6.
6.1
Programmelemente ................................................................................................................. 25
6.2
6.3
6.4
6.5
6.6
7.
Konfiguration .................................................................................................................................... 30
7.1
7.2
7.3
8.
Interfacing ........................................................................................................................................... 33
8.1
CRI Interface ................................................................................................................................ 33
8.2
8.3
9.
CAN Protocol Spezifikation ........................................................................................................ 35
10.
Fehleranzeigen ................................................................................................................................. 36
10.1
LED am Roboterfuß ................................................................................................................ 36
11.
Troubleshooting .............................................................................................................................. 39
11.1
11.2
Software CPRog ....................................................................................................................... 40
11.3
Hardware ....................................................................................................................................... 41
12.
4