Release Notes RobotStudio 5.10

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1 1/23 Release Ntes RbtStudi 5.10 RELEASE NOTES ROBOTSTUDIO RELEASE INFORMATION... 4 Release Name... 4 Release Infrmatin... 4 Release Date... 4 Rbt Libraries... 4 ABB Rbt Libraries included in RbtStudi Track Libraries... 5 Supprted Platfrms... 6 Supprted Operating Systems... 6 Recmmended Hardware... 6 Supprted RbtWare Versins... 7 Supprt fr future RbtWare versins... 7 CHANGES IN ROBOTSTUDIO New Features in RbtStudi New rbt mdels... 8 CATIA V5 cnverter supprt f CATPrduct... 8 Languages... 9 CAD Cnverter... 9 Supprted CAD Frmats and Versins... 9 CAD Cnverter Optins Dem statins & Tutrials ROBOTSTUDIO 5.10 IMPROVEMENTS Limitatins Slved in RbtStudi Default flders fr Statins and Systems changed fr Chinese and Japanese Cntrller start timeut extended t 240 s Attaching part t tl with tw tlframes Lad Gemetry checkbx returns t enabled state Mve/Cpy bdys t new part- shw nly repsitin questin fr first bdy Dual Cre Supprt... 11

2 2/23 Crrected Supprt Cases ROBOTSTUDIO INFORMATION Cde Snippets Instructin Templates Create System frm Layut Wizard Tracks Supprted external axis cnfiguratins LIMITATIONS IN ROBOTSTUDIO Visual Studi Tls fr Applicatins Prperties and methds that use the type System.Drawing.Clr will nt wrk in VSTA Static events cannt be called frm applicatins develped in VSTA Debugging f VSTA Applicatins VSTA Library add-ins nt available Use Visual Studi 2005 Express fr advanced add-in Knwn Limitatins in RbtStudi RbtWare 5.06 Cmpatibility RbtWare 5.07 Cmpatibility Mve/Cpy f Virtual Cntrller systems Prblems starting virtual cntrllers fr RbtWare r earlier n dual cre PCs Synchrnizatin is time cnsuming Virtual FlexPendant Write prtected systems JintTargets fr external axis Imprting RbtStudi 2.x/3.x/4.x mechanisms might cause prblems Custm Display Settings Prblems when unding Blean peratins n Gemetry Out f memry Array f rbtargets, tldata and wrkbjects are nt supprted LOCAL declaratins in RAPID are nt supprted in Layut mde The RAPID functins Offs and RelTl are nt fully supprted Multiple Serial Prts ptin Virtual FlexPendant might fail during restart Direct3D limitatins Lwer simulatin perfrmance fr Play in Prgram Editr AutCnfiguratin des nt supprt psitiners Errr message starting system with IRB260/ Incrrect errr message IRBxxx: Culd nt change mtr state Mdeling Mde: Intersect f parts may nt wrk crrectly License may nt be autmatically installed with the Internet ptin if behind a FireWall Nt pssible t activate nn-mtin tasks frm RbtStudi Wrking range f IRB Path handling f instructins with multiple jint targets... 21

3 3/23 Errr Message Psitin Outside Reach Prcess time is displayed nly fr Simulatin - Play in Time Slice mde Minr difference in prcess time f Simulatin Play and Prgram Editr Play Event Manager: Simulatin cannt be triggered by analg system signals The errr message Unable t save the statin. One reasn fr this errr may be that there is nt enugh space t stre the data Virtual Flex Pendent: Emergency Stp buttn Use Direct3D n Windws Vista fr imprved perfrmance Use CAD Cnverter when cnverting CATIA V4 files ROBOTSTUDIO 5.10 KEYBOARD SHORTCUTS... 23

