We are thrilled to announce the new release! This update brings a host of new features, improvements, and bug fixes designed to enhance your user experience and improve overall performance.
Indicates changes which have been reflected in the user guide
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RapidPlan Create
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1.1. Major Improvements
✅ Enhanced re-parenting feature boosts alignment process
Get ready to take your alignment to the next level with our newly enhanced re-parenting feature, designed to simplify and accelerate your workflow!
Smart Offsetting: Re-parenting your objects? Don't worry about the offset! Our feature automatically maintains the original offset with the old parent and calculates a new offset with the new parent, ensuring a smooth transition.
Bulk Re-Parenting: Now, you can effortlessly move multiple targets/frames/mates (e.g. 50 weld points) to a new parent frame while keeping the same old location! No more tedious one-by-one adjustments.
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✅ Auto-Save securely save your latest work
We've added an automatic project saving feature. It will be automatically enabled after upgrading to this version. This function can be disabled from the project settings. You no longer have to worry about losing your work in the middle of a task!
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✅ Create mates by double-clicking on an un-mated object
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✅ Trajectory Smoothing
This feature brings a more realistic trajectory, closely mirroring the smooth paths found in real-life scenarios, which enables more accurate interference reports(New feature) and cycle time analysis.
Smoothing Definition: Set smoothing values from 0.0 mm to 500 mm for realistic robot trajectories.
Global and Individual Settings: Define smoothing globally or per waypoint.
Enhanced Visualization: View smoothed trajectories within RPC.
1.2. Other Improvements
Joint Numbering Starting from One for Enhanced User Clarity: The joint numbering now starts from one instead of zero. Previously, users had to type in joint number 6 to refer to the additional external axis joint index 7, which was confusing. This update aligns the numbering with common expectations.
Manual Connection Conversion in RPC: To provide RPC users with enhanced flexibility in handling their connections by allowing the conversion of auto-connects to manual connections, even when they contain invalid or incomplete connections.
Saving Robot Models as RPC Project: Now supports the import of robot models with joint dependencies, coupled joints, and variable joint limits as project files.
1.3. Braking changes
Auto-connect validation may take lot longer when loading older project (<2.4) [ID:33168]
A workaround is reduce the maximum number of iterations for the existing auto-connects before revalidation
2. RapidPlan Control
2.1. Major Improvements
✅ Render autoconnects and routes on canvas
Now users can see the autoconnects and routes on RapidPlan Control
✅ A cleaner and more intuitive layout
[GIF: Switching Projects and Workcell tab, enter to operation mode to show color change]
Selected pane button now flows into the active pane, clearly indicating which pane is active
Command Pane has been split into the Projects Pane and the Workcell Pane
Cosmetic changes provide a more modern look and clearer indication of the mode of the appliance
✅ Speed limited link selection
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Users can now limit the maximum velocity of a robot’s links from the Robot Advanced Settings dialog
Negative values indicate no limit, fixed links cannot be limited as they cannot move
Currently, we only support one maximum speed limit. Thus the minimum nonzero limit is globally applied to all links. This will be rectified when the robot supervisor is completeStatus colour Red title LIMITATION
✅ Tags Selector Drop-down
Added a target selection feature to filter the connections.
Users can now use the dropdown to filter connections more easily.
added a toggle option to filter either “Any connection with these targets” or
“Connections with only these targets”.
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2.2. Other Improvements
Profinet Interface
Add Acquired/Released signals to the profinet IO map (ID:35429)
Loading and Unloading projects with PNIO (ID: 32718)
The order of robots in Control Panel can now only be changed in settings. Robots can be drag sorted, or sorted alphabetically.
2.3. Braking Changes
Fanuc Robot always changes Robot Speed to 100 when acquiring control (ID:27440)
Profinet Lookup Table breaking updates:
Group targets by robot/preset and frames by World/parent robot (ID:35201)
Data is sorted alphabetically (exceptions: stateful objects come first, Origin frame always has id 0) (ID:37577)
3. RapidPlan ASCII API
3.1. Major Improvements
Added
validationargument to UpdateTarget commandAdded BlockMove + ContinueMove commands (more details to come), also updated CombinedMove with new optional blockMove argument
Updated Move command with a new argument
constraint.Correction of the preset-switching behavior in a CombinedMove command.
Updated name of HoldMove and ResumeMove commands (prev. block/continue)
Added MultiRobotMove command and updated SetAlternateLocation with a new mode
multirobot.
