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• CPRog Examples (category CPRog)
  written in CPRog on an external PC, the DCi can operate and run a program without any connection to an external PC: Robolink DCi Programming in CPRog. Programming
  8 KB (1,166 words) - 14:13, 18 December 2023
• Software Updates (redirect from CPRog Downloads) (category CPRog) (section CPRog)
  Version V13-040 Version V12-028 Updater_CPROG_V13-039.zip Updater_CPROG_V12-028.zip We are currently updating the CPRog documentation, until then please use
  3 KB (377 words) - 10:59, 4 April 2024
• CPRog Software Troubleshooting (category CPRog) (section Wrong robot displayed in CProg)
  the wrong project file. If CPRog does not connect to the robot follow this guide. In general, the "bus dead" message in CPRog means that the CAN communication
  4 KB (671 words) - 10:29, 11 September 2020
• How to operate a vacuum gripper using CPRog and the Modular Control Electronics (category CPRog) (section Operate the gripper in CPRog/iRC)
  Emergency Stop button Start CPRog/iRC Connect, Reset, Enable This is e.g. useful for an initial test: The tab "Input/Output" in CPRog/iRC allows to check the
  4 KB (652 words) - 10:36, 10 February 2022
• How to operate an electrical parallel gripper using CPRog and the Modular Control Electronics (category CPRog) (section Operate the gripper in CPRog/iRC)
  Stop button Start CPRog/iRC Connect, Reset, Enable This is e.g. useful for an initial test: The tab "DIN-Rail Input/Output" in CPRog/iRC allows to check
  4 KB (649 words) - 10:37, 10 February 2022
• External Linear Axis in CPRog v980-10-XXX
  displayed in the title bar of CPRog when the window is not maximised. Close CPRog. CPRog is installed by default in c:\CPRog. Use an editor, such as Notepad++
  4 KB (657 words) - 16:13, 2 November 2020
• CRI Ethernet Interface (category CPRog) (section CProg and iRC specific settings)
  explanation: YouTube Video Documentation: CRI V17 (since iRC/CPRog V14) CRI V16 (until iRC/CPRog V13) CRI Client Structure - basic guide for any programming
  2 KB (236 words) - 14:28, 28 March 2024
• Robot Configuration File (category CPRog) (section Configuration via CPRog/iRC)
  with a basic text editor. Reload the project in CPRog/iRC to apply changes. Version 12 (and newer) of CPRog/iRC simplifies access to the configuration files
  8 KB (791 words) - 10:21, 17 January 2024
• Log Files (category CPRog) (section CPRog / iRC)
  can find the following log files in the directory you installed CPRog in, usually "C:\CPRog" or "C:\iRC-igusRobotControl": install.log startUp.log logMessages
  2 KB (253 words) - 11:44, 29 August 2023
• Software change-log CPRogV09 (category CPRog)
  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
  732 bytes (113 words) - 16:06, 5 June 2018
• Software change-log CPRogV10 (category CPRog)
  interface; bug removal V902-10-027, Sep 9th, 2018 Consistency check between CPRog, loaded program and connected embedded control: robot name, type and gripper
  1 KB (194 words) - 16:53, 5 October 2018
• Support Routes
  the manual, the troubleshooting guides (Robot Hardware Troubleshooting and CPRog Software Troubleshooting) or the information contained in this wiki help
  1 KB (240 words) - 14:28, 12 February 2024
• Documentation (category CPRog)
  Here you can find documentation for the CPRog/iRC and TinyCtrl software, and for the different robots. CPRog/iRC software (Currently the links provide
  3 KB (152 words) - 15:34, 2 January 2024
• Referencing robolink (category CPRog) (section Step by step instructions for current CProg/iRC versions (980-11-XXX))
  on the robot and start CPRog Click Connect / Reset / Enable to activate the robot. Now the status light in the left column of CPRog is green. Jog the robot
  7 KB (1,082 words) - 11:42, 1 December 2023
• Tool Configuration (category CPRog) (section iRC/CPRog on PC (for simulation))
  configuration files let you define this offset, 3D files for visualization in iRC/CPRog and how the tool is controlled (only for some tool types). This article explains
  7 KB (1,077 words) - 11:01, 13 February 2024
• Firmware Parameter Configuration (category CPRog)
  file is written in the Data\Backup directory in the CPRog/iRC installation directory (e.g. C:\CPRog\Data\Backup or C:\iRC-igusRobotControl\Data\Backup)
