Software Updates

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

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 / Manual EN: robolink User Guide
• Documentation / Manual 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: robolink User Guide for SW version 09
• Mover4 user guide: Mover4 User Guide
• Mover6 user guide: Mover6 User Guide

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 The previous procedure using the digital outputs 11 and 12 is obsolete.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.

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 .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:

• Directx 9.0c: (exactly this version) A newer version might already be installed. However, 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
• .net Framework: 3.5 or higher https://www.microsoft.com/net/download/Windows/run

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.