[TODO: Describe the major themes of the release here]

We are excited to ….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.

1. RapidPlan Create

1.1. Major Improvements

Internal Note:

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✅ Enhanced re-parenting feature boosts alignment process

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• 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.

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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

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2. RapidPlan Control

2.1. Major Improvements

✅ Render autoconnects and routes on canvas

• when we have an obstacle to the robot's move, the robot will bypass it using an autoconnect

• we used to get the position of nodes via targets but now nodes have position and we use them to draw the lines

• all edges are shown in the Robots tab

• only the autoconnects are shown in the Connections tabNow users can see the autoconnects and routes on RapidPlan Control
  

  Screenshare_-_2023-07-19_3_41_06_PM.mp4

   

  Image Added

✅ A cleaner and more intuitive layout

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• Selected pane button now flows into the active pane, clearly indicating which pane is active

• Pane titles have been removed, giving more space for important UI elements

• 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

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• 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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✅ Improvement 4

[GIF]

Explanation

✅ Improvement 5

[GIF]

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2.2. Other Improvements

2.3. Before update

[TODO] Anything user should know about before update?

• TODO: Jira LegacyserverSystem JIRAserverId4826c03e-10eb-3256-a7b2-c4f4ab4f6ecfkeyRAPID-27440Profinet 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.

  • Image Added

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)

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3. RapidPlan ASCII API

3.1. Major Improvements

[TODO: Describe purpose of the change and targeted usecase]

• Added validation argument to UpdateTarget command

• Added 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.

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[TODO] Anything user should know about before update?

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Braking Changes

• Fanuc Robot always changes Robot Speed to 100 when acquiring control (ID:27440)

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4. Known Bugs/Limitations

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1. Breaking changes should be highlighted
   - Users need to know those changes BEFORE updating software
   Example:
   License is required after update

2. Categorization of high priority known bugs/limitations
   - Serious bugs should be listed first
   - Carried-over bugs from previous versions should be listed below the latest found bugs

4.1. RapidPlan Create

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ID	Content	Status
33873	Converting multiple auto-connects to manual connections fails if the targets to be connected for those auto-connects are the same	Fixed
31952	[TODO: Update with final state of the development] No warning is provided to user for any lost target assignments or connections when transitioning from model mode to roadmap mode	Open
33589	[Remove] A value of 0 is not invalid when giving that as input to the preset dynamics dialog, but is not saved when clicking OK	Open
34443	[Limitation] Software hangs sporadically when setting voxel size to 2mm	Open
34370	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	Open	[Remove] Upon selecting a edit value field in the mate offset, units of the offset in the edit mate field are shown as different than the ones from project settings	Open
29701	[Limitation] Validate remaining does not work when jog dialog is open	Open34016	[Remove] Loading the same project multiple times in RPC does not clear the system memory and can lead to software crash	Open	[Remove] Software crashes if more than one validation actions are sent in parallel	Open
	Deterministic path planning is not guaranteed for clearances greater than 10cm	Open
	Clearance Rule and Disable collision checking dialog allows creating a rule with same name across presets	Open
32765	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%	Fixed
28237	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	Open
32731	[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	Open
33990	[TODO: Update with final state of the development]Reparenting a frame that is mated to an object can cause inconsistency with mates	Open	[Remove] Unable to zoom projects that contains entities >10km from from origin (or from other entities)	Open	Reparenting a frame that is mated to an object can cause inconsistency with mates	Open
34623	Numerical calculation errors cause collision detection when a tool and link are in close proximity.	Fixed
31267	[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.[todo: Add to installation procedure]	Open

4.2. RapidPlan Control

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