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| − | Here you can find updates for the CPRog robot programming environment and the corresponding documentation.
| + | Below you will find links to the current versions of the robot control software. |
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| − | == Download current CPRog Robot Programming Environment ==
| + | * '''CPRog:''' Robot control and programming software |
| | + | * '''igus Robot Control (iRC):''' Functionally equal to CPRog but with an igus specific selection of robots |
| | + | * '''TinyCtrl:''' The robot control software that runs on the embedded computer. It is controlled via CPRog, iRC or its interfaces. |
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| − | ===Version 10: For robolink arms and drylin 3 axis gantries===
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| − | Improved motion with acceleration profile, improved condition parser.
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| − | Notice: Program syntax changes, V09 programs will not run without adaptions!
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| − | *Software: [http://www.cpr-robots.com/download/CPRog/CPRogInstaller_V902-10.exe Download latest CPRog V902-10 Installer]
| + | [[file:caution.png|left|25px]] Caution! After a software update test your robot programs for compatibility and motion deviations first with small velocites! |
| − | *Documentation / Manual EN: [http://www.cpr-robots.com/download/CPRog/UserGuide_igusRobolink.pdf robolink User Guide]
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| − | *Documentation / Manual DE: [http://www.cpr-robots.com/download/CPRog/Bedienungsanleitung_igusRobolink_DE.pdf robolink Bedienungsanleitung]
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| − | *Command Reference EN: [http://www.cpr-robots.com/download/CPRog/CPR_CommandReference.pdf CPRog Command Reference]
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| − | [[file:caution.png|left|25px]]'''When using the standard installation directory, the installation of the update is done on top of the current program version. This will not delete user generated files (program files or the license). However, it will update the standard configuration files in turn erase user changes made to those files. To prevent this rename the old installation e.g. to <code>c:\CPRogold</code> prior to running the installer. '''
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| − | <br clear=all>
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| − | ====Prerequisites==== | + | = System Requirements = |
| − | * [http://www.cpr-robots.com/download/CPRog/DirectX.zip Directx 9.0c]: (exactly this version) A newer version might already be installed. However, it is no problem to install two versions in parallel.
| + | CPRog/iRC requires the following to run: |
| − | * .net Framework: 3.5 or higher https://www.microsoft.com/net/download/Windows/run | + | * Windows 10 64 bit |
| | + | * .NET Framework 4.7.2 or higher |
| | + | * OpenGL 3.0 or higher |
| | + | * The driver from your graphics card manufacturer (the Microsoft default driver does not work) |
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| | + | = Downloads = |
| | + | Both CPRog and iRC are available as a standalone installer for Windows and bundled with the TinyCtrl updater. |
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| | + | Latest changes: |
| | + | * [https://cpr-robots.com/download/igusRobotControl/Software/VersionInfoV14.txt Changelog V14] |
| | + | * [https://cpr-robots.com/download/igusRobotControl/Software/VersionInfo.txt Changelog V13] |
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| − | Change Log V10
| + | == igus Robot Control == |
| − | V902-10-018, May 2nd, 2018 Bugs eliminated, robolink-DCi integration
| + | For igus robots. |
| − | V902-10-016, Mar 14th, 2018 Cartesian Compensation Available, several bugs eliminated
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| − | V902-10-013, Jan 22nd, 2018 Debugging imprecisions 5A kinematic, interpolator
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| − | V902-10-012, Dec 3rd, 2017 Debugging (CRI-Server cart motion and DOut, Exception with missing interent connection)
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| − | V902-10-012, Sept 6th, 2017 Removed imprecision in 5 axis kinematic; debugging RL-DQ with y-Translation
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| − | V902-10-009, Oct 19th, 2017 Initial Upload
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| − | ===Version 09: For Mover and robolink arms===
| + | * [[IgusRobotControl-Release14-EN|Version 14]] |
| − | This version supports the following robots: Mover4, Lucas-Nuelle Mover4HD, Mover5, Mover6, SRA, igus_gantry, igus robolink. The correct project with your specific robot arm can be loaded using the 'open project' menu entry in the upper left circle.
