Related Manuals for igus Commonplace Robotics iJC Joint Control
Summary of Contents for igus Commonplace Robotics iJC Joint Control
- Page 1 User documentation iJC – igus® Joint Control Version 1.5, March 2025 © Commonplace Robotics GmbH...
- Page 2 Version V1.5-EN, March 2025 © Commonplace Robotics GmbH, 2011 – 2025 Commonplace Robotics GmbH Gewerbepark 9-11 49143 Bissendorf Germany support@cpr-robots.com www.cpr-robots.com © Commonplace Robotics GmbH...
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Page 3: Table Of Contents
Contents Safety instructions ............................5 Introduction ..............................6 Intended use ............................6 Target group and qualification ......................6 Regulations ............................6 Overview of the compact control system ....................7 Specifications of the iJC ........................7 Quick start guide ............................8 Setup and connection ......................... - Page 4 © Commonplace Robotics GmbH...
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Page 5: Safety Instructions
1. Safety instructions • When operating axes and other actuators, always pay attention to the personal safety of the user and other persons. • All work on voltages >48V may only be carried out by qualified electricians! This is the case, for example, when connecting 220V power supply units. •... -
Page 6: Introduction
2. Introduction 2.1 Intended use The iJC is a compact control system for simple control of up to three motors. It is used in combination with motor control cards and motors with encoders as well as digital input/output cards from the iRC series. The control system may only be operated with the components and voltages described in section 3.1 The permissible electrical parameters must be observed in particular. -
Page 7: Overview Of The Compact Control System
3. Overview of the compact control system The entire system consists of four basic components: 1. Mechanical axes 2. Motor drivers and IO modules 3. iJC 4. Programming environment via web interface The control system is used to control the movement of motors. The control system is supplied with 24V, the motors with 48V or 24V. -
Page 8: Quick Start Guide
4. Quick start guide 4.1 Setup and connection Proceed in the following order for installation and commissioning: 1. Ensure that the control system is disconnected from the mains: Pull out the mains connector. 2. Install the control system and the motors on a suitable base. Make sure that the cables are not under tension. -
Page 9: Connect
4.3 Connect 1. Log into the WLAN with your mobile device or computer: "iJCxxxx" with the password: "123456789". 2. Open a browser window and enter http://192.168.4.1/ in the address bar or scan the adjacent QR code. Please note the following: Only one device can connect to the control system's WLAN at a time Only one browser window/tab can be connected to the control system at a time Mobile data must be deactivated, otherwise mobile devices will automatically switch to mobile... -
Page 10: Movement Of The Axes
4.5 Movement of the axes To perform a movement, switch to the Jog page. Reset the errors of the axes (Reset) and then activate them (Enable). You can then move the axis forwards and backwards by pressing the "+" and "-" buttons. Reduce the speed beforehand (scroll down the page to do this). -
Page 11: Installation Of Ijc Control Module
5. Installation of iJC control module Connect to the plug-in connector "Supply" of the control system: Power supply (Supply) Pin 1 (left) 24-48 V (motor) Pin 2 Pin 3 +24V (logic) Pin 4 The CAN connection is established via the centre 5-pin plug-in connector "OUT-BUS" (from left to right): CAN connection (OUT BUS) Pin 1 (left) CAN -L... -
Page 12: Web Interface For Controlling The Ijc
6. Web interface for controlling the iJC 6.1 General structure The user interface is divided into three areas. There is a green flashing indicator in the header to show that communication with the control system is active. The menu button is located next to it. The Reset, Enable and Start/Stop controls are located in the lower area. -
Page 13: Program Page
The IO modules are located underneath. The status of the DINs and DOUTs is displayed here. Further down the page there is a controller for the speed. At the bottom of the page there is a toggle button that can be used to activate PLC mode. Further information on PLC mode can be found in section 8. 6.3 Program page ©... - Page 14 Programs can be managed and edited under the Program menu item. A toggle button can be used to select whether the program should be executed as a continuous loop or only once. All programs loaded on the iJC are displayed below. Under the programs there is the item "New Program", with which a new program can be added.
- Page 15 Click on a step to edit it. A new step can be added by clicking on the "+". A maximum of 50 steps can be added per program. In the drop-down menu, you can select which step is to be added. The following commands are possible: •...