4 4/23 Release Infrmatin Release Name The release name is RbtStudi 5.10 The release cntains the fllwing prducts: RbtStudi 5.10 DVD build 2400 The RbtStudi DVD cntains the fllwing prduct versins: RbtStudi 5.10 build 2400 RbtWare build 0147 RbtStudi Online build 0147 RbtStudi 5.10 is available in seven languages (see sectin belw). RbtWare 5.10 is available in 14 languages (see RbtWare.pdf available n the RbtStudi DVD.). RbtStudi Online is available in five languages (see sectin belw). The installed prgram versins are displayed if yu select Start Settings Cntrl panel Add/Remve prgrams. Select the prgram (accrding t the list abve) and select Supprt infrmatin. The prgram versin is displayed in the table. Release Infrmatin Release Date Rbt Libraries The infrmatin shuld be cnsidered as last minutes infrmatin and mst up-t-date. Fr mre infrmatin please visit the supprt web site at There yu can find a discussin frum, e-learning and sftware dwnlads. Visit als ur web site at fr mre infrmatin and updates. Release date The flder ABB Library cntains libraries f rbts, tls, external axes, psitiners and equipment. Track cnfiguratin files t be used fr track mtins r type RTT r IRBTx003 (x = 4, 6, r, 7) can be fund in the Track flder, see sectin Track Cnfiguratin Files. Fr cnfiguratin f tracks f type IRBTx004, (x = 4,6, r 7) there is a additinal ptins mediapl in the Mediapl flder installed in the same flder as RbtWare (..%PrgramFiles%\ABB Industrial IT\ IT\MediaPl\). The current versin f the

5 5/23 Track additinal ptin is called Track It supprts RbtWare 5.09 and 5.10 and subrevisins f thse releases. The ABB Library als cntains template rbt systems fr all included rbt mdels. Sme typical MediaPls fr different cmbinatins f rbts and external axis (psitiners) are installed t the MediaPl directry. The mediapl fr StandAlneCntrllers is available n the RbtStudi DVD and may be used fr nn-standard, third party. ABB Rbt Libraries included in RbtStudi 5.10 IRB140_5_81 01.rslib IRB140_5_81_C_01.rslib IRB140_6_81_C_01.rslib IRB1400_5_ rslib IRB1400H_5_ rslib IRB140T_6_81_C_01.rslib IRB1410_5_ rslib IRB1600_5_ rslib IRB1600_5_120_A_01.rslib IRB1600_5_ rslib IRB1600_5_145_A_01.rslib IRB1600_6_ rslib IRB1600_6_ rslib IRB1600_7_ rslib IRB1600_7_120_A_01.rslib IRB1600_7_ rslib IRB1600_7_145_A_01.rslib IRB1600_8_ rslib IRB1600_8_ rslib IRB1600ID_4_ rslib IRB2400_10_ rslib IRB2400_16_ rslib IRB2400L_7_ rslib IRB260_30_ rslib IRB rslib IRB4400_45_ rslib IRB4400_60_ rslib IRB4400L_10_ rslib IRB4400L_30_ rslib IRB4400S_30_ rslib IRB4450S_30_ rslib IRB6400R_200_ rslib IRB6400R_200_ rslib IRB660_180_ rslib IRB660_250_ rslib IRB6600_175_ rslib IRB6600_175_ rslib IRB6600_225_ rslib IRB6600ID_185_ rslib IRB6620_150_ rslib IRB6640_130_ rslib IRB6640_180_ rslib IRB6640_185_ rslib IRB6640_205_ rslib IRB6640_235_ rslib IRB6640ID_170_ rslib IRB6640ID_200_ rslib IRB6650_125_ rslib IRB6650_200_ rslib IRB6650ID_170_ rslib IRB6650S_125_ rslib IRB6650S_200_ rslib IRB6650S_90_ rslib IRB6660_130_ rslib IRB7600_150_ rslib IRB7600_340_ rslib IRB7600_400_ rslib IRB7600_500_ rslib IRB7600_500_ rslib IRB rslib Track Libraries RbtStudi is distributed with the fllwing track types that are available in the Track flder f the ABB Library.

