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Now includes ASCII communications from all sources
Responses are collated with requests
Stores up to 1000 itemsDoes not persist history through appliance restartshistory items
New Control Panel layout based on Configure Mode and Operation Mode operations
Custom Activate/Deactivate robot functions.
New Targets and Connections tabs
Horizontal scrolling is not required in Control Panel
New Canvas Controls widget
Custom visualization settings for robots and voxels
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Projects created or saved in a version cannot be re-used in an older RPC version.
The clearance settings set in AutoConnect dialog cannot be lower than the clearance set for Robot-World under projects settings.
The Robot-World clearance value under Project Settings should be entered when in model mode for the change to take effect.
Correct units are not displayed in the Assign dialog for external joints of type revolute.
Loading an exported project can sometimes lead to error owing to inconsistency with voxelizations' edges with the project. This can prevent the project from loading. You can get around this by
ensuring any old zip files are removed (prior to exporting the project), or
manually removing all SVDAG files (not the folders) inside voxels folder. After loading project, you will need to revalidate the project to generate the voxels again.
The create auto-connect dialog, triggered from target sequences, does not let users specify the object states.
Importing robot as parts library does not allow user to re-open RPC project. Please contact RTR support to proceed.
RapidPlan Control
Connections can be removed even in Standard access mode.
Enable Auto Acquire should be renamed to “Enable tech pendant control“. ‘Enable teach pendant control’ should also have a tool tip “RTR will automatically acquire control of the robot when a move command is received, and release control of the robot when the move has completed. This allows teach pendant programs to continue and execute additional commands“.
When “Enable tech pendant control“ is DISABLED:
BeginOperationMode causes RTR to acquire control of all robots in the cell. Explicit ReleaseControl call if something else needs to control the robot, Explicit AcquireControl call when they want RTR to take control again.
Use case: people controlling the system/flow from a centralized external PLC or PC.
When “Enable tech pendant control“ is ENABLED
BeginOperationMode does NOT acquire control of robots. Explicit Acquire/Release calls are ignored/not valid. Each Move command results in RTR automatically acquiring control of the robot, performing the move, and then automatically releasing control when the move is finished.
Use case: people controlling the flow from the individual robot controllers, that need control of program flow between every motion.
For certain robots (e.g. Kawasaki, Fanuc), if a user operates a robot from the teach pendant with a reduced speed, a trigger signal may not be able to maintain <100ms accuracy if the teach pendant speed is very low.
Example: Kawasaki F-series Controllers
100% speed, 2ms precision could be achieved when firing trigger signals.
1% speed, 200ms precision could be achieved when firing trigger signals.
Trigger outputs do not work consistently for combined move + alternate location, move queue, partial execution
Instability with RapidPlan Control/Appliance may crash occur when sending a CombinedMove with a Direct to Target move.
Control Panel canvas may display an error message “Failed to create target: <target name>“, even when the target is created successfully.