Class_IgusRobolink.py

This is a basic class to initialize and run the Igus Robolink Robot based on the CRI Interface from Common Place Robotics. In my case it is an RL-DCi-5S-M

It has the following capabilities:

• Initialize and automatic check if the robot is already referenced. Otherwise it will automatically run an referencing sequence
• run in cartesien coordinates to a relative (moveo) or absolute position (move) position. The callback is "done" if a defined position is reached
• Approach target in xyz with a certain speed
• control an digital IO (i have a magnet atteched)

Limitations

• Init and connect process is controlled via time.sleep (delay) and not based on an connected callback
• if a position is not reached the system will hang in a while loop

further Links

https://wiki.cpr-robots.com/images/8/81/CPR_RobotInterfaceCRI_V17.pdf

I would be very happy to know if you use the lib and what you do with it! just write to me!