Release note Software version 1.5.xxxx
For CB2 only
List of main features
- A new process-oriented move command, MoveP (MoveProcess), which gives control over the speed and path of the tool
- The process functionality is implemented via new robot motion commands in URScript
- MoveP: Constant speed, circular blends
- MoveC: Circular motion
- Greatly improved file system compatibility and GUI feeling (auto-refresh etc.) when using USB keys
- The move commands can now be relative to a feature, for easier program migration. For example, a pick position can be relative to the "table"-feature
- Introduced features as variables. This is great for more flexible use of reference frames
- New splash screen picture (at "loading, please wait")
- The movej screen now only accepts sensible numbers for joint speed and joint acceleration
- Powering up. Everything is now labelled “OK” while booting (to avoid confusion)
- Added waypoints to pallet function (pallet sequence), labelled “approach” and “exit” to make it clearer how the function should be used
- Added pose_compare operators to script. Eg. PoseA = PoseB. Also <,>,!,<=,>=
- A number of new math-related script commands added: pow, log, floor, ceil, sqrt, norm, sin, cos, tan, asin, acos, atan, atan2, and d2r (degrees to radians)
- In the case of overlapping blends, the next point is now skipped, rather than generating an error message
- Removed check for valid expression, when using the “expression editor“ from a script command. The check did not make sense here
- Manual and labels now reflect the newest standards, including EN ISO 10218-1 and -2.
- Manuals now versioned to fit the relevant product (CB1/CB2, UR10/UR5, Eruomap67) for each language
- Replaced text on bottom part of the TCP-setup screen with an illustration
- Improved Teach Mode feeling in factory new robots (due to improved usage of joint self test results)
- Improvement to modbus update, so timeout time for 1Hz update frequency is 1 s
Bugfixes
- Movej to a variable waypoint is now actually a movej command (before it was a movel). Backwards compatibility is maintained.
- Fixed system freeze when using automatic load of default program fails
- Fixed bug in C-API level related to setting the gravity from C-API
- The robots program now stops at safety stop. Before, just the robot stopped, but the program could continue running (without moving the robot) under certain circumstances
- Improved realtime perfomance (priorities) to reduce or fix “broken com. Error”
- Reduced “kickback” feeling when teaching a joint outside its the joint limit
- Fixed occasional GUI-freezes, caused by drawing GeomFeature? reference frames
- In “urcontrol.conf”, when using the robot without GUI, tcp_pose and tcp_payload are now read
- The Servoj command had a bug in the calculation of the acceleration, which severely limited the performance of the robot when using this command (URScript level programming)
- When changing the TCP position in the GUI, it had no effect before clicking on (selecting) the “TCP position” tab. Now fixed.
- Load-screen in GUI. Too deeply nested directories could make GUI buttons disappear. Now fixed.
- Thread “track program execution” was buggy. Now fixed.
- ToolView? feature overruled Base feature coordinate axes showing. Fixed.
- Removed graphics glitches when showing tool view.
- Controller crashed when using blends combined with a movel with segment length 0. Fixed.
- GUI was very sluggish when working with large programs due to polynomially too many “updateNameAndRefences” checks. Now fixed.
- On the “Loop-screen” it was not possible to select “loop xxx times” if an expression was entered first. Now fixed.
- Bug in “hide subprogram tree” in combination with “expanding/collapsing” a folder, fixed.
- Fixed “speedslider stuck at 52%” bug.
- Could in some cases not insert “before start” sequence when the program also had an “init-variables” part. Fixed.
- Stand-by power rating adjusted from 7W to 0.5W in manual for CB2. The 7W rating is legacy from CB1.
- Fixed bug in movel (used with blends) that could cause a joint to make a 360 degrees turn in certain cases.
- Sometimes, the TCP of the simulated robot was not the same as TCP for the real robot, which could cause confusion. Now fixed.
- Fixed modbus error messages causing "out of memory" failure, when very many error messages was generated
- Fixed some special cases where controller calculations gave NaN (symptoms: small "squares" in coordinates on Move-Tab).
- Fixed variable names when loaded from SubProgram files (they were changing their names). Now the user is asked what to do (popup)
- Fixed bug when copying a relative waypoint. When renaming after copying, the motion vector could be affected
- Fixed bug when a copying action or wait node using a modbus signal and then changing the selected signal, this affected the original node.
- (Bugfixing) A stack trace of the GUI software is always saved in the file: bcdump.out
And a number of minor bug fixes.