Release notes - 10.0.71.24214 - Milestone 16

Simultaneous Multi Robot Processor Implementation

Simultaneous multi-robot support for ABB, Fanuc, Kuka, and Motoman. Make the most of your cycle time with controller-ready robot code for independent motion between multiple robots in a single cell.

Open

The robot brands offering multi-robot support has been upgraded with the ability to output an additional scheduler program that orchestrates robot program execution, handshake event generation/output to synchronize robots using instructions available from each brand’s multi-robot option, and wait-time event generation/output to add strategic delays in robot programs. All of these features work alongside existing process-specific features, allowing for multi-robot welding, plasma cutting, part handling, and more.

For comprehensive details on multi-robot output support and the level of validation for each processor, please refer to the respective documentation for each brand.

Standardize Fanuc Plasma Cutting

Fanuc robots are now supported by the Robotmaster standardized plasma processor template, including support for multi-touch sensing along the path by using a new search macro. Previously, Fanuc was only supported via the basic template which required customization. Now, users can use a more robust, turnkey solution designed for seamless integration with Hypertherm hardware. The standardized processor is now optimized for user-friendly configuration via menus and includes detailed user documentation.

Open

Standardize Kuka Plasma Cutting

KUKA Inline is now supported by the Robotmaster standardized plasma processor template, including support for initial touch sensing (IHS) by using the KUKA.TouchSense package. Previously, KUKA Inline was only supported via the basic template which required customization. Now, users can use a more robust, turnkey solution designed for seamless integration with Hypertherm hardware. The standardized processor is optimized for user-friendly configuration via menus and includes detailed user documentation.

Open

OTC - Restrict double byte characters from being output in program

Double Byte characters in an OTC program file may hinder successful program loading. To enhance user experience, we have implemented features in the processor menu to alert users if any Double Byte characters are detected in the output program. These settings can be found in the Controller settings.

Open

ABB Plasma - Update touch array to account for disabled touch sensing case

Improve peOffset(0) output from programs not using touches, ensuring ABB code compliance.

Motoman - Implement Arc preprocessing for YRC controllers

Due to the new motion planner of YRC controller, we have re-evaluated the output of circular paths. This update includes the removal of duplicated points and an automation to effectively manage the Circular-Linear-Circular sequences (pre-processor), ensuring accurate motion interpolation. Make sure to select your robot controller in the Cell Settings > Controller settings > Controller.

Open

Motoman Plasma - Implement Experimental HPMMV/HPVEL/HPTRAJ Commands in Motoman Plasma Processor

This release introduces the experimental output of the HPMMV, HPVEL, and HPTRAJ commands into the Motoman plasma processor output. Depending on the path, these functions can enhance speed consistency during operations. These experimental commands are disabled by default.

Make DSL documentation more readable

Learn about the menus, process, and events for each brand directly inside the documentation. With improved formatting and dedicated sections for generated code, we enhanced clarity and usability, ensuring a more intuitive experience for users across all brands.

• Improved visibility and navigation for brand specific events / menus / processes documentation

Open

• Improved readability for brand specific events / menus / processes documentation

Open

• Generic coding language documentation improved readability

Open

Improve the processor editor About page

The processor editor about page now displays the proper build version and the DSL version used to check compatibility with files. Hyperlinks have been updated.

Open

Add Tool Description DSL

Enhance the Tool DSL by incorporating the Description field.
For instance: $"Tool Description = {operation.Tool.Description}"

Add Tooling Name DSL

Introducing Tooling Name DSL to allow more advanced customization particularly in pick-and-place or multi-robot scenarios.
Example: $"Tooling Name = {this.RobotProgram.Tooling.Name} "

To support multi-robot, a new level of DSL has been introduced: RobotProgram within Program, designed to be standardized across all processors, including those for single robots.
The Tooling DSL will exclusively be accessible under RobotProgram.

Add File Name and Path DSL

Introducing session file name and file path DSL to improve the trackability of custom generated code.
For instance: $"File Name = {this.Context.Session.FileName", $"File Directory = {this.Context.Session.FileDirectory}"

Fix Fanuc Tool Frame As comment (DEFECT-138)

Fixed Fanuc tool frame output as a comment.

Renaming an Event code ID in a Folder crashes PDE (DEFECT-130)

Fixed crash triggered when renaming an Event code ID in a processor folder in the processor editor.

PDE doesn't reflect "operation level only" menus support for Home/Transition operation (DEFECT-25)

The processor editor now reflects the current support for “operation-level only” menus (i.e., available for task operations but not available for Home/Transition operations).