6 6/23 Track family IRBT4003 IRBT4004 IRBT6003 IRBT6004 IRBT7003 IRBT7004 RTT_Bbin RTT_Marathn Length 1.7 m t 10.7 m 1.9 m t 19.9 m 1.7 m t 10.7 m 1.7 m t 19.7 m 1.7 m t 10.7 m 1.7 m t 19.7 m 1.7 m t 11.7 m 1.7 m t 11.7 m Supprted Platfrms Befre yu install RbtStudi, make sure yur system cnfrms t the fllwing requirements: Supprted Operating Systems Micrsft Windws XP Prfessinal with Service Pack 2 r higher. Micrsft Windws Vista Business r Enterprise Nte: The Windws Firewall will try t blck features necessary t run RbtStudi and RbtStudiOnline prperly. Make sure t unblck these features when asked (Industrial Rbt Discvery Server, RbtStudi StudiAppFramewrk mdule, Virtual RbtCntrller (all published by ABB)). The blcking state f a certain prgram can be viewed and changed at Start/Cntrl Panel/Windws Security Center/Windws Firewall. Read mre n Nte: T run RbtStudi n the 64-bit editin f XP r Vista yu need t first install.net Framewrk 2.0 fr 64-bit OS (NetFx64.exe) and XML 6 fr x64. These files can be dwnladed frm Nte: RbtStudi Online 5.10 and PC-SDK 5.10 des nt supprt 64-bit perating systems. Recmmended Hardware High perfrmance desktp r laptp wrkstatin: CPU: Memry: Free disk-space: Graphics card: 2.0 GHz r faster prcessr 1 GB system memry at minimum, 2 GB if running Windws Vista, statins with several rbt systems, r large CAD-mdels. 5+ GB free space High perfrmance DirectX 9 r OpenGL-cmpatible graphics card with the crrespnding up-t-date drivers installed Display settings: Screen reslutin: 1280 x 1024 pixels r higher DPI: Nrmal size (96 dpi)

7 7/23 Muse: Three buttn muse DVD-ROM Drive Supprted RbtWare Versins RbtStudi 5.10 is distributed with RbtWare 5.10 and wrks with RbtWare 5.06, all revisins, RbtWare & and later revisins, RbtWare and later revisins, and RbtWare 5.09, all revisins RbtWare 5.10 Nte: See Sectin Knwn Limitatins in RbtStudi 5.10 fr mre infrmatin abut cmpatibility with RbtWare versins 5.06, 5.07, 5.08 and Supprt fr future RbtWare versins RbtStudi 5.10 may supprt, but is nt guaranteed t supprt, future minr r majr revisins f RbtWare. Hwever, a necessary, but maybe nt sufficient, requirement fr RbtStudi t supprt any later RbtWare versin is that the crrespnding versin f the Rbt Cmmunicatin Runtime is installed in additin t RbtWare. There are tw ways t ensure that the apprpriate Rbt Cmmunicatin Runtime is installed when installing a new RbtWare versin. 1. Install the same versin f RbtStudi Online as RbtWare. This will als upgrade the Rbt Cmmunicatin Runtime. 2. Install the Rbt Cmmunicatin Runtime separately. The Runtime can be fund in the Utility flder f the RbtWare CD. Nte: The latest RbtWare CD can be requested frm yur lcal ABB representative.

8 8/23 Changes in RbtStudi 5.10 This sectin describes the changes that have been made in RbtStudi 5.10 New Features in RbtStudi 5.10 New rbt mdels The fllwing rbt mdels have been added t RbtStudi IRB140 IRB1600 IRB6640 IRB6660 IRB140T - 6 kg / 0.81 m IRB140-6 kg / 0.81 m IRB kg / 1.2 m IRB kg / 1.45 m IRB kg / 1.2 m IRB kg / 1.45 m IRB kg / 2.8 m IRB kg / 2.75 m IRB kg / 3.2 m IRB6640ID kg /2.55 m IRB6640ID 170 kg /2.75 m IRB kg / 3.1 m CATIA V5 cnverter supprt f CATPrduct By using the RbtStudi add-in AssemblyImprt.dll that is available n the RbtStudi DVD, CATIA V5 assemblies f type CATPrduct can be imprted int RbtStudi with the part structure kept. CATPrduct assemblies can als be cnverted using the CAD Cnverter withut installing the AssemblyImprt.dll, but then the part structure is discarded and all parts f the assembly are put int ne single SAT-file. T install the add-in, cpy the file t the Addins flder f the RbtStudi installatin and restart RbtStudi t enable the feature. A new menu item called Imprt Assembly will appear belw the Imprt Gemetry menu item. Nte: The CATIA V5 cnverter requires a separate license.

