Series of Ca1−xPrxCo2As2 (x = 0, 0.10, 0.25, 0.4, 0.6, 0.75, 0.85, 1) single crystals have been synthesized in order to clarify the variation of magnetic order from antiferromagnetic (AFM) in CaCo2As2 to ferromagnetic (FM) in PrCo2As2. It is found that the lattice constant of c-axis are contracted with the introduction of Pr into Ca sites in CaCo2As2. Electronic transport measurements reveal the metallicity in this system. Systematic magnetic measurements and analysis show that substituting only 10% of Pr for Ca changes the magnetic ground state from A-type AFM ordering of Co magnetic moment in CaCo2As2 to FM ordering in Ca1−xPrxCo2As2 (0.1 x 1). Most importantly, the abrupt drop of low temperature magnetic susceptibility below TFiM with x 0.25 and the observed magnetic pole reversal with x 0.4 suggests an AFM coupling between Co 3d and Pr 4f magnetic sublattice. Finally, a detailed magnetic phase diagram in this system has been obtained.