Is the integration between AutoPIPE and STAAD.PRO software version dependent?
Yes, it is version dependent to a degree. You must have installed AutoPIPE V8i 09.03.xx.xx and higher, in addition, you must have installed STAAD 2007 and higher as these are the version where the PIPELINK command was first introduced. After that you can have any combinations of AutoPIPE to STAAD version as there is no feature requirements between the application versions.
Export Model to STAAD Using PipeLink (*.pipelink)
Bentley AutoPIPE