G2PP 2023.4 for Robotmaster 2023.3 release note
Summary | Public Description |
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Create a documentation article to organize extensive code customization | We have created a dedicated article explaining how to organize business logic for customizing new processes. |
To bridge the gap between the processor editor and coding the business logic, we have extended the documentation of each processor editor artifacts: process, menu, and events and their relationship with the Robotmaster interface and the processor code. | |
The Robotmaster caught exceptions from the processor and core library, and the user was notified. However, additional details will now be accessible in the log file. | |
Based on recent projects some Motoman default menu settings have been found to be inadequate. To facilitate the next integrations, the default settings were updated: Rail output type Base was used, Interpolated touch sensing was enabled, NWAIT was enabled, and FPT circular move option was also enabled. | |
We have added Kuka to our pick and place brand implementations (prototype templates). 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. | |
Based on a recent integration, we have simplified and standardized the ABB plasma cutting implementation. The plasma menus and events have been simplified. | |
Cutting process - Implement motion termination override at sharp corners | To improve the precision of robotic movements, a new feature has been implemented to detect sharp turns and plunges during cutting processes. This allows users to 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 - Touch sensing macro commented positions can generate too long comments | Touch sensing macro commented positions could generate too long comments. |
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 | Fix ABB and Motoman touch shift interpolation if two touch groups have the same position. This is utilized in both welding and plasma cutting processes. |