9 9/23 Languages CAD Cnverter The fllwing languages are supprted in RbtStudi 5.10: English French German Spanish Italian Chinese (simplified Chinese, mainland Chinese) Japanese 1) 2) Ntes: 1) The language is nly supprted in the RbtStudi, the virtual cntrller and the Virtual Flex Pendant it is nt supprted in RbtStudi Online. 2) The language supprt fr Asian languages (Chinese, Krean, Japanese) has sme specific limitatins in the cntrller and Virtual FlexPendant: - TPWrite, TPRead, and TPPrint d nt wrk in Asian languages use English text. - Printing errr text frm RAPID (instructin ErrWrite) des nt wrk in Asian languages - use English text. Supprted CAD Frmats and Versins RbtStudi includes advanced CAD imprt capabilities such as: ACIS (reads/writes versins v6 t R18) IGES (reads versins up t 5.3, writes versin 5.3) STEP (reads versins AP203 and AP214 (gemetry nly), writes versin AP214) 1) 2) VDAFS (reads VDAFS up t 2.0, writes VDAFS 2.0) CATIA V4 (reads versins t 4.2.4) CATIA V5 (reads CATIA V5 R2 t R18) Inventr (reads versins 6 t 12) Pr/Engineer (reads versins 16 t Wildfire3) Nte: The CAD cnverters require separate licenses (except ACIS).

10 10/23 CAD Cnverter Optins The CAD Cnverter ptins can be set by using the Advanced buttn f the Settings dialg f the CAD Cnverter. By pressing the Advanced buttn the CADCnverter.ini file is pened. The file specifies all available ptins fr CAD cnversin. The change an ptin, simply uncmment the line by remving the semi-cln and mdify the ptin as desired. All ptins are described in the file AcisInterOpCnnectOptins.pdf f the RbtStudi DVD. Dem statins & Tutrials There are three dem statins included in this versin. Instructins n hw t access and use these can be fund n the Start Page under Learn T Use/Dem Statins. Fllw these instructins carefully. Nte: Only tw f them are available frm the Start Page (Dem Exhaust Pipe_Pack&G.zip and Dem FlexLader_Pack&G.zip). The third ne (PalletDem_Pack&G.zip) can be fund tgether with the previus tw in the users s RbtStudi/Statin flder. On the Start Page yu will als find a cllectin f tutrials n hw t use RbtStudi. These can be fund under Learn T Use/Tutrials.

11 11/23 RbtStudi 5.10 Imprvements Limitatins Slved in RbtStudi 5.10 A large number f limitatins have been slved in RbtStudi This sectin highlights a few f them which may be f general interest. Default flders fr Statins and Systems changed fr Chinese and Japanese The Virtual Cntrller des nt supprt asian characters why the default flders fr Statins and Systems have been changed t English instead f being translated (CQ7001, 6974) Cntrller start timeut extended t 240 s The timut fr cntrller startup has been extended t 240 s t allw sufficient startup time fr systems with cmplicated cnfiguratin, e.g. systems with several external axes (CQ6950). Attaching part t tl with tw tlframes Supprt fr attaching parts t tls with tw tlframes has been added (CQ6851). Lad Gemetry checkbx returns t enabled state The state f the checkbx Lad Gemetry that is available in the file dialg, when pening statins and libraries will always return t enabled state after having been disabled. The reasn is t ensure that gemetries are always laded by default (CQ6935) Mve/Cpy bdys t new part- shw nly repsitin questin fr first bdy. When cpying r mving multiple bdies t a new part, a questin appears that asks the user if he wants t repsitin the bdies relatively t the new part. This questin prevsiusly appeared fr each part but has been changed t nly appear nce fr the selected set (CQ5569). Dual Cre Supprt The Virtual Cntrller has been imprved t take advantage f the dual cre feature available n sme CPUs.