3.2. Other Improvements
3.3. Braking Changes
Fanuc Robot always changes Robot Speed to 100 when acquiring control (ID:27440)
4. Known Bugs/Limitations
4.1. RapidPlan Create
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ID
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Content
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Status
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33873
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Converting multiple auto-connects to manual connections fails if the targets to be connected for those auto-connects are the same
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Fixed
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31952
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No warning is provided to user for any lost target assignments or connections when transitioning from model mode to roadmap mode
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Open
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34443
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[Limitation] Software hangs sporadically when setting voxel size to 2mm
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Open
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34370
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When clicking on OK in a Mate dialog, the last selected state under the Mate dialog is selected as the active state and not the state of the active preset
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Open
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29701
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[Limitation] Validate remaining does not work when jog dialog is open
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Open
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Deterministic path planning is not guaranteed for clearances greater than 10cm
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Open
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Clearance Rule and Disable collision checking dialog allows creating a rule with same name across presets
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Open
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32765
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Live Robot Connection makes the override speed of the teach pendant to be 100% upon connection
→ [Fixed] The override speed is not overridden by 100%
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Fixed
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28237
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Live Connect to Kawasaki robots may fail if the robot controllers have been connected in RTR controller’s control panel previously. To use Live Connect again, the /tmp/krnx folder and its contents needs to be manually removed. The location of the /tmp/krnx folder is under /var/lib/rtr_appliance_app
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Open
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32731
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[Limitation] Stateful targets and frame are not supported. Put in another way, any objects with any descendants such as targets and frames cannot be made stateful
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Open
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33990
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Reparenting a frame that is mated to an object can cause inconsistency with mates
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Open
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34623
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Numerical calculation errors cause collision detection when a tool and link are in close proximity.
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Fixed
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31267
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[Limitation] RPC only works properly with US-EN locale while no warning given in RPC when the wrong locale is selected. In many countries such as Germany, the decimal separator is a comma, this causes errors in RPC. Users must change the locale when working with RapidPlan.
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Open
4.2. RapidPlan Control
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ID
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Content
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Status
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Disconnecting one robot turns off display for all robot voxels
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Upgrading from a 2.3 project will delete any existing robot control logs
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No warning given in CP when the wrong locale is selected
Only accepts US-EN
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Open
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19828
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Interlock recording does not work with partial execution
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DSM boxes, objects, and frames are tracked in the Profinet look up ID table. When items are created or removed, their Profinet IO mappings are handled as such, the handler retrieves the new id of the entity, and publishes it with Profinet. However, this does not cover cases where an external command source elicits a change in the DSM that’s unknown to a PLC.
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Planning moves with DSM object attached to the robot will be rejected with an error in 2.5
Robot Control
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ABB [20230621-8045099]: In very rare cases, the robot is not responding to the commanded trajectory. This is under investigation with ABB.
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ABB [20230609-7981814]: In very rare cases, the robot reports joint out of range error for a target that’s very close to the joint limit. This is under investigation with ABB.
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Changes
Auto-connect regeneration changes [behind a feature flag, discuss with RTR to enable this]
New projects created in 2.6 will not include collidables, and projects created before 2.6 loaded on 2.6 will have collidables removed from the project
RapidPlan Control Changes
Communication
ASCII API
Added “IsOnTarget” command
Enabled Planning Moves to be sent to a joint_config, previously user could only do Planning Moves to target/pose
Added roadmap_mode parameter for “shortest move” feature
Added support for motion recording commands
Added support for Routes
Profinet
Display loaded project ID in controller input status
Reference frame added to GetRobotTCP
Additional logging for Profinet commands (see CP notes below)
Ethernet/IP
[Feature flag] Available for test only. Please reach out to RTR for more information if interested.
Control Panel
Control panel history tab now shows Profinet command and response history
Added a status bar to the canvas to display relevant information including camera position and details on selection modes for targets, robots and edges. User can edit camera position (XYZ) from the status bar.
Removed warning for firefox users
Joint dynamics, within advanced settings for a robot, has been overhauled. Unsaved data is now preserved when the user changes tabs. Dynamics configurations can be copied between presets.
Move previews
Other RapidPlan Changes
License changes, no user-facing changes
Enable planning moves to config
YAML “optimization” mode removed
Backwards compatibility is now guaranteed between all previous versions (previously only supported for release versions)
Motion Planning Changes
Added movement mode parameter “roadmap_mode” for users to define how roadmap moves to pose or joint config should use the roadmap to prioritize either shortest paths or minimizing off-roadmap moves
Robot Control Changes
Added new section on support for ABB IRC5 Controller Configuration
Optimization Changes
Optimization in RapidPlan 2.6 is available for RTR internal users only
User is now warned when leaving the opti dialogue before applying results
Script is now available to update YAML for optimization by removing