Robot Files and Project Files

Which project configuration/robot configuration file should I use?

To find out, you need to find your robot type. The table below shows how to identify your robot.

Project config files

The name of the project configuration file that you need to use in CPRog for your robot is composed as follows. Use the table below to identify the filename:

In general, any project file in the Directory C:\CPRog\Data\Projects\ is comprised as follows:

<Robot-type>_<number_of_joints>_<size>_<Encoder_Type>.prj

Answering the questions in the table below, should narrow your choice down to a single file in the folder C:\CPRog\Data\Projects\.

Robot config files

There are robot configuration files, in a sub directory of C:\CPRog\Data\Robots\. The sub directory uses similar nomenclature table below.

For example: <Robot-type>_<number_of_joints>_<size>

Answering the questions in the table below, should narrow your choice down to a single file in the folder C:\CPRog\Data\Projects\.

Before making any changes to these files, create a backup of the respective files. The file names of the robot files/folders should not be changed, as they are referenced from within the project files. If you do change the filename, you will need to edit the Project file as well. Always keep a backup of the files that you make changes to. If you loose one of these files, you could re-install re-install CPRog on top of the existing CPRog installation (i.e. without removing the existing CPRog version first.) This overwrites all files in the CPRog installation directory (usually c:\CPRog). So you'll likely want to keep a backup or rename that directory prior to the installation.

Filename nomenclature

For robots with external control electronics

Parameter	Robot sub-directory	Project File	Description	Image
Igus robolink DQ or D arm or Gantry?	IGUS_DQ_arm / IGUS_arm	Robolink_DQ / Robolink / drylin_XYZGantry	There are several types or robolink robot arms, the most common is the D arm, named just “IGUS arm” or "Robolink Arm". If you have a XYZ gantry robot, choose the drylin_XYZGantry.prj
4 or 5 Degrees of freedom?	4DOF / 5DOF	4Axis / 5Axis	DOF is the acronym for “degrees of freedom”, meaning the number of robot joints or axes. The robot on the right is 5 DOF or 5 axes. Note: the white gripper is not counted.
Small version or big version?	SV/BV	Small/Big	BV stands for Big Version with 2.5 kg payload. SV stands for Small Version with 0.5 kg payload. Measure the inner diameter of joint 2. 5cm = BV/Big 3cm = SV/Small
Encoder at Gear-output or motor-encoder?	AE / _BLANK_	AE / _BLANK_	Filenames without AE extension are for robots that use motor encoders, AE versions use a encoder on the gear output. Count the number of sockets of any of the modules labelled "Stepper Motor Driver Module" on the DIN Rail. 3 sockets: use file names containing AE. 4 sockets: use file names not containing AE

Example: If I have a robolink D big version robot with 5 degrees of freedom and motor encoders,

• my project file is robolink_5Axis_big.prj
• my robot file is IGUS_ARM_5DOF_BV.xml

For Robots with internal control electronics, such as the robolink DCi

This is for robots with control electronics that are integrated into the base of the robot. You won't have external modules on a DIN rail and a whole bunch of cables coming out of the robot base.

Parameter	Robot sub-directory	Project File	Description	Image
4 or 5 Degrees of freedom?	4DOF / 5DOF	4Axis / 5Axis	DOF is the acronym for “degrees of freedom”, meaning the number of robot joints or axes. The robot on the right is 5 DOF or 5 axes. Note: the white gripper is not counted.
Small version or big version?	SV/BV	Small/Big	BV stands for Big Version with 2.5 kg payload. SV stands for Small Version with 0.5 kg payload. Measure the inner diameter of joint 2. 5cm = BV/Big 3cm = SV/Small
Encoder at Gear-output or motor-encoder?	AE / _BLANK_	AE / _BLANK_	Filenames without AE extension are for robots that use motor encoders, AE versions use a encoder on the gear output. Count the number of sockets at any of the motors of the robot. 1 socket: use file names containing AE. 2 sockets: use file names not containing AE	DCi with motor encoder. Correct project file does not contain AE: e.g. robolink_5Axis_Small.prj DCi with output encoder. Correct Project file contains AE: e.g. robolink_5Axis_Small_AE.prj

Example 1: If I have a robolink Dci small version robot with 5 degrees of freedom and output encoders,

• my project file is robolink_5Axis_small_AE.prj
• my robot file is IGUS_ARM_5DOF_SV_AE.xml

Example 2: If I have a robolink Dci small version robot with 5 degrees of freedom and output encoders,

• my project file is robolink_5Axis_small.prj
• my robot file is IGUS_ARM_5DOF_SV.xml

Loading the Project Configuration File

You can load the project configuration file by clicking on the circular icon at the top left of CPRog, selecting "Open Project" and then selecting the corresponding file located in C:\CPRog\Data\Projects\.

File:CPRog open project file1.png

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File:CPRog open project file2.png

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Which project configuration file am I currently using?

You can see which project file is currently in use in the title bar of CPRog, while the CPRog window is not maximised to fill the screen. (You will notice that when it is maximised, the text in the title bar is unreadable.)