12 12/23 Crrected Supprt Cases Headline Supprt ID Internal ID CATIA V5 cnverter nt wrking prperly with CATprducts files (see RbtStudi 5.10 Imprvements) PDD DSE7428 CQ6473 Save statin fails after Pack&G PDD DSE7530 CQ6734 Multiple selectin in graphic windw des nt wrk crrectly PDD DSE7623 CQ6786 Changed libraries are nt laded int a statin, instead the previus versin is imprted PDD DSE7626 CQ6787 Deactivating a cllisin set while bjects are clliding des nt refresh the graphics windw PDD DSE7687 CQ6833 Errr in the 'Create system frm layut' dialg bx while inputing system name and lcatin PDD DSE7690 CQ6845 Prgram Editr prblem if nt simulatin setup is dne frm Layut Mde PDD DSE7703 CQ6854 Prgram brwser des nt shw all prcedures within a mdule PDD DSE7728 CQ6887 MveAbsJ instructins nt updated when referenced wrk bject is deleted PDD DSE7739 CQ6917 Crdinate filter in Place functins des nt use selected crdinate system PDD DSE7753 CQ6920 Trying t pen an encded mdule with Prgram Editr generates an exceptin PDD DSE7755 CQ6922 JumpTTarget nt pssible if \WObj nt used PDD DSE7780 CQ6948 Prblem while imprting a CATPart file PDD DSE7810 CQ6961 Operating mde changes frm Aut t Manual when stepping thrugh prgram if Reachability is activated SG CQ6918 Unknwn Errr - Mve alng path when Offs is used. FR CQ6441 Cannt Imprt Gemetry n inventr (ipt) files DK CQ7003 Mdules nt srted in alphabetical rder in Prgram Brwser NZ CQ7056

13 13/23 RbtStudi Infrmatin Cde Snippets The Prgram Editr f RbtStudi 5.10 cntains Cde Snippets that are integrated with the Pick List. Cde Snippets are pieces f cde that can be inserted int the editr n user request. RbtStudi 5.10 cmes with a number f predefined Cde Snippets, see belw array2x2x4.snippet array2x4.snippet array2x4x2.snippet array4x2.snippet functin with return value bl.snippet mdule header.snippet prcedure parameters.snippet prcedure with errr handler.snippet rbtarget.snippet tldata.snippet TRAP rutine example.snippet wbjdata.snippet In additin, the user can create custmized Cde Snippets and add t the existing list f Cde Snippets. The Cde Snippets adhere the Cde Snippet frmat f Visual Studi Cde Snippets can be edited in any XML-editr such as Visual Studi 2005 Express that can be dwnladed free f charge frm Micrsft at Read mre abut creating yur wn Cde Snippets in the MSDN article Hw t: Create a Basic Cde Snippet at The RbtStudi.snippet files are stred per user and lcated in the flder C:\<Dcuments and Settings>\<user name>\rbtstudi\cde Snippets, where the flder <Dcuments and Settings> may be cnfigured t have different names, e.g. fr ABB staff it is called Data. It may als be translated n lcalized versins f Windws. Nte: The language specified in the.snippet file t be used in the RbtStudi Prgram Editr must be RAPID, whereas the Micrsft examples are targeted twards ther prgramming languages. Hwever, the structure and frmat is the same. See als the predefined.snippet files installed with RbtStudi 5.10

14 14/23 Instructin Templates The Instructin Template Manager can be used t add supprt fr instructins ther than the pre-defined set that cmes with RbtStudi by default. Fr example, a rbt cntrller system with the RbtWare Dispense ptin cmes with specialized mve instructins related t glueing, i.e. DispL and DispC. The user can manually define instructin templates fr these using the Instructin Template Manager. The instructin templates can be exprted t XML-frmat fr later reuse. Fr sme cmmn prcesses RbtStudi 5.10 cmes with pre-defined XML files that can be imprted and used fr rbt cntrller systems with that has the apprpriate RbtWare ptins. The instructin templates prvided add supprt fr the fllwing RbtWare ptins: Cap (Cntinuus Applicatin Prcess) Disp (Dispense) Trigg (Fixed Psitin Events) Spt Pneumatic Spt Serv Spt Serv Equalizing The prvided XML files cntain bth Mve and Actin instructins. The instructin template files can be fund in the Instructin Templates flder f the RbtStudi 5.10 DVD. Nte: RbtStudi ArcWeld PwerPac is recmmended when using RbtWare Arc.

