Release note Software version 1.4.xxxx
For CB2 only
List of main features
- Improved friction model of grease in gears, for better user experience at lower temperatures
- Geometrical Features (patent pending)
- View, Base and Tool reference systems are each a "Geometrical Feature"
- The move screen can be used relative to a selected feature
- Possibility to add "Geometrical Features" in a robot installation: Points, Lines, Planes
- Possible to type in coordinates to move to in selected feature space
- Cleaned up naming system (Waypoints, Variables, Sub-Programs, IO-Names, etc.). All names are unique, so that same name is always the same thing.
- Much improved pattern accuracy, by teaching all pattern corners
- Added "Advanced" features for Modbus signals
- Showing response time of signals
- Option of setting the update frequency
- Option for setting "Slave ID"
- Added functions for kinematics recalibration of the robot arms
- Joint-replaced recalibration method, using waypoints from robot programs
- Program recalibration, when program is moved from one robot to another
- Improved "teach-mode" feel
Polyscope
- Added a simple server for loading, starting and stopping programs over a TCP/IP connection
- Log tab: Removed displaying micro-processor core temperature, and made a clearer visualization of joint temperature and motor current usage.
- Log: Removed messages generated by the move-screen, like "program speedl started" and "program stopj stopped", to clean up the log.
- Removed "Go to IO tab" on the "Wait" command screen
- The .txt files (documentation files) can now be opened in word without missing line wraps.
- Many language changes/improvements
- Added a possibility for a "BeforeStart" sequence in a robot program.
- Added a checkbox for setting "track execution progess" in Threads.
- Runstate dependent outputs level can now be either high or low. Low is still the recommended setting.
- Stopping time when jogging on move-screen is now independent of speed slider settings (always stops fast when releasing an arrow)
- Removed "Flip Wrist,Shoulder, Elbow" buttons from the "Move" screen.
- Initialisation screen Exit button changes to OK after completing initialisation
- Added popup for "program save failure" message
Documentation
- Euromap67 manual now included as an appendix in the manual
- Euromap67 manual now available in all supported languages
Low-level/Controller
- Improved responsiveness of Low Level Controller
- Added On/Off button to Low-level controller
Joint firmware
- Removed a few potential risks of loosing joint calibration values
System (CB2.0)
- Added feature for making it possibility to permit customers to use the robots without the touch screen emergency button, without compromising safety.
Bugfixes
- Important software upgrade on Euromap67 structures that improves behavior reliability
- Fixed controller crashes when handling errors in blend calculations.
- Now Blends in Pallet Sequences work
- Fixed bugs in auto-initialize and auto-run
- Fixed bug in GUI-graphics when switching between program pattern nodes on the structure tab
- Improved error handling while firmware-upgrading a robot
- Fixed bug that could give null-pointer error message in fixed position nodes
- Fixed bug in code-generation for if and while, that in special cases generated a syntax error
- Improved robustness to communication errors between the controller and the robot
- Fixed bug in displaying modbus register values over 32767
- Fixed manual control options for modbus signals. "Programmer Only" and "Disabled" had no effect.
- Fixed bug in AutoInit?. The direction setting of the first joint was ignored.
- When a safety stopped robot was emergency stopped, it was not possible to un-safety stop the robot without turning off the robot first. Fixed.
- Suppressing the Main Program made a suppressed copy of the main program. Fixed to give and error message.
- Improved Backwards compatibility for programs using Euromap67
- Fixed: Error messages generated during system boot was lost.
- Fixed issues in pallet function related to: "TypeError.<Float>%<Int>"
- Fixed a "Java out of memory" error
- Fixed bug related to missing "resume" when "simulated robot" was security stopped.
- Fixed bug when using the "pause" command from a script
- Fixed bug with progress-bars not closing down
- Fixed error handling of secondary programs
And a number of minor bug fixes.