Software Updates

Here you can find updates for the CPRog robot programming environment and the corresponding documentation.

Download current CPRog Robot Programming Environment

Preliminary Version: We are working on an update, please find here the CPRog Update preliminary version.

a) Version 10: For robolink arms and drylin 3 axis gantries - not for Movers

Supported robots: igus robolink, igus 3 axis gantry

Improved motion with acceleration profile, improved condition parser. Notice: Program syntax changes, V09 programs will not run without adaptions!

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 c:\CPRogold prior to running the installer.

Caution! After update test your robot programs for compatibility and motion deviations first with small velocites!

• Software: Download latest CPRog V902-10-033 Installer. You will need to install these prerequisites as well.
• Software change-log CPRogV10
• Documentation / Manual EN: robolink User Guide
• Documentation / Manual DE: robolink Bedienungsanleitung
• Command Reference EN: CPRog Command Reference

b) Version 09: For Movers

This version supports the following robots: Mover4, Lucas-Nuelle Mover4HD, Mover5, Mover6. The correct project with your specific robot arm can be loaded using the 'open project' menu entry in the upper left circle.

• Software: Download latest CPRog V902-09 Installer You will need to install these prerequisites as well.
• Software change-log CPRogV09
• Documentation / Manual: robolink User Guide for SW version 09
• Mover4 user guide: Mover4 User Guide
• Mover6 user guide: Mover6 User Guide

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 c:\CPRogold prior to running the installer.

Since V08 the 'gripper' command is used to operate the gripper. 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.

Documentation

• Documentation / Manual EN Robolink V10: robolink User Guide
• Documentation / Manual DE Robolink V10: robolink Bedienungsanleitung
• Documentation / Manual EN Robolink V09: robolink User Guide for SW version 09
• Mover4 user guide: Mover4 User Guide
• Mover6 user guide: Mover6 User Guide
• For the CRI robot interface user guide go to the relevant page: CRI Ethernet Interface
• For the CAN-protocol documentation go to the relevant page CAN Protocol

Installation

Installation has to be done in C:\CPRog. CPRog requires a specific DirectX version and .net framework 3.5 or higher (see below). If an old CPRog installation is updated, no changes to DirectX or .net Framework are necessary. If CPRog is installed for the first time, the following packages have to be installed:

Prerequisites

• Directx 9.0c (exactly this version) A newer version might already be installed. However, it is no problem to install two versions in parallel.
• .net Framework: 3.5 or higher https://dotnet.microsoft.com/download/dotnet-framework/net35-sp1
• If you use a PCAN-USB USB to CAN adapter, you also need to install this driver from PEAK system.

If you install CPRog from the CD supplied with your control electronics, DirectX9.0c and .net Framework and the PCAN-USB adapter driver 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.

Demo

Programming and control of a robolink DCi robot in CPRog.