15 15/23 Create System frm Layut Wizard. Create System frm Layut allws the user t create cmplex cntrller systems with just a few muse clicks. Simply imprt the desired rbts, psitiners and track libraries, and run thrugh the wizard. Tracks The fllwing tracks with lengths frm 1.7 t 11.7 meters are supprted. The track can run in a separate task r in a rbt task. The system allws 1-3 tracks per task (dependent f the TCP manipulatr type). IRBT4003 IRBT6003 IRBT7003 RTT_Bbin RTT_Marathn Supprted external axis cnfiguratins SingleMve (all in same task) TCP Rbt + IRBP_A TCP Rbt + IRBP_B TCP Rbt + IRBP_C TCP Rbt + IRBP_D TCP Rbt + IRBP_K TCP Rbt + IRBP_L TCP Rbt + IRBP_R TCP Rbt + IRBP_A + Track TCP Rbt + IRBP_K + Track TCP Rbt + IRBP_L + Track TCP Rbt + 2 x IRBP_L + Track MultiMve (all in separate tasks) 2 x TCP Rbt + IRBP_A 2 x TCP Rbt + IRBP_B 2 x TCP Rbt + IRBP_C 2 x TCP Rbt + IRBP_D 2 x TCP Rbt + IRBP_K 2 x TCP Rbt + IRBP_L 2 x TCP Rbt + IRBP_R Nte: A TCP rbt is defined as a rbt that has inverse kinematics, e.g. all standard IRB rbts.

16 16/23 Limitatins in RbtStudi 5.10 Visual Studi Tls fr Applicatins Prperties and methds that use the type System.Drawing.Clr will nt wrk in VSTA. This is a limitatin f the Visual Studi Tls fr Applicatins (VSTA) envirnment. Nte: There is a new VSTA-class VSTABridge that can be used t wrkarund this prblem, see API dcumentatin. Static events cannt be called frm applicatins develped in VSTA. This affects fr example the Simulatin Tick event. Wrkarund: Create a standard add-in if static events are t be used. Alternatively, use the VSTABridge class that can wrkarund this prblem, see API dcumentatin. Debugging f VSTA Applicatins When debugging a VSTA applicatin that adds menu items t the RbtStudi envirnment, then the menu will nt be remved when the prgram executin stps. This may cause multiple entries f the same menu t be added in RbtStudi. This nly affects VSTA addins being debugged and nt cmpleted VSTA add-ins. Wrkarund: Restart RbtStudi t remve the extra menus. VSTA Library add-ins nt available In the Add-ins brwser there is a flder fr s-called VSTA Library add-ins. This feature is nt available. Use Visual Studi 2005 Express fr advanced add-in The purpse f VSTA is t write custm actins and minr utilities. Fr advanced add-in develpment use Visual Studi 2005 Express that can be dwnladed free f charge frm

17 17/23 Knwn Limitatins in RbtStudi 5.10 RbtWare 5.06 Cmpatibility RbtWare 5.06 is supprted with the fllwing limitatins, The sync t VC functin may cause crrupt RAPID prgrams. The prblem appears when lines (i.e. targets, paths) are remved frm the RAPID prgram and paths are added t the RAPID prgram in the same "Sync t VC" peratin. As a cnsequence, the new path may be added after the ENDMODULE statement. This prblem desn t appear when running a RbtWare 5.07 r later. The Prgram Editr des nt supprt RbtWare 5.06, but requires RbtWare 5.07 r later. The Create System frm Layut Wizard des nt supprt RbtWare 5.06, but requires RbtWare 5.07 r later. RbtWare 5.07 Cmpatibility A limitatin in the versins , , f RbtWare may cause the VC t system failure state during cld start (I-start) n certain PCs. The prblem is due t the ctrl.bin-file nt being crrectly created during cld-start (I-start). Wrkarund: Create an empty ctrl.bin file in the INTERNAL flder f the cntrller system, and then perfrm a warm start. Nte: The prblem will reappear if the system is cld-started. The limitatin is slved in RbtWare Mve/Cpy f Virtual Cntrller systems Warm started systems cannt be mved t anther lcatin and/r PC. This will result in a nn-wrking VC. A typical symptm f the prblem is that the Virtual Cntrller reprts Failed t retrieve prcedure. Wrkarund and recmmended methd f wrking: 1. Use Pack & G t pack the statin and system backups in a zip-file. 2. Use Unpack & Wrk t unpack the zip file created by Pack & G. Prblems starting virtual cntrllers fr RbtWare r earlier n dual cre PCs There might be prblems running virtual cntrllers n a cmputer equipped with dual cre prcessrs. T wrkarund this prblem yu need t disable the dual cre in the BIOS.

