Software Updates

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

Attention! When using the standard installation directory the installation is done on top of the current program version. This will not delete user generated files (program files or the license) but will update the standard configuration files and doing this erase user changes. To prevent this rename the old installation e.g. to c:\CPRogold.

Download current CPRog Robot Programming Environment

Version 10: For robolink arms and drylin 3 axis gantries

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

Software: Download latest CPRog V902-10 Installer

Documentation EN: robolink User Guide

Documentation DE: robolink Bedienungsanleitung

Command Reference EN: CPRog Command Reference

Change Log V10
V902-10-018, May 2nd, 2018   Bugs eliminated, robolink-DCi integration
V902-10-016, Mar 14th, 2018  Cartesian Compensation Available, several bugs eliminated
V902-10-013, Jan 22nd, 2018  Debugging imprecisions 5A kinematic, interpolator
V902-10-012, Dec 3rd, 2017   Debugging (CRI-Server cart motion and DOut, Exception with missing interent connection)
V902-10-012, Sept 6th, 2017  Removed imprecision in 5 axis kinematic; debugging RL-DQ with y-Translation 
V902-10-009, Oct 19th, 2017  Initial Upload

Version 09: For Mover and robolink arms

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.

• Software: Download latest CPRog V902-09 Installer
• robolink User Guide for SW version 09
• Mover4 User Guide
• Mover6 User Guide

Attention!! The 'gripper' command since V08 operates the gripper now. This allows to make use of more complex grippers with servodrives and several joints. The previous use of the digital outputs 11 and 12 does not work anymore. Existing programs have to be adapted.

Change Log V09
V902-09-010, Aug 14th, 2017  robolink DQ added, bug in DIO module removed, PLC Interface and reference-in-one added
V902-09-009, May 18th, 2017  Major updates, still minor debugging to do. Text editor with several programs, igus robolink variants added  
V902-09-006, Nov. 17th, 2016 GearPlay added for CANV2 (Mover6), minor debugging
V902-09-005, Nov. 15th, 2016 Joypad direction can be set in project file, minor debugging, igus robots added
V902-09-004  Nov . 4nd  2016 Minor debugging 
V902-09-003  Nov . 2nd  2016 Preliminary! general debugging 
V902-09-002  Nov . 1st  2016 Preliminary! graphics debugging, alignment, gripper command, syntax check in  textedit, general debugging

Documentation

• EN: robolink User Guide
• DE: robolink Bedienungsanleitung
• robolink User Guide for SW version 09
• Mover4 User Guide
• Mover6 User Guide
• For the CRI robot interface user guide go to the according page: CRI Ethernet Interface
• For the CAN-protocol documentation go to the according page CAN Protocol

Installation

Installation has to be done in c:\CPRog. CPRog requires a specific DirectX version and the .net framework. If an old version is updated no changes are necessary. If the installation is done the first time on the computer the files can be installed here:

• Directx 9.0c: (exactly this version) A newer version might already be installed. It is no problem to install two versions in parallel. You can search the web for the download or use this link [https://www.microsoft.com/de-de/download/details.aspx?id=34429 https://www.microsoft.com/de-de/download/details.aspx?id=34429}
• .net Framework: 3.5 or higher.

When the installer starts from CD these frameworks are loaded from the CD. When the installer starts without CD it tries to download the frameworks from the internet. This requires a running internet connection and takes quite a time. Alternatively install by hand.