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

We are excited to …..

1. RapidPlan Create

1.1. Major Improvements

Internal Note:

  1. Better to prioritize items with users/AEs
    An improvement seems to be a small change, but the impact on users can be bigger than it looks.
    - Example: Loading a project can now be cancelled

[TODO: Reorder the items based on the importance from user perspective]

✅ 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.

[GIF]

  1. Smoothing Definition: Set smoothing values from 0.0 mm to 500 mm for realistic robot trajectories.

  2. Global and Individual Settings: Define smoothing globally or per waypoint.

  3. Enhanced Visualization: View smoothed trajectories within RPC.

✅ Auto-Save securely save your latest work

[GIF]

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!

✅ 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.

✅ Create mates by double-clicking on an un-mated object

✅ Interference and near-miss report

[GIF]

This feature has been frequently requested by our customers and aims to simplify the generation of interference and near-miss reports for interlock design.

Existing project clearance values are used for calculating robot-robot interferences as “cautions,” and near-miss values are defined in the report dialog for "warnings."

Please note that the report does not include collisions with the environment, does not consider clearance rules for robot-robot interferences, and does not include robot-self interferences.

1.2. Other Improvements

  • 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.

  • [TODO] [RPC] Performance Enhancements and Benchmarking

  • [TODO] RAPID-23365 - Getting issue details... STATUS

  • [TODO] RAPID-31234 - Getting issue details... STATUS

1.3. Before update

[TODO] Anything user should know about before update?

  • 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 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 tab

    Screenshare_-_2023-07-19_3_41_06_PM.mp4

     

✅ 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

  • 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

✅ Speed limited link selection

  • 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

  • LIMITATION 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 complete

✅ 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”.

selector.mp4

 

✅ Improvement 4

[GIF]

Explanation

✅ Improvement 5

[GIF]

Explanation

2.2. Other Improvements

2.3. Before update

[TODO] Anything user should know about before update?

3. RapidPlan ASCII API

Internal Note: Categorization from the perspective of users/ use cases would be nice to quickly identify relevant topics
- Example: Updated Move command with a new argument shortest_path_only.
This update is especially important for spot-welding users who want to avoid lengthy second shortest path to take

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. Before update

[TODO] Anything user should know about before update?

4. Known Bugs/Limitations

Internal Note:

  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

[Remove] Remove from release note

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

Open

34016

[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

ID

Content

Status

Disconnecting one robot turns off display for all robot voxels

Upgrading from a 2.3 project will delete any existing robot control logs

No warning given in CP when the wrong locale is selected

  • Only accepts US-EN

19828

Interlock recording does not work with partial execution

  • 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.

Planning moves with DSM object attached to the robot will be rejected with an error in 2.5

Robot Control

  • ABB [20230621-8045099]: In very rare cases, the robot is not responding to the commanded trajectory. This is under investigation with ABB.

  • 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.

  • Yaskawa: if a robot is left in AcquireControl mode for more than 2 hours, a joint state loss error is reported. To avoid the error, a Yaskawa robot should be in ReleaseControl mode if left idle for an extended period of time.

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