18 18/23 Synchrnizatin is time cnsuming The synchrnizatin prcedure is time cnsuming. This affects synchrnizatin t and frm VC as well as the mve cmmands Mve Alng Path and Execute Mve Instructin Virtual FlexPendant The cntrl panel f the Virtual FlexPendant (VFP) might affect the perfrmance f the graphical windw if placed inside this. If this is the case n yur cmputer make sure t set the display mde f the VFP t simple mde. This is dne by unchecking the Enable transparency ptin in the Tls/Optins dialg (a restart f the VFP is required after changing mde). The refreshing f the graphical view might hwever still be smewhat delayed, especially when mving the VFP rapidly ver the screen. Write prtected systems It s nt pssible t change parameters, such as BaseFrame, n a write prtected system. If yu experience prblems with this - make sure that the system flder is nt write prtected. JintTargets fr external axis JintTargets fr external axis are nt visualized in the graphical windw. Imprting RbtStudi 2.x/3.x/4.x mechanisms might cause prblems The fllwing prblems might ccur when imprting mechanisms generated in RbtStudi 2.x/3.x/4.x. The base frame is placed in the lcal rigin f the mechanism. The mechanism is nt repsitined crrectly relative the base frame value in the Virtual Cntrller. Imprt f statins cntaining prcess instructins, e.g. ArcL, ArcC etc, is nt fully supprted. The recmmendatin is t save the RAPID-prgram t file and imprt this file int RbtStudi 5 (Nte: The needed mtin instructin descriptins must exist in the statin befre imprting the prgram) Nte: The recmmendatin is t always use IRC5 mechanisms where pssible. Custm Display Settings The prgram nly fully supprts "Small Fnts" (Nrmal 96dpi). Prblems when unding Blean peratins n Gemetry Unding a Blean peratin might nt succeed. T recver frm these prblems yu need t delete the items that caused the prblem.

19 19/23 Out f memry The applicatin might fail when ut f memry due t imprt f very large ACIS-files r lad f very large statins. There is n immediate wrkarund fr this prblem. Array f rbtargets, tldata and wrkbjects are nt supprted RAPID prgrams cntaining arrays f tldata, rbtargets and wrkbjects are nt supprted, i.e. they will nt be synchrnized t the statin. LOCAL declaratins in RAPID are nt supprted in Layut mde RbtStudi des nt LOCAL declaratins f data r rutines. RbtStudi will shw an errr message if such declaratins are used. The RAPID functins Offs and RelTl are nt fully supprted RbtStudi desn t fully supprt instructins using Offs r RelTl functins. They will be synchrnized and will appear in the element brwser, but cmmands such as View Tl at Target and Lcate Target will nt wrk. Targets used in the instructins will nt be visible in the graphics. Multiple Serial Prts ptin A system cnfigured with the Multiple Serial Prts ptin might lead t a cmplete freeze f the cmputer. There is a prblem with the driver f the built-in mdem card n the IBM T42 and T43. The mdem must nt be allcated t COM1-COM3. Wrkarund: Change the allcatin f the mdem, r remve this system ptin. Virtual FlexPendant might fail during restart Perfrming a warm start frm the Virtual FlexPendant might lead t a crash f the VFP. It can hwever be pened again right after. Wrkarund: Restart the virtual cntrller frm RbtStudi. Direct3D limitatins 1. The screen saver and passwrd lck feature f Windws may cause RbtStudi t hang when the cmputer is unlcked. Wrkarund: Disable the screen saver and passwrd lck feature when using Direct3D. This is dne by setting the screen saver t (Nne) n the Screen Saver tab f the Display dialg that is pened frm Start/Settings/Cntrl Panel/Display/Screen saver 2. The fllwing tw settings in the Graphics Perfrmance dialg (Tls/Optins) have n effect Cull back-facing triangles.

