ethernet (connection to Windows PC) ©2022 igus® GmbH...
Page 9: Mechanical Dimensions
2 SYSTEM OVERVIEW Embedded control Features RS232 display connection Digital inputs for enabling switch DC/DC converter 5V/4A Table 3: Integrated Computer - Speciﬁcations 2.2 Mechanical Dimensions For mechanical dimensions, please refer to the data sheet of the ReBeL. ©2022 igus® GmbH...
Page 10: Safety Instructions
There must be at least 10 cm of space next to the fan of the robot controller. The fan must ideally point upwards or to the side (reduced efﬁciency). The fan must not point downwards. • Save important data before installing the iRC - igus Robot Control. ©2022 igus® GmbH...
Page 11: Requirements
• .NET Framework 4.7.2 or newer • at least 500MB free disk space • graphics card (integrated or dedicated) – OpenGL 3.0 or newer – manufacturer driver (the standard Microsoft driver is not supported) • a free Ethernet port ©2022 igus® GmbH...
Page 12: Quick Start Guide
6. Secure the robot cables against voltage, e.g. with a cable tie to one of the holes in the control cabinet. If present, plug in the teach pendant cable and secure it via the screw connection. 7. The robot is ready to be switched on after completing these steps. ©2022 igus® GmbH...
Page 13: Switch On
4. Now the status LED light on the left in iRC should be green and the status should show "No Error". 5. You can now move the robot’s joints using the buttons on the "Jogging" tab (see Fig. 2). ©2022 igus® GmbH...
Page 15 5 QUICK START GUIDE Cartesian movements and programs For the use of Cartesian commands and the playing of robot programs a refer- encing of the robot is mandatory. ©2022 igus® GmbH...
Page 16: Moving The Robot With Irc
6 Moving the Robot with iRC iRC - igus Robot Control is a control and programming environment for robots. The 3D user interface helps to get the robot up and running quickly. Due to the modular structure, different kinematics and motor drivers can be controlled.
Page 17: Selecting The Type Of Robot
3. Make sure that the parameter set matching the operating voltage of the robot is selected. This will affect the speed and acceleration. 4. Now click on the entry that matches your robot, e.g. RL-DP-5. Figure 4: Selection of the robot type via the menu item "File" "Open Project" ©2022 igus® GmbH...
Page 18: Navigation And Movement Of The Robot In The 3D View
6 MOVING THE ROBOT WITH IRC 6.1.2 Navigation and movement of the robot in the 3D view A 3-button mouse is recommended for navigating in the iRC - igus Robot Control 3D environment: • Left button: – Selecting icons and functions in the menu.
Page 19: Move The Robot
• Cartesian movements or the start of a program are only possible after referencing. • The status is displayed on the left side of the iRC - igus Robot Control. The motor modules store the position in an EEPROM. However, due to gravity or other forces, the axes may move when the motor power is switched off.
Page 20: Moving The Robot
Pressing "Connect Gamepad" will connect iRC to a gamepad. If the connection is successful, an OK sign will be displayed under the icon. The device must be of type "Joystick" or "Gamepad". For more information about the connection, see the "LogMessages" tab (at the bottom of the window area). ©2022 igus® GmbH...
Page 21: Starting Robot Programs
6.5 Starting robot programs A robot program can be loaded and started as follows: 1. To load the program, click on the "Open" folder icon in the "Selected program" group of the "Movement" tab and select a program, e.g. "testRobolink.xml". ©2022 igus® GmbH...
Page 22 • After pressing the "Pause" icon, the robot can continue with the program by clicking the "Run" icon again. • After pressing the "Stop" icon, the program will start with the ﬁrst command when the "Run" icon is clicked again. • The "Play" mode can be set to three different values: ©2022 igus® GmbH...
Page 23: Digital Inputs And Outputs
• Inputs can only be set in simulation when no robot is connected. So you can test the reaction of programs to different inputs even without the corresponding hardware. Figure 11: Input/output area of the iRC - igus Robot Control. The conﬁguration of the inputs and outputs is described in section 8.1.
