5
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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