Robot Programs and Updates

If you updated a robot control or iRC/CPRog to a new major release (e.g. from V13 to V14) you may have noticed that programs that were created with the old version refuse to load. In most cases this is due to a safety feature that can be easily disabled but it may also be caused by changes in the program structure. This article explains how to get your old programs running again.

Version and consistency check

When you load a robot program the robot control checks whether it was created with the same major version (e.g. V14) and whether the robot type, velocity setting and tool match. This is to prevent unexpected behavior, e.g. in case the motion is calculated differently in the new version.

This is easy to fix: Open the program editor and load the program including all sub programs (ignore any compatibility warnings). Then save each program file. iRC/CPRog will overwrite the compatibility info with the current values. After that you can load the program as usual. Important: Since the behavior may have changed test the program with a low velocity override first and keep the emergency stop reachable.

Sub programs after updating from V13 to V14

The behavior of the sub program command changed from V13 to V14. In V13 the given file name was always relative to the Programs directory, which caused issues e.g. when moving a folder that contains the main and sub programs - the sub program files are not found anymore. In V14 the sub program file names are always relative to the calling program file. E.g. if your main program is "Programs/MyProgram/Main.xml" all sub programs called by Main.xml must be within "Programs/MyProgram" or a sub folder. If you move or rename folder "MyProgram" all sub programs will still be found.

If your V13 program calls sub programs from sub folders you will need to some changes:

• Make sure all sub programs are in the same folder as the calling program or in a sub folder. Move the programs if necessary.
• Open the programs in the program editor and find all sub program calls. Check and fix the assigned file names (e.g. select the correct file)

Note: If your sub programs call other sub programs, you will need to fix these too.