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Page 16: Jog" Page
• Relative Motion Relative movement around the registered distance. The acceleration and speed of the step are also indicated. • Wait Time The time entered in ms is the wait time before the next step is executed. • Wait for Signal Program processing is paused until the signal has reached the value. -
Page 17: Status Page
The speed controller is located under the IO modules. 6.5 Status page The status information of the axes is displayed in the upper area. The error code, the CAN ID and the current temperature are displayed here for each axis. The DIO modules are located underneath. The respective CAN ID of the modules is displayed here. -
Page 18: Logs Page
The linear axis ZLW-1080 with a Nema 23 drive is used as an example. The transmission of the linear axis can be found on the following page: https://www.igus.eu/drive-technology/linear-axes-with-toothed-belts/technical-data The set maximum values are reduced and set according to the structure. -
Page 19: Advanced Settings Page
Saving the log files while a program is running can lead to slight delays in positioning. This can lead to errors in the movement. At best, the log files should not be saved while a program is running. Saving the log files while a program is running can lead to slight delays in positioning. This can lead to errors in the movement. -
Page 20: Operating The Ijc Via Joystick
7. Operating the iJC via joystick The control system can also be operated using the joystick. The menu is divided into a main menu and several submenus. Main menu: Jogging Referencing WLAN settings Program You can navigate up and down through the main menu using the joystick. - Page 21 Reset Referencing back Stop Enable The WLAN can be activated and deactivated in the submenu WLAN. The WLAN can also be reset. Reset WLAN WLAN Off back WLAN On Reset WLAN To reset the WLAN, you can navigate upwards or downwards. The reset must then be confirmed. The currently loaded program can be started and stopped in the submenu Program.
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Page 22: Plc Mode
8. PLC mode The PLC mode can be used to control the iJC with a Programming Logic Control (PLC). This mode can also be used if, for example, the program is to be started via buttons. The control system can be set to PLC mode using the "PLC mode" toggle button on the web interface. However, this is only possible if no program is being run. - Page 23 ATTENTION: An update will reset the WLAN settings, the programs and the axis settings. It is recommended that you save the settings beforehand, for example by taking a screenshot. The software can be updated via WLAN. To do this, download the new software from our Wiki https://wiki.cpr-robots.com/index.php/Igus_Joint_Control .The .zip folder contains the file LitttleFS.bin and Firmware.bin.
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Page 24: Troubleshooting
10. Troubleshooting Problems with the WLAN connection Connection cannot be Check whether another subscriber is already connected to the established WLAN. Only one device at a time can connect to the control system's WLAN. Deactivate mobile data on mobile devices. These must be deactivated, otherwise mobile devices will automatically switch to mobile data when the browser is opened and the WLAN connection does not establish an internet connection... -
Page 25: Appendix A Commissioning Of Motor Module
"ENC-1" and "ENC-2" and the reference switch cable to the connector labelled "End- Stop". The following figure shows an example of the connectors. The colour of the cables depends on the motor type used and can be looked up in the motor documentation (igus motors). Diagram 7: Motor module with plug-in connectors... - Page 26 Encoder connector (ENC-2) Connects a quadrature encoder to an RS422 module Pin 1 (left) Pin 2 Pin 3 Index Pin 4 Index-N All eight cores (encoder connections 1 and 2) must be connected in order to read out the encoder. End stop connector Connected to a limit or reference switch Pin 1 (left)
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Page 27: Appendix B Digital I/O Module
Appendix B Digital I/O module The DIO module offers input and output channels, e.g. for controlling a valve. The outputs can switch up to 500mA. The inputs use optocouplers and are compatible with input voltages between 12 and 24V The outputs are controlled via solid state relays. This value must not be exceeded during the switching process (e.g. - Page 28 Diagram 8: DIO module with plug-in connectors Digital Out connector (D-out A) The output relays connect the power supply pin to the corresponding output pins Pin 1 (left) Input voltage (for all 7 channels) Pin 2 D-Out channel 1 (in software 11) Pin 3 D-Out channel 2 (in the software 12) Pin 4...
- Page 29 Pin 2 D-Out channel 5 (in the software 15) Pin 3 D-Out channel 6 (in the software 16) Pin 4 D-Out channel 7 ( in the software 17) Digital In connector (D-In A) Pin 1 of D-In A is the corresponding GND pin for all input pins Pin 1 (left) Signal GND (for all 7 channels) Pin 2...
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Page 30: Appendix C Can Ids
Appendix C CAN IDs The CAN IDs for the motors and DIO modules must be set in ascending order. This can be set using the yellow wheel on the boards. The following table shows the switch position with the respective ID. Motor Switch position CAN ID...
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