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.

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 is comprised as follows: <#><IGUS_DQ_arm/IGUS_arm>_<4DOF/5DOF>_<SV/BV>_<AE/ME>.prj

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

There are other configuration files, such as the "robot" files ending in .dat, which use essentially identical nomenclature. However the ME/AE section in the table below is ignored. For example: <IGUS_DQ_arm/IGUS_arm>_<4DOF/5DOF>_<SV/BV>.dat

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 should not be changed, as they are referenced from within the project files. So if you change the filename, you will need to edit the Project file as well. Always keep a backup. If you loose a file, you can re-install CPRog.

Igus robolink DQ or D arm?	<IGUS_DQ_arm/IGUS_arm>	There are several types or robolink robot arms, the most common is the D arm, named just “IGUS arm”
4 or 5 Degrees of freedom?	<4DOF/5DOF>	DOF is the acronym for “degrees of freedom”, meaning the number of robot joints. The robot on the right is 5 DOF. Note: the white gripper is not counted.
Small version or big version?	<SV/BV>	BV stands for Big Version with 2.5 kg payload. SV stands for Small Version with 0.5 kg payload. Measure the diameter of joint 2. 5cm = BV; 3cm = SV
Abtriebsencoder or Motorencoder?	<AE/ME>	ME versions use a motor encoder, AE version 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. 4 sockets = ME; 3 sockets = AE

Loading the 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 test is currently not readable.)