| + | * [[IgusRobotControl-Release13-EN|Version 13]] |
| | + | * [[IgusRobotControl-Release12-EN|Version 12]] |
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| − | * Software: [http://www.cpr-robots.com/download/CPRog/CPRogInstaller_V902-09.exe Download latest CPRog V902-09 Installer]
| + | == CPRog == |
| − | * robolink user guide: [http://www.cpr-robots.com/download/CPRog/UserGuide_igusRobolink_SWVersion09.pdf robolink User Guide for SW version 09]
| + | For Commonplace Robotics robots (e.g. Mover) and mobile platforms. |
| − | * Mover4 user guide: [http://www.cpr-robots.com/download/CPRog/UserGuide_Mover4_V15.pdf Mover4 User Guide]
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| − | * Mover6 user guide: [http://www.cpr-robots.com/download/CPRog/UserGuide_Mover6_V01.pdf Mover6 User Guide]
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| − | [[file:caution.png|left|25px]]'''When using the standard installation directory, the installation of the update is done on top of the current program version. This will not delete user generated files (program files or the license). However, it will update the standard configuration files in turn erase user changes made to those files. To prevent this rename the old installation e.g. to <code>c:\CPRogold</code> prior to running the installer. ''' | + | * [[CPRog|Version 12 and 13]] |
| − | <br clear=all>
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| − | [[file:caution.png|left|25px]]'''The 'gripper' command since is used to operate the gripper as of V08. This allows the use of more complex grippers with servo-drives and several joints. The previous procedure using the digital outputs 11 and 12 is obsolete. Existing programs have to be adapted.'''
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| − | <br clear=all>
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| − | ====Prerequisites==== | + | = Documentation = |
| − | * [http://www.cpr-robots.com/download/CPRog/DirectX.zip Directx 9.0c] (exactly this version) A newer version might already be installed. However, it is no problem to install two versions in parallel.
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| − | * .net Framework: 3.5 or higher https://www.microsoft.com/net/download/Windows/run
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| | + | We are currently updating the CPRog documentation, until then please use the documentation for the iRC igus Robot Control. The functionality is identical. |
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| − | Change Log V09
| + | You can find the user guide for your robot here: [[Documentation]]. |
| − | V902-09-010, Aug 14th, 2017 robolink DQ added, bug in DIO module removed, [[PLC Interface]] and reference-in-one added
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| − | V902-09-009, May 18th, 2017 Major updates, still minor debugging to do. Text editor with several programs, igus robolink variants added
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| − | V902-09-006, Nov. 17th, 2016 GearPlay added for CANV2 (Mover6), minor debugging
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| − | V902-09-005, Nov. 15th, 2016 Joypad direction can be set in project file, minor debugging, igus robots added
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| − | V902-09-004 Nov . 4nd 2016 Minor debugging
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| − | V902-09-003 Nov . 2nd 2016 Preliminary! general debugging
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| − | V902-09-002 Nov . 1st 2016 Preliminary! graphics debugging, alignment, gripper command, syntax check in textedit, general debugging
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| − | == Documentation == | + | = Installation = |
| − | * [http://www.cpr-robots.com/download/CPRog/UserGuide_igusRobolink.pdf EN: robolink User Guide]
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| − | * [http://www.cpr-robots.com/download/CPRog/Bedienungsanleitung_igusRobolink_DE.pdf DE: robolink Bedienungsanleitung]
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| − | * [http://www.cpr-robots.com/download/CPRog/UserGuide_igusRobolink_SWVersion09.pdf robolink User Guide for SW version 09]
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| − | * [http://www.cpr-robots.com/download/CPRog/UserGuide_Mover4_V15.pdf Mover4 User Guide]
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| − | * [http://www.cpr-robots.com/download/CPRog/UserGuide_Mover6_V01.pdf Mover6 User Guide]
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| − | * For the CRI robot interface user guide go to the according page: [[CRI Ethernet Interface]]
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| − | * For the CAN-protocol documentation go to the according page [[CAN Protocol]]
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| − | == Installation ==
| + | [[file:caution.png|left|25px]]When using the standard installation directory, the installation of the update is done on top of the current program version. This will not delete user generated files (program files or the license). However, it will update the standard configuration files and erase user changes made to those files. To prevent this rename the old installation e.g. to <code>c:\CPRogold</code> prior to running the installer. You can copy your changed configurations over from the Data\Programs, Data\Projects, Data\Robots and Data\Tools directories inside the installation directory. |
| − | Installation has to be done in C:\CPRog. CPRog requires a specific DirectX version and .net framework 3.5 or higher. If an old CPRog installation is updated no changes to Directx or .net Framework are necessary. If the installation is installed for the first time, the following dependencies have to be installed:
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| − | * [http://www.cpr-robots.com/download/CPRog/DirectX.zip Directx 9.0c] (exactly this version) A newer version might already be installed. However, it is no problem to install two versions in parallel.
