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RapidPlan Create

  • Ability to create sequences of targets - User can now create target sequences when in roadmap mode in RPC. The feature will enable them to plan a fixed path for a robot in RPC. Target Sequences are preset specific

  • Ability to create multiple auto-connects from a sequence of targets - User can now create multiple auto-connects in one go between pairs of targets that are part of a target sequence.

  • Ability to visualize sequences of targets - User can now visualize created target sequence on canvas.

  • Ability to inspect roadmap for a sequence of targets in roadmap inspector dialog - User can now preview robot motion for a given sequence of targets.

  • Ability to export target sequences to an external file - User can export target sequences comprising of joint configuration at each target along with connection type details

  • Ability to filter voxel type visuals in the roadmap inspector dialog - User can now opt to choose whether to show/hide the voxels that are intersection between robot motions.

  • Ability to view robot tcp motion in roadmap inspector dialog in addition to the connectivity - User has the option to view the actual robot tcp motion when in the roadmap inspector dialog

  • Ability to view edge(s)/connection(s) based on their validity status - User can de-clutter their view when in the roadmap inspector dialog and view only valid/invalid/unknown status type connections

  • Playback ability to robot motion - User can play/start/stop/rewind/forward a robot motion when in the roadmap inspect dialog (figure above)

  • Ability to automatically select robot upon selection of a target/connection/edge - User can now go to the roadmap inspector dialog and select target/connection/edge, based on which the parent robot gets selected on canvas and in the roadmap inspector dialog

  • Ability to update target/frame position to current robot tcp from the jog dialog - User can now update an existing target/frame coordinates to match the current robot tcp location when in the jog dialog.

  • Ability to filter display of targets on canvas - User can show/hide sets of targets from canvas

  • Added ability to upgrade RPC projects created in 2.x to 2.2

RapidPlan Control

  • Now includes ASCII communications from all sources

  • Responses are collated with requests

  • Stores up to 1000 items

  • Does not persist history through appliance restarts

  • 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

RapidPlan ASCII API

  • Updated spec for CreateTarget to add a new target without connections.

  • Added RenameTarget command.

  • Added RemoveTarget command.

  • Added AddConnection command.

  • Added RemoveConnection command.

  • Updated spec for Move with support for external axes and triggers.

  • Updated spec for CombinedMove with support for external axes and triggers.

  • Updated spec for CancelMove with support for adjustable ramp-down speed.

  • Updated spec for SetDefaultProject to clear the default project if project name input is not specified.

  • Added GetLoadedProject command.

  • Added GetRobotPresets command.

  • Updated spec for UserLog with allowed characters in a user log.

  • Danger/risk of interleaving RTR with non-RTR move commands is documented in the Move command.

  • GetJointAngles command is deprecated and replaced by GetJointConfiguration.

  • Added move type and target type support matrix.

  • Added 2 cautionary statements regarding mixing RTR with non-RTR moves and robot off-roadmap behaviors for Move command.

  • Added 1 cautionary statement regarding mixing RTR-controlled moves with non-RTR stop commands.

Known Bugs/Limitations

RapidPlan Create

  • 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.

  • 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 will prevent the project from loading. You can get around this manually by removing all SVDAG files inside voxels folder. After loading project, you will need to revalidate the project to generate the voxels again.

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

  • RapidPlan Control/Appliance may crash when sending a CombinedMove with a Direct to Target move.

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