RapidPlan Create

Add ability to set robot dynamic limits (velocity, acceleration, and jerk) per preset for each robot in model mode.
Ability to modify robot native joint dynamic values and user-defined external axis joint dynamic values.
Ability to modify robot dynamic limits (velocity, acceleration, and jerk) per preset for each robot in roadmap mode.
Added ability to disable collision checking for static objects in model and roadmap mode.
Ability to analyze RPC project for link/object pairs that will never collide/are always equidistant/will always collide.
Added ability to disable collision checking for link/object pairs that will never collide/are always equidistant/will always collide.
Added ability to either constraint TCP motion inside a bounded box when computing auto-connect paths or to constraint TCP rotation about an axis when computing auto-connect paths.
Added cost term to minimize robot on rail movement when computing auto-connect paths.
Ability to view time elapsed and total time for a robot motion in the inspect dialog.
Ability to upgrade RPC projects created in 2.x to 2.3
Re-parenting targets now do not lose target assignments or any connections, provided all targets are still reachable to the assigned robot/preset.
Importing targets as pose coordinates and replacing all existing targets will preserve target assignments and connections, if they pre-existed for the replaced targets.

RapidPlan Control

Industrial fieldbus support - Profinet
Add ability to switch robot dynamic limits (velocity, acceleration, and jerk) per preset for each robot during commissioning from Control Panel.
Add ability to set robot dynamic limits (velocity, acceleration, and jerk) per preset for each robot during runtime operations.
Add ability to activate/deactivate robots without loading a project.
Add ability to update an existing project while retaining robot settings in Control Panel.
Reduced project installation time when updating projects in Control Panel.
Improved rendering and user interaction of targets in 3D view in Control Panel.

Added GetFrames command.
Added GetObjectStates command.
Updated SetDefaultProject command to allow project_name to be optional.
Updated GetJointConfiguration command with a new argument native.
Updated Move command to support joint configuration target types.
Updated Move command to support relative moves including external axes.
Updated SetAlternateLocation command with a new argument timeout. SetInterruptBehavior timeout setting is no longer applicable to SetAlternateLocation.
Updated SetInterruptBehavior command default values.
Updated DeactivateRobot command to allow different key values for treat_as_obstacle.
Updated ActivateRobot command with a new argument project_name.
Updated CancelMove command with a new argument acceleration_factor.
Updated UpdateTarget command with new arguments object_states and pose.
Updated ClearFaults command with new argument reset_connection.
Updated Move command with new argument costs.

Ubuntu system locale must be set to English.
Target assignment will be lost when opening a project downloaded from a RTR controller and if updatetarget command with argument retrigger_autoconnect= false was used in this project. The target assignment will appear lost when loading the project in RPC in 2.2 but remains when used in RapidPlan appliance/Control Panel. To fix, please contact RTR support.
RPC will fail to upgrade a 2.2 project that’s downloaded from a RTR controller, with updated targets using updatetarget command with retrigger_autoconnect= false . To fix, please contact RTR support.
Projects created or saved in a version cannot be re-used in an older RPC version.
For path planning to take effect, the clearance settings set in AutoConnect dialog cannot be lower than the clearance set for Robot-World under projects settings.
Correct units are not displayed in the Assign dialog for external joints of type revolute.
When importing targets, if there is an existing target sequence and an auto-connect and the roadmap is validated, the application will crash if we undo the import and then redo.
Importing targets/frames is not possible if an extra empty line is added at the end of the file.
Auto-connect in the property tree may not display error status, even though error exists when opening the auto-connect dialog.

timeout value for Move API commands is fixed at 10 seconds. Even though this optional argument is available to an API user, it is not possible to change the timeout value for planning moves.
The display order of the robots in Control Panel are based on the time when they were added to a RapidPlan Create project and can not be sorted.
The number of tabs of robot presets under robot dynamics settings is limited to 9.

Duplicate targets at the same configuration can cause problems with the motion planner providing desired results when executing motion