igus robolink User manual

  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
Preliminary documentation for the control for robolink® articulated
arms for use with the igus IME Software (igus® motion editor)
evision 01, Version 10.2013
Prepared by B.Eng. Felix Berger
[email protected]
+49 – (0)2203 – 9649 - 7331

  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
1a) Hardware parts list
Quantity Part Source Order no. Comment
  '   
/ 3 %#$ 3   4#5"1
 4#5"%6    3  784#5"91 
 %'"/:;:4
;(' ' 
%#" '"/ /<=*
  
 ;(;:4>'
''  
%#" 6 
 ":>?    
 #5:>?    @"; 

 4#5"  % $#5+A" 
 4#5"  % $#/A" 
 91% ;B1 % +$"#/A" 
' 4%  % /+A" 
/* C4 
 
% $"$A" 
 C4 
 
% $$A" 
 C 
 
% $#//A" 
 C   % $#5A" 
# D4  % #5#"A" 
"' "@#''E   %0"9 
 F  % ""#"#A" 
/    %03>"
1G


1b) Software parts list

Programme Current version Source
 6+$ ??? ..? 
%>@:%>C6  // ???'
3> $ ???  
H6>''3H  ??? ..? 




  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
2a) Hardware configuration - Crumb2560



 1 ,#@-
 I=,/<=-
 4#5" ,%$#5+"-
# <  ,/@-
" <  ,#@ -,     -
/ <  ,#@ -,     -

2b) Fully assembled circuit board



  




#




®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
3a) Install boot loader

 % ;:4'' 91,>%.-
 9 6 '  ,J..-
Restart the PC and press F8 during the boot process when driver signature problems
occur. Then deactivate the driver signature. The deactivation is effective until the next
restart.
 %  '' @/  ,  ?91>-
# %'"/?":C%



" @  0 @   
/ % ?   



$ ( ' '   

  




"




®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
3b) Flash firmware

 4 >% 6 6  
 % %'"/?>%.?91 
 %>@:%>6 
# @  0 @   
" % ?  '? 



/ 0?  ! '   
? 


( %'"/' ?  ? K


















  




/




®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
4) Nanotec SMCI47-S NanoPro configuration
  ' LL?



 94#5"6   !  ?>%.
 ?#5:C%
# 3>
" ;?  '  L4 'LK
/    %F   4#5"6    L%''L
$ 9 '? ) 'M% 0'? M  0'? 
M4#5".#
5 :   



+ 4       L L
 4 
 M   '
12. M;M; LL
this step is necessary to reset all changed software settings)
 MN6 M6 M? ON
briefly switch to mode tab if the autostart function is missing)
# % '' !!   #

  




$




®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
5) Prepare bus cable
Note: The bus cable shown here is a fast and cost-effective alternative to
professional bus cables. We assume no guarantee for malfunctions and
transmission errors!

 <   ?> .?   K
/@%#$ .A  ' @



 4 '6  ?    ":   
 '
















  




5




®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
 >   ' )D  ? *$#*+
9 C ? ,%$#//"-



#    %'"/,%0"9-
9 C? ,%$#5"-



Pin D-Sub Pin Crumb2560
 
# 
$ 
5 
+ 



  




+




®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
6a) Nanotec SMCI47-S-2 device connection
  /'        


 - NC -
 - NC -
 - NC -
# - NC -
" - NC -
/ - NC -
&3C &3C
F - NC -
F - NC -
F - NC -
;  4< 
&3C &3C
1  - NC -
&3C - NC -
*": 4*":
% 1 4% 1
% ; 4% ;
 @ 4 @
&3C 4&3C
G; ;? 
G;P ;P?
G1P 1P
G1 1 
91##5: *#5:
&3C &3C












  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
6b) Device connection Crumb2560



( %'"/ '@';.":G  '' 
 






























  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
7) Configure Igus Motion Editor

 % 

@'  @4"Q

RHS
' T>6   UC 3' 
 TV     UH ,VT>6.7T4-
 T    U  
? W'T"$5 U? Q ' 
,>.5X -
 W'T"$5 U9 Q '
,>.5X -
 T    UH ,>.5X -
6 T    U6  @,-
 W W WT/# U/.!5XVX ,VT . - 
,T  -
'W W WT/# U/.!5XVX ,VT . - 
,T  -
'@W T   U% '6
W T   U% 
 T    UC  
QW@T   UH@
QW6 T   U6 Q@

RHS
' T4   UC 3' 
 T7     UH ,VT>6.7T4-
 T    U  
? W'T/5 U? Q ' 
,>.5X -
 W'T/5 U9 Q '
,>.5X -
 T    UH ,>.5X -
6 T    U6  @,-
 W W WT/# U/.!5XVX ,VT . - 
,T  -
'W W WT/# U/.!5XVX ,VT . - 
,T  -
'@W T   U% '6
W T   U% 
 T    UC  
QW@T   UH@
QW6 T   U6 Q@


  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
 H6'' 3H

@'  @4"Q


3%FC4W<0()& @/TY& @"T
& ; )<?   
 4 )  .4  
  4">6)#+/
   4"4)#/#
   4+>6)++
   4+4)++
  C )6    
9 LL?  '?'6 ?  =
   )9 LLA4+143;#)Z[

6  % )9 ?'?   
3;$)@\5;
3;)@"/\#;
3;#)@5"\/#;






  









®


igus GmbH
  !"#$% !& '
( )*#+,-.+/#+$
)01  2 
 H6'   

%F. ,"-. ' 
%' '' 
( '' 
4  /
( H6'' ?  ?   C 
 