| + | Please run the Installer_CPRog_V902_nn-nnn.exe. The installation has to be done in C:\CPRog. |
| − | * .net Framework: 3.5 or higher https://www.microsoft.com/net/download/Windows/run
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| − | If you install CPRog from the CD supplied with your control electronics, DirectX9.0c and .net Framework are installed directly from the CD. If the installer starts without CD, it tries to download the dependencies from the internet. This requires a working internet connection.
| + | = Backward Compatibility = |
| − | [[Category:CPRog]][[Category:Downloads]] | + | |
| | + | Hardware: The current software version is compatible to all igus robots and all Mover robots delivered in 2017 and later. |
| | + | |
| | + | Robot Programs: The current software versions are compatible to the versions shipped since July 2018: V902-10-021 and higher. Configuration changes may cause different behavior so after an update please test the program with a low velocity override. |
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| | + | Interfaces: Please see the according interface documentation. |
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| | + | If there are any incompatibilites please get to us, we can solve the problem! |
| | + | [[Category:CPRog]][[Category:TinyCtrl]][[Category:Downloads]] |
Below you will find links to the current versions of the robot control software.
- CPRog: Robot control and programming software
- igus Robot Control (iRC): Functionally equal to CPRog but with an igus specific selection of robots
- TinyCtrl: The robot control software that runs on the embedded computer. It is controlled via CPRog, iRC or its interfaces.
Caution! After a software update test your robot programs for compatibility and motion deviations first with small velocites!
System Requirements
CPRog/iRC requires the following to run:
- Windows 10 64 bit
- .NET Framework 4.7.2 or higher
- OpenGL 3.0 or higher
- The driver from your graphics card manufacturer (the Microsoft default driver does not work)
Downloads
Both CPRog and iRC are available as a standalone installer for Windows and bundled with the TinyCtrl updater.
Latest changes:
igus Robot Control
For igus robots.
CPRog
For Commonplace Robotics robots (e.g. Mover) and mobile platforms.
Documentation
We are currently updating the CPRog documentation, until then please use the documentation for the iRC igus Robot Control. The functionality is identical.
You can find the user guide for your robot here: Documentation.
Installation
When using the standard installation directory, the installation of the update is done on top of the current program version. This will not delete user generated files (program files or the license). However, it will update the standard configuration files and erase user changes made to those files. To prevent this rename the old installation e.g. to c:\CPRogold prior to running the installer. You can copy your changed configurations over from the Data\Programs, Data\Projects, Data\Robots and Data\Tools directories inside the installation directory.
Please run the Installer_CPRog_V902_nn-nnn.exe. The installation has to be done in C:\CPRog.
Backward Compatibility
Hardware: The current software version is compatible to all igus robots and all Mover robots delivered in 2017 and later.
Robot Programs: The current software versions are compatible to the versions shipped since July 2018: V902-10-021 and higher. Configuration changes may cause different behavior so after an update please test the program with a low velocity override.
Interfaces: Please see the according interface documentation.
If there are any incompatibilites please get to us, we can solve the problem!