Page 24: Programming A Robot With Irc
7 PROGRAMMING A ROBOT WITH IRC 7 Programming a Robot with iRC The iRC - igus Robot Control enables the creation of robot programs. The method of programming is called "teach-in programming", which works as follows: 1. Move the robot manually to the position you want to record.
Page 25: Touching Up Positions
- if the program is currently running - the currently executed command is marked by a dot in the program editor. The subprogram containing this command is also marked by a dot in front of the program name. ©2022 igus® GmbH...
Page 26: Comments And Information Within The Program
The maximum number of commands that can be smoothed is limited to 5-20, depending on the robot, in order to prevent calculation pauses in the program sequence. In case of long paths this is shows by regular braking and restarting. ©2022 igus® GmbH...
Page 27: Joint Motion
The resulting movement of the TCP is usually a curve and not a straight line. The target position can be speciﬁed in the following way (select the appropriate "source"): • "Constant": The target position is a constant value for each axis. • "Variable": The target position is taken from the position variable speciﬁed in "Variable". ©2022 igus® GmbH...
Page 28: Linear Motion
The movement speed is speciﬁed by "Speed" in mm/s. If it exceeds the maximum allowed movement speed of the robot, it will cause a kinematic error during execution. The Linear command can be called in the program editor under "Action" "Linear Motion" and "Action" "Variable Motion" "Linear Motion". ©2022 igus® GmbH...
Page 29: Relative Motion
If angles greater than 360° are speciﬁed, the circle is moved several times, negative angles reverse the direction of the motion. The circular motion should not be the ﬁrst motion instruction in the robot program. If the program starts at an unexpected position, the circle may become larger or smaller than expected. ©2022 igus® GmbH...
Page 30: Set Velocity
The command is accessible in the program editor under "Action" "Digital output". 7.4.3 Opening/Closing the Gripper The Gripper command allows controlling the robot’s gripper. It is accessible in the program editor through the menu item "Action" "Gripper". ©2022 igus® GmbH...
Page 31: Program Flow
7.5.2 Stop The command "Stop" stopps the program execution. It is available through the menu item "Flow" "Stop". 7.5.3 Pause The Pause command pauses the execution of the program. The execution can be resumed later by the user. ©2022 igus® GmbH...
Page 32: Wait
Figure 17 shows a motion pattern that can be executed by using the raster in- structions. iRC provides two approaches to program this: Statement type Description Matrix loop Executes a statement block for each raster position. ©2022 igus® GmbH...
Page 33 Different rasters are identiﬁed by a name. Figure 19: Usage of matrix deﬁnition and matrix query commands. The deﬁnition of variables is omitted. ©2022 igus® GmbH...
Page 34: Subprograms
A position variable is initialized with the cartesian and axis position of the robot when the com- mand is executed. • "NumberConstant": A number variable is initialized with the constant speciﬁed in "value" (see 20). • "PositionConstant": A position variable is initialized with the constants speciﬁed in "Cartesian Position", "Joint Po- ©2022 igus® GmbH...
Page 35: System Variables
Position variables contain the following elements: • Position: x, y, z • Orientation: a, b, c • Joint positions: a1, a2, a3, a4, a5, a6, e1, e2, e3 The elements are accessed by appending them with a dot, e.g. "myvariable.x" or "myvariable.a3". ©2022 igus® GmbH...
Page 36: Calculating With Variables
The information includes grab position and orientation, as well as object type and detection state. To use a camera, it must be deﬁned and calibrated in the conﬁguration area (see section 9.2.5). The program instruction can be added via the menu item "Special Commands" "Camera". ©2022 igus® GmbH...
Page 37 If no tool axis is installed you can use the constant orientation val- ues from the information area of iRC. 2. Create three assignment statements (Math statement) and overwrite the A, B and C components of the target position with the determined values. ©2022 igus® GmbH...
Page 38: Hardware Configuration
CRI interface or the Modbus interface. Up to 100 global signals can be used. 8.1.1 Electrical Integration The easiest way to connect switches, actuators or PLC is via digital inputs and outputs. The Rebel is supplied with two integrated DIO modules; four digital inputs are available at the base and two inputs and outputs each at the arm.
