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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

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

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

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

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

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++

explanation: YouTube Video Documentation: CRI V17 (since iRC/CPRog V14) CRI V16 (until iRC/CPRog V13) CRI Client Structure - basic guide for any programming

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

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

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

interface; bug removal V902-10-027, Sep 9th, 2018 Consistency check between CPRog, loaded program and connected embedded control: robot name, type and gripper

the manual, the troubleshooting guides (Robot Hardware Troubleshooting and CPRog Software Troubleshooting) or the information contained in this wiki help

Here you can find documentation for the CPRog/iRC and TinyCtrl software, and for the different robots. CPRog/iRC software (Currently the links provide

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

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

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)

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\

Diese Seite auf Deutsch: IgusRobotControl-Release13-DE Latest version 14: IgusRobotControl-Release14-EN Caution! The software is subjected to a careful

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

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

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"

run on CPRog V13. Download link: CPRog V13-016 Documentation (currently only in German, English version will follow): [Bedienungsanleitung CPRog V13-AMR]

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

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

CPRog can help to compensate backlash(=gear play) in software. This might increase precision in some applications, in others it might not. CPRog Version

folgenden Logdateien in dem Verzeichnis, in dem Sie CPRog installiert haben, normalerweise "C:\CPRog" oder "C:\iRC-igusRobotControl": install.log startUp

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

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

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

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

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

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

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

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

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

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

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

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

Dispensing or glueing along a path frequently require some optimizations and programming patterns that differ from pick and place applications. This article

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

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

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

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

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

Please proceed to Software Updates..

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

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

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

from various manufacturers with an embedded control based on TinyCtrl and CPRog/iRC. The following operating modes are supported for motor modules: Interpolated

for the cloud interface and other applications. WiFi can be configured via CPRog/iRC: Click "File" -> "Configure Interfaces" -> "Network". To enable or change

address: 192.168.3.11 for the embedded control or 127.0.0.1 for connecting to CPRog/iRC on the same computer Standard port: 3920 The program must send the ALIVEJOG

Due to mechanical and mathematical limitations there are positions in cartesian (XYZ) space that a robot can not move to. These are called singularities

If you updated a robot control or iRC/CPRog to a new major release (e.g. from V13 to V14) you may have noticed that programs that were created with the

the robot to move to coordinates from external sources. For these cases CPRog/iRC and TinyCtrl offer the following interfaces: Move-To commands via CRI

File:ExamplesStructuredProgramming.zip Find explanations of all robot commands in the CPRog/iRC software documentation. Sub-programs are useful for extracting repeated

default the Modbus server is disabled. It can be enabled using CPRog/iRC. Connect CPRog/iRC to the robot by clicking "Connect" Click File -> Configure

Caution! Not Hot Plugging! Disconnect the control from power before working on it. Test the brake functionality before releasing the robot to normal operation

consistent. For CPRog/iRC you will find the files in the "Data" directory in the installation directory. E.g.: C:\iRC-igusRobotControl\Data C:\CPRog\Data For

This troubleshooting assistant works in two steps: Based on your observations we try to find possible reasons for the problem For each problem you are

Anwendbar für: iRC igus Robot Control ab Version V902-11, TinyCtrl ab Version V980-11 Die SPS-Schnittstelle ermöglicht es, die Robotersteuerung von einer

installation directory of iRC / CPRog in the file browser. The standard path for iRC is C:\iRC-igusRobotControl, for CPRog C:\CPRog. In there open the folder

shown in CPRog/iRC. Open the robot configuration file. You can find it in the data directory in the installation directory of CPRog/iRC, e.g.: C:\CPRog\Dat

Back to Troubleshooting... Can not connect to robot: Troubleshooting Connection Issues Joints do not move at all: Release E-Stop, Reset and Enable, Check

Diese Seite in Deutsch: IgusRobotControl-Release12-DE Latest version 13: IgusRobotControl-Release13-EN Caution! The software is subjected to a careful

