Commonplace Robotics Mover 4 User manual

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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
[e-mail]
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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The installation normally takes o
nly
a few seconds.
The installer checks, if DirectX 9.5 is
installed. If not it will install theses
libraries from the CD or via
download. This will take some
minutes.
The installation of DirectX 9.5 is
necessary even if e.g. DirectX 11 is
already installed.
When f
inishing the installation y
ou
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 checks, if all necessary extensions
are available, especially the .NET-Framework and DirectX 9.5. If this is not the case
an error message will appear. DirectX is installed automatically, but the .NET-
Framework has to be installed manually:
Search in the net for “Microsoft .NET download” and install

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3.4 Installation of the Driver for the USB Adapter
The robot is delivered with the PCAN USB driver from www.peak-system.com. To
run the adapter the according driver has to be installed. This can be done from the
CPRog installation CD (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 please check the PCAN-USB device and the PCAN-View CAN-Bus
Monitor as shown on the following picture for installation.
Choose for installation:
 PCAN-USB
 PCAN-View
The PCAN-View monitor allows to check if the adapter is connected correctly.

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3.5 Licensing
The CPRog software needs a license key to start. This key is in most cases already
integrated into the installation version of CPRog. Nothing has to be done.
If it is not, e.g . because you have installed a demo version, please see the following
information. The key, an XML file, has to be stored in the directory
\CPRog\Data\License
The CPRog installer copies the key Demo.xml to the directory. With this key CPRog
starts in demo mode. The runtime is 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 [e-mail]:
 Your Name or the name of the responsible contact person
 Your companies / organizations name
We will send you your key via mail. After starting CPRog your licensing data are
shown in the main frame and can be shown complete with the
Programbutton/License.
Please do not change the content of the license file, this will render it invalid!
A standard license allows the installation and use of CPRog on an arbitrary number
of computers in the company or organization of the license holder.

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4. Robot Arm Mover4
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 workspace, see section 7.2.

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4.2 Digital Inputs and Outputs
The robot base shows a D-Sub plug with several digital inputs and outputs. The pin
assignment is shown below.
D-Sub Male: View from the
front on the pins.
24V DIO, D-Sub Male
Pin 1: Out1 24V
Pin 2: Out2 24V
Pin 3: Out3 24V
Pin 4: In1
Pin 5: In2
Pin 6: In3
Pin 7: In4
Pin 8: GND
Pin 9: 24V Supply
Pic. 4: Pin assignment at the base digital IO plug
The 24V-DIO-Board provides relays and 12 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 digital outputs with TTL-Level can be found on the flange of the robot,
see the next section.
4.3 Mounting Flange for the Gripper
The robot flange offers 10 M3 threads to connect gripper or other devices. A plug
allows electrical connectivity.
Six of the threads are placed on a 15 mm reference circle; the remaining 4 M3
threads are located as shown in the drawing. The plug is a Harting product SEK male
6 poles:

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Pin1: 12V, max 0.5A
Pin2 GND
Pin3: DOut 11 (5V TTL)
Pin4: DOut 12 (5V TTL)
Pin5: not connected
Pin 6: not connected
Pic.
5
:
Drawing of the flange
4.4 Drawing of the Robot Base
The robot can be mounted using the M4 through holes.
Pic.
6
:
Drawing of the robot b
ase plate

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5. Moving the Robot Arm with CPRog
5.1 Introduction
The CPRog programming environment allows to control and program the Mover
robot. Both online and offline working is possible.
Pic.
7
:
CPRog
User Interface
In the 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 sections are found:
 „Log Message“: Messages regarding the programs state
 „Info Center“: Shows joint values, the Cartesian position and the motor
currents
 „Jog“: Buttons to move the robot
 „Input / Output“: View and set digital IOs

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5.2 Navigation using the Mouse
A 3 button mouse is recommended to navigate in the CPRog 3D environment:
 Left button: Selection of robots and other objects
 Middle button: Navigation in the scene
o Rotate: drag the mouse while holding the middle button
o Pan: drag the mouse while holding the middle button and pressing
down the CTRL-key
o Zoom: Drag the mouse while holding the middle button and pressing
down the SHIFT-key (zooms to the center of the scene), or turn the
mouse wheel (zooms to the current cursor position)
 Right button: Opens the context menu
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 Joypad and Buttons
The robot can be moved (or “jogged”) manually, as long as no program is running. The
main elements are the button to connect the joypad, the combobox to choose the
motion type and the override.
Pic.
8
:
Elements to jog the robot
When pressing the joystick button CPRog connects with a joypad. Nevertheless,
CPRog tries to connect on start up. When the connection succeeded a green ok sign
is shown on the joystick button.
The device must have the type “Joystick” or “Gamepad”. Further information on the
connection trial is provided in the log window.

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The „Joint“ mode allows to turn the single robot axis from A1 to A4. In “Cartesian”
mode the robot moves in straight lines following the x, y and z coordinate axis. The
rotation is defined with the B commands. In „Cartesian Tool” mode the robot moves
aligned to the current tool coordinate system.
The override scales the motion speed between 0 and 100%.
Pic. 9: Buttons to jog the robot in Cartesian mode. In joint mode the buttons change to the axis A1 to A4.
While 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 further motions when
leaving the allowed area. These restrictions do not hold in joint mode.
The most convenient way to move the robot is with a connected joypad, the picture
below shows the assignment of keys.
Reference:
1. Change motion mode
2. Change active robot
3. Open / close gripper
4. Record a motion point
5. Change button
assignment:
when pressed it is not
+X, but +B
Pic. 10: Assignment of keys for the joypad. Upper markings for Cartesian mode, lower for joint mode.

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5.4 Moving the Robot using the Graphics
An alternative to the joypad is to drag the robot in the graphical 3D environment.
When selecting a joint of the robot with the left mouse button, the joint outlines
blink red. When selecting the joint and moving the mouse with pressed left mouse
button this joint will rotate forward or backward, depending on the mouse motion.
Pic. 10: Joint and coordinate 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 real robot can be controlled in the same way as the simulated one, only the
hardware has to be connected before: connect, reset errors and enable motors.
Prerequisites are that the robot is connected via the USB-CAN adapter and the
robots supply is running (plugged in, switched on and emergency button released).
Pic.
11
:
Buttons to connect to t
he hardware, reset the errors and enable the motors