Page 39: Software-Configuration
Blue DIn31 Black DOut32 Gray DOut31 Pink Table 8: Pinout of the DIO socket on the arm (see ﬁg. 24) 8.1.2 Software-Conﬁguration The software and integrated control are preconﬁgured for the two DIO modules of the Rebel. ©2022 igus® GmbH...
Page 40: Connecting Sensors And Buttons At The Base
I/Os)! If modules are removed from the conﬁguration and added again the automatic conﬁguration assigns IDs according to a scheme incompat- ible with the Rebel. This can only be reset manually or by a factory reset via TinyCtrl updater You can enter a descriptive name for each input and output. This is only relevant for the display, but not as a name in program conditions.
Page 41: Motor Brake
Figure 26: Example: Connection of a sensor and an motor 8.2 Motor Brake Electromagnetic brakes are installed in the Rebel to prevent the axles from sagging. By applying a voltage, the axles are released. Without voltage, they fall into the braking state by springs.
Page 42: Software Configuration
The behavior of the robot can be changed via the conﬁguration. The most important parameters can be found in the conﬁguration area of iRC - igus Robot Control, which can be opened via "File" (see Fig. 27). Settings concerning the project can be found under "Project conﬁguration", cross-project settings under "Robot conﬁguration".
Page 43: Project Configuration
For each digital output can be speciﬁed which state is assumed at reset and in case of error. 9.1.4 Virtual Box The virtual box deﬁnes an area that the tool center of the robot must not leave. If the limits are ex- ceeded, the movement stops. ©2022 igus® GmbH...
Page 44: Interfaces
PLC interface). To conﬁgure a robot with integrated control it must be connected. The ﬁeld "Active" activates the interface, "Automatically connect" causes iRC to try to connect to the robot automatically. The number ﬁelds to the inputs and outputs correspond to the numbers of the digital ©2022 igus® GmbH...
Page 45: Program Selection Via Digital Inputs
Documentation of all supported instructions as well as sample code can be found at the following link: https://wiki.cpr-robots.com/index.php/CRI_Ethernet_Interface To enable the interface in iRC open the conﬁguration area (File Conﬁgure Interfaces CRI inter- face). The "Start" button starts the CRI server, "Stop" stops it. The status ﬁeld shows the bound IP ©2022 igus® GmbH...
Page 46: Camera Interface
The entries in the geometry area control the processing of the positions provided by the camera (pixel position of the camera image) to positions relative to the robot (see ﬁg. 28): Parameter Meaning Scaling Scales the pixel position Origin Position of the camera in the robot coordinate system ©2022 igus® GmbH...
Page 47 Object position in pixels (0-640 and 0-480 respectively) SimA Orientation in degrees Model class Class of detected object, the value -1 means no object is recognized. ©2022 igus® GmbH After conﬁguration, the detected and calculated values can be observed in the...
Page 48: Network
9.2.6 or a PC with iRC, which is connected to a robot. In addition, an account with RobotDimension is required, there a separate robot password must be set in addition to the online password. ©2022 igus® GmbH...
Page 49: Secure Shell Access
Via the software Putty one can connect to the Linux board and work on a command line. This way you can for example view the live outputs of the robot controller. For the work on the command line Linux knowledge is necessary! 1. Download and run Putty.exe. https://putty.org ©2022 igus® GmbH...
Page 50: Sftp Access
ﬁles on one of these systems, they must also be made on the other side. Otherwise the controllers do not behave identically, collisions may occur! SFTP is the SSH File Transfer Protocol. It can be used to transfer or adjust ﬁles from one computer to another. FileZilla is a free FTP program. ©2022 igus® GmbH...
Page 51: Uninterruptible Power Supply (Ups)
UPS via Schuko plug. The UPS is connected to the mains. No further conﬁguration is necessary, because the "apcupsd" is preconﬁgured. If it is necessary to change the conﬁguration, e.g. if another UPS compatible with apcupsd is connected, we refer to the apcupsd documentation: http://www.apcupsd.org ©2022 igus® GmbH...
