Processors What's New

Improvements

Create a documentation article for organizing code customizations

A dedicated article explaining how to organize business logic for customizing new processes is now available

Improve processor editor to processor code documentation

To bridge the gap between the processor editor and coding the business logic, the documentation has been extended for each processor editor artifacts: process, menu, and events and their relationship with the Robotmaster interface and the processor code.

Log processor and core library exceptions

During the processor customization implementation, integrators may encounter C# exceptions. Previously, Robotmaster only provided a concise notification that offered limited insight into the issue. We have now enhanced Robotmaster's reporting capability. Integrators will now be able to access the complete error message and error traces in the log files.

Processor Improvements

Kuka - Implement pick and place

KUKA brand template is now available to support pick and place applications. The improvement includes configurable commands via menus, automatic output of gripper open and close sequences, as well as the introduction of a new pick and place coding language (DSL) for easy customization.

Note: This brand template was created based on KUKA documentation following hardware and controller pre-requisites. We suggest partners perform a dry run of programs using these templates prior to running in production.

Cutting process - Implement motion termination override at sharp corners

A new feature has been implemented to detect sharp turns and plunges during cutting processes this results in improvements in the precision of robotic movements. Users can override the termination type at specific points, ensuring accurate and smooth corners. The override can be enabled or disabled from the cutting process menu, using the same input options as in the default motion settings menu. This enhancement is currently limited to ABB, Motoman, Fanuc, and Kuka brands for cutting applications only.

Motoman - Update default settings

Default menu settings for Motoman have been updated to facilitate integrations. This includes updates such as:

• Rail output type Base

• Interpolated touch sensing enabled

• NWAIT enabled

• FPT circular move option enabled

ABB - Standardize plasma menus and events

Simplification and standardization of plasma menus and events for ABB plasma cutting implementations.

Bug fixes

Motoman - Touch sensing macro commented positions can generate too long comments

Touch sensing macro commented positions could generate too long comments.
The comment was not relevant in the code, so it was removed.

Motoman - Multifile output first file doesn't set the tool and the user frame

The tool and user frame are now included in the output of the first sub-file when splitting files.

Plasma Touch - Divide by zero errors when touch groups are identical

Fixed ABB and Motoman touch shift interpolation if two touch groups have the same position. This is utilized in both welding and plasma cutting processes.