20 20/23 Enable tw-sided lighting. Wrkarund: Select the graphical bject in the bject brwser and pen the "Graphics Appearance" dialg bx (cntext menu) that handle these ptins per bject instead 3. The fllwing setting in the Graphics Perfrmance dialg (Tls/Optins) is irrelevant when Direct3D is used: Stre mdel data n graphics card. Wrkarund: Nne. 4. The fllwing setting in the "Graphics Appearance" dialg (Tls/Optins) has n effect (Rendering tab, Curve Prperties sectin): Line width. Wrkarund: Nne. Lwer simulatin perfrmance fr Play in Prgram Editr The simulatin perfrmance may be lwer n sme PCs when using the Play buttn f the prgram editr cmpared t the Play buttn f the Simulatin Menu r Simulatin Tlbar (CQ5870). AutCnfiguratin des nt supprt psitiners (CQ5686) Errr message starting system with IRB260/660 Starting a system with IRB260/660 gives yu an errr message: "The number f jints is different between the mdel and VC". The reasn is that the IRB260/660 is mdeled with six jints in RbtStudi f which tw are lcked, but has fur jints in the VC (CQ5375). Incrrect errr message IRBxxx: Culd nt change mtr state When starting the VC, the errr message IRBxxx: Culd nt change mtr state may appear in the utput windw. This message may be displayed even thugh the VC has started successfully (CQ5375). Mdeling Mde: Intersect f parts may nt wrk crrectly. The bdy-intersect feature may give incrrect results in sme cases due t a limitatin in ACIS. License may nt be autmatically installed with the Internet ptin if behind a FireWall. The RbtStudi license may nt be autmatically installed if the PC is behind a firewall. Wrkarund: Disable firewall, r use ptin instead.

21 21/23 Nt pssible t activate nn-mtin tasks frm RbtStudi Only mtin tasks can be activated frm RbtStudi (CQ6383). Wrkarund: Use Virtual FlexPendant t activate wanted Nrmal tasks befre pressing Play buttn. Wrking range f IRB340 In sme cases, it may be pssible t Jump T target and get Cnfiguratins fr targets that are utside the wrking range f IRB340. This is due t the wrking range being defined as a cylinder and nt nly defined by the jint limits. It is hwever nt pssible t jg the rbt t these targets (CQ6463). Path handling f instructins with multiple jint targets The path functins, Rtate, Translate, and Mirrr d nt wrk as expected with instructins cntaining via pints as jinttargets. The functins will leave the jinttargets as is. Interplate Path gives an Unknwn Errr and Tl Cmpensatin reprts an errr message (CQ6609). Errr Message Psitin Outside Reach The functins AutCnfiguratin, Cnfiguratin and View Rbt at Target may give rise t errr messages Psitin Outside Reach in the RbtStudi Output windw. The errr messages are due t that the functins iterate ver many different rbt cnfiguratins t find a slutin. Fr each f the failing tries t find a suitable cnfiguratin, a Psitin Outside Reach message will be displayed in the Output windw (CQ6326). Prcess time is displayed nly fr Simulatin - Play in Time Slice mde This is the nly cmbinatin fr which crrect cycle time can be guaranteed when custm mechanisms are invlved in the simulatin. It is nly in Time Slice mde that RbtStudi cntrls the time and can synchrnize the executin f the Virtual Cntrller with custm mechanisms. Fr simulatins that nly invlve rbt mtin the cycle time is crrect fr ther cmbinatins as well (Prgram Editr Play and FreeRun). The Prcess Timer will be becme yellw when the prcess time cannt be guaranteed (CQ6658). Minr difference in prcess time f Simulatin Play and Prgram Editr Play The cycle time deviatin between Simulatin Play and "Prgram editr" is 0.05 s (cnstant). The difference is due t that the prgram executin is started in different ways in the tw scenaris. The play buttn f the Prgram Editr starts prgram executin in the same way as the FlexPendant, whereas the play buttn f the Simulatin tlbar uses a slightly different mechanism. When executing prgram frm the prgram editr, it takes a small amunt f time fr RbtStudi t be aware that the simulatin has started why the "Prgram Editr" cycle time is 0.05 s smaller. The prcess time f the Simulatin play is mre accurate.

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