When first setting up a gantry robot the axes may move in the wrong direction. Oftentimes this is caused by the mechanical setup differing from the intended

Motion Smoothing enables a continuous transition between motion commands. While a smoothing value of 0% results in a full stop after each command higher

If a robot is mechanically set up as intended by the manufacturer all axes should move as shown in the 3D simulation. However in some special cases the

This page in English: IgusRobotControl-Release12-EN Aktuelle Version 13: IgusRobotControl-Release13-DE Vorsicht! Die Software wird vor Freigabe einer sorgfältigen

a unique device ID. This ID is required for creating the license. Start CPRog/iRC and connect to your robot. Open to the license section (File -> License)

Move the robot to its zero position using the jog keys (bottom left in CPRog) (Pic. 1&2). The axis markers must point to the edge of the housing parts

Off. Set this to "On" if you want to be able to see the camera's image in CPRog/iRC, otherwise "Off" is recommended "Image format" to "Windows bitmap" Make

Back to Troubleshooting... To connect via ethernet to the embedded computer the IP adress of the PC has to be set to e.g. 192.168.3.1. Follow according

interchangable. Connect iRC / CPRog to the robot. Then click "File" -> "Get Amp Configuration" to download the firmware parameters. iRC / CPRog will confirm that the

For most applications defining and transmitting the program manually via CPRog/iRC, then starting it via CRI or a different interface should be sufficient

Axes generally need to be referenced so that the robot control knows the correct positions. All standard robot axes come pre-configured but external axes

The precision of robots generally is best when referencing is always done at the same position. Since iRC / TinyCtrl version V13-040 a program can be executed

default another joint starts each 5 seconds. This delay can be configured with CPRog/iRC V902-12-019 or newer and TinyCtrl V980-12-019 or newer. The RefDelay

useful e.g. to add another DIO module. Please refer to the CPRog project files in "c:\CPRog\Data\Projects\ for examples.

Accessing all info available in iRC/CPRog Using all control functions available in iRC/CPRog Configuring the robot (as in iRC/CPRog) Transmitting programs, creatiing

at 24V Now the green LEDs on the modules should be on. Install and start CPRog from the provided CD Load the correct project using the "Load Project" Button

development: It might help to have a look at the CAN communication generated by CPRog. You can do this with the PCANView CAN monitor provided with the PCAN-USB

stop but keep it nearby in case the robot moves unexpectedly. Connect iRC/CPRog, enable the axes and use the jog buttons with a low velocity override to

attempt to simplify the instructions by then and upload a new CPRog Version. To start with CPRog on your PC needs to be upgraded. Have a look here for installation

Update. The robot control system consists of three main components: iRC / CPRog - this is the control and programming software running on PC RobotControl

done via the Teach Pendant. However, since CProg is already running, I would now reference the Robot in CPRog (but that's just personal preference). Once

back of the robot will stop blinking. Now the Robot con be controlled via CPRog in trhe usual way with the ethernet cable disconnected. To exit this mode

happens several times increase the motor current, see chapter 7 of the manual. CPRog cannot connect Another application may be using the CAN connection Close

for you. The PCAN USB Windows driver for the adapter can be found on the CPRog installation CD, if supplied, or downloaded here: PCAN Windows driver, mirror

4th, 2018 Path optimization switched off; refall working from display and CPRog V980-04-018, Jun 4th, 2018 Fixed loading problem from display; robot stops

http://www.cpr-robots.com CPRog 3D robot programming and control software with graphical program editor http://www.cpr-robots.com/products/cprog.html DIO Digital

adapter from USB of the desktop PC after loading the Amp config, otherwise CPRog will show module dead as it is trying to connect via the CAN adapter first

complex programs. Creating and uploading the program must be done using CPRog/iRC. Write the position to the Modbus variable of your choice: Variable mb_pos_w1