  19 KB (1,742 words) - 09:56, 20 March 2024
• Set Software End switches to Limit Joint Movement (category CPRog) (section CPRog/iRC)
  software. In CPRog/iRC this can be done by editing the correct robot configuration file for your robot. These files are located in C:\CPRog\Data\Robots\
  3 KB (429 words) - 17:47, 8 March 2023
• IgusRobotControl-Release13-EN (category CPRog)
  Diese Seite auf Deutsch: IgusRobotControl-Release13-DE Latest version 14: IgusRobotControl-Release14-EN Caution! The software is subjected to a careful
  3 KB (250 words) - 10:37, 15 January 2024
• Digital Inputs / Outputs (category CPRog) (section Start the Robot and iRC / CPRog)
  input pins Example on the left: 24V via switch to input pin 4 Result in CPRog: digital input Din24 is triggered Disconnect the robot/electronics from power
  5 KB (708 words) - 14:39, 23 March 2023
• Frames of reference (category CPRog)
  with respect to a userframe one hast to put iRC/CPRog in cartesian mode first. In cartesian mode iRC/CPRog will show the position and orientation of the
  4 KB (719 words) - 16:47, 19 December 2023
• Project Configuration File (category CPRog) (section Simulation (CPRog/iRC on the PC))
  for each of them. Most changes can be done via the configuration area in CPRog/iRC. To access it click "File" -> "Configure Project" or "Configure Interfaces"
  3 KB (285 words) - 10:26, 16 August 2023
• AMR Documentation (section CPRog Software Documentation and Download)
  run on CPRog V13. Download link: CPRog V13-016 Documentation (currently only in German, English version will follow): [Bedienungsanleitung CPRog V13-AMR]
  1 KB (87 words) - 15:08, 15 March 2022
• Robot Control Update Process (category CPRog) (section Updating iRC or CPRog on PC)
  Robot Control (iRC) or CPRog runs on your PC, it is only required for configuring, programming and simulating your robot. iRC and CPRog are the same software
  5 KB (741 words) - 14:30, 12 February 2024
• Additional DIO-Boards of the DCi Control Electronics (section CPRog)
  well) Open CPRog and check, which project file you are using for the DCi robot. You can find the name of the project file in the title-bar of CPRog, when the
  5 KB (663 words) - 15:57, 15 October 2020
• Backlash Compensation (category CPRog)
  CPRog can help to compensate backlash(=gear play) in software. This might increase precision in some applications, in others it might not. CPRog Version
  2 KB (241 words) - 17:01, 8 March 2023
• Logdateien (category CPRog) (section CPRog / iRC)
  folgenden Logdateien in dem Verzeichnis, in dem Sie CPRog installiert haben, normalerweise "C:\CPRog" oder "C:\iRC-igusRobotControl": install.log startUp
  2 KB (262 words) - 14:41, 11 October 2022
• External Axis (category CPRog/iRC v980-11-XXX)
  like all other axes. See pinout below: 1. Switch on the robot and start CPRog/iRC. It takes about 20-30s for the embedded computer to boot, so that it
  5 KB (653 words) - 17:01, 8 March 2023
• Gear Scale (category CPRog)
  external axes are defined in the Project Configuration File (configured via the CPRog/iRC PC application). If you know a robot type that got the same axis you
  2 KB (385 words) - 09:55, 14 June 2023
• Error Codes (category CPRog)
  from the hardware modules and therefore depends on the hardware protocol. CPRog/iRC displays a summary of all module error codes at the left side next to
  5 KB (262 words) - 12:00, 5 March 2024
• IgusRobotControl-Release14-EN (category CPRog)
  software version does not support Mover robots or mobile Platforms. Use CPRog V13 instead. Apps: Available apps for the iRC are listed here: Apps for the
  2 KB (213 words) - 11:01, 4 April 2024
• Consistency Check (category CPRog) (section Use programs written with an earlier version of CPRog)
  robot in CPRog and the remote connected robot is checked. If both do not match an error message is shown. Then the user should open the according CPRog project
  2 KB (368 words) - 15:58, 15 October 2020
• CPR Wiki (section Legacy Mover and CPRog)
  how to integrate e.g. a smart camera CPRog Examples: Example programs in CPRog/iRC Gearplay Compensation: Use CPRog/iRC to compensate backlash in joint
  8 KB (822 words) - 17:39, 9 January 2024
• Joystick and Gamepad (category CPRog)