Page 52: Advanced Configuration
Remote Conﬁguration". Do not change the conﬁguration ﬁles unless you know what you are doing. Test the robot at slow speed, as it may behave unexpectedly, move too fast or collide if the con- ﬁguration is incorrect. ©2022 igus® GmbH...
Page 53: Modbus
ﬁgure shows the robot data type. In the ﬁrst place it contains a object. This object "TCON_IP_v4" can be used to set the IP address of the robot and the port to use. The connection ID can also be set. ©2022 igus® GmbH...
Page 54: Inserting The Robot Communication Fb
Robot is referenced Referenced Bool The robot program is running ProgrammRunning 10.3.3 Data Access To access the robot data, the data in the robot DB can be manipulated. These are then automatically transferred to the robot and processed. ©2022 igus® GmbH...
Page 55: Address Mapping
Modbus deﬁnes four memory areas that can be read and written by different messages. In the address mapping of the igus robots, the areas are used as follows. In some cases information can be retrieved both bitwise and as register.
Page 56: Coils And Discrete Inputs - 1 Bit, Read Only
Module error - driver error Info Module error - Bus dead Info Module error - module dead 31-36 Info Module error - reserved for future errors Info Kinematics - no error Info Kinematics - axis limit min ©2022 igus® GmbH...
Page 57 Is the selected directory entry a program ﬁle Load selected directory entry as robot program / open directory Go to the base directory (.../Data/Programs) Unload robot program Unload logic program 200-299 boolean Global signals 300-363 boolean Digital outputs ©2022 igus® GmbH...
Page 58: Input Registers - 16 Bit, Read Only
Temperature electronics gripper axes 56-59 int16 0.1°C Temperature electronics platform axes 60-65 int16 0.1°C Temperature motors robot axes 66-68 int16 0.1°C Temperature motors external axes 69-71 int16 0.1°C Temperature motors gripper axes 72-75 int16 0.1°C Temperature motors platform axes ©2022 igus® GmbH...
Page 59: Holding Registers - 16 Bit, Read And Write
0.01mm Target position cartesian 136-141 int32 0.01° Target orientation cartesian 142-153 int32 0.01 Target position robot axes 154-159 int32 0.01 Target position external axes 174-177 int32 0.01mm Target position platform 178-179 int32 0.01° Target orientation platform ©2022 igus® GmbH...
Page 60: Number And Position Variables
Each number variable is mapped in a register. Since only integers are supported here, the robot pro- gram must convert to the desired value range by multiplication or division if necessary (Math instruc- tion). Position variables consist of 16 registers each, whose values are speciﬁed in tenth precision: ©2022 igus® GmbH...
Page 61: Meaning Of Enumeration Values
Virtual box violated in X- Virtual box violated in Y+ Virtual box violated in Y- Virtual box violated in Z+ Virtual box violated in Z- NAN in calculation Motion not allowed 65535 (0xFFFF) Unknown error Table 29: Kinematic error code ©2022 igus® GmbH...
Page 62 Fast (not used) Table 33: Replay Mode Value Meaning User (Teach pendant, CRI, Modbus, etc.) Program (stop/pause instruction) Replay Step (step operation) Shutdown (system shuts down) Error Path generator error 1 Path generator error 2 Error in state machine ©2022 igus® GmbH...
Page 64: Maintenance
• After the control unit is disconnected from the mains, fans or ventilation slots can be cleaned carefully with a damp cloth or light compressed air. In doing so, the rotors of the fans must be held ﬁrmly so that they do not receive bearing damage due to excessive speed (rpm). ©2022 igus® GmbH...
Page 65: Troubleshooting
Among other things, it enables the axis to be moved and referenced, and parameters to be read out and changed (see section 8.3). Module Control can be downloaded under the following link. The operation is also described there in more detail. https://wiki.cpr-robots.com/index.php/Config_Sof tware_ModuleCtrl ©2022 igus® GmbH...
Page 66: Support Contact
• E-Mail: ww-robot-control@igus.net In case of software problems, please send us the log ﬁles of the iRC - igus Robot Control and the integrated controller. To do this, simply click on the question mark at the bottom right of the 3D area to automatically attach all relevant ﬁles to an e-mail •...

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