  DirectX compatible gamepad or joystick PC with CPRog or iRC connected to the robot Earlier versions of CPRog/iRC have a static button binding. While version
  8 KB (1,229 words) - 13:49, 7 February 2024
• Change Network Address of Embedded Linux PC (section CPRog / iRC)
  installation directory of CPRog/iRC: Usually C:\iRC-igusRobotControl\ or C:\CPRog\. The following Data paths are in here. 2. Start CPRog/iRC. At the left side
  5 KB (728 words) - 13:41, 3 November 2023
• Logic Program (category CPRog)
  In CPRog/iRC the main motion program is a single thread, it is not possible to define e.g. interrupts. To realize parallel running logic functionality
  1 KB (151 words) - 10:56, 6 July 2021
• Circular Motion (category CPRog)
  motion command can be used to define curved paths. It is supported from CPRog/iRC and TinyCtrl V13. This article gives a short introduction and hints on
  6 KB (891 words) - 16:16, 19 December 2023
• IgusRobotControl-Release14-DE (category CPRog)
  software version does not support Mover robots or mobile Platforms. Use CPRog V13 instead. Apps: Available apps for the iRC are listed here: Apps for the
  2 KB (208 words) - 11:01, 4 April 2024
• Apps for the Robot Control
  The app interface (since iRC/CPRog V14) allows custom extensions for the robot control. Apps can access and change the robot's state, add functions to
  3 KB (431 words) - 11:04, 30 April 2024
• Dispensing Applications (category CPRog)
  Dispensing or glueing along a path frequently require some optimizations and programming patterns that differ from pick and place applications. This article
  4 KB (638 words) - 14:14, 18 December 2023
• Bounding Box / Virtual Box (category CPRog)
  operate in: If the end effector is moved outside the boundaries of the box, CPRog will produce a warning and the movement of the robot will stop. Subsequent
  2 KB (282 words) - 17:01, 8 March 2023
• Define the zero position offsets (category CPRog)
  Open the CPRog menu on the circle in the upper left corner and press the menu item "Configuration --> Amp Config --> Backup current Config" Now CPRog loads
  5 KB (752 words) - 11:03, 16 August 2023
• Troubleshooting Connection Issues (category CPRog) (section Error messages from CPRog/iRC)
  configuration, defective cable, etc. CPRog/iRC does some tests to help you identify the issue. You may see the following messages: CPRog/iRC V13 differentiates two
  5 KB (817 words) - 17:18, 6 December 2023
• Troubleshooting Referencing Issues (category CPRog)
  it likely won't be able to reference either. Try the following: Connect CPRog/iRC to the robot Click "Reset" and "Enable" Make sure the error display shows
  5 KB (749 words) - 12:38, 8 May 2024
• PLC Interface (category CPRog)
  interface can be set up graphically using CPRog/iRC or by manually changing the configuration files. Start CPRog/iRC and load the correct project for your
  3 KB (385 words) - 17:47, 8 March 2023
• TinyCtrl Downloads (category CPRog)
  Please proceed to Software Updates..
  103 bytes (5 words) - 18:04, 10 December 2019
• Additional DIO-Modules (category CPRog)
  lamp on output 5 on the left. In CPRog: Reset and Enable the robot Set DOut 25 to true to switch on the lamp Connect CPRog/iRC to the robot control. Open
  2 KB (353 words) - 11:24, 18 August 2022
• Override (category CPRog)
  In CPRog and TinyCtrl, the "override" value is the percentage of the max velocity of movement of the robot. This value can be set in CPRog's menu ribbon
  259 bytes (43 words) - 23:28, 5 June 2018
• Remote Variable Access (category CPRog)
  variables if your version of CPRog/iRC or TinyCtrl does not support the SetVariable CRI commands. This interface is supported in CPRog/iRC V902-11-007 and TinyCtrl
  4 KB (523 words) - 11:56, 20 January 2023
• CANopen
  from various manufacturers with an embedded control based on TinyCtrl and CPRog/iRC. The following operating modes are supported for motor modules: Interpolated
  1 KB (127 words) - 11:29, 4 November 2021
• WiFi (category CPRog)
  for the cloud interface and other applications. WiFi can be configured via CPRog/iRC: Click "File" -> "Configure Interfaces" -> "Network". To enable or change
  2 KB (325 words) - 14:04, 3 November 2023

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