Addition of a Vision System Scenario

• Added swap scenario, intended for use with the vision system.
• Added vision_demo, swap, and pick example programs for the vision system.
• Added a .bat file that may help users see detect if they are using the correct java version (1.8).
• Various bug fixes.

Addition of the Engine Block scenario

This build includes the follow changes:
Added another scenario and programs involving the engine block.
An execl spreadsheet relating the various programs to their respective scenarios.
Changes to multiple line selection in pedant screens (After selecting a single, move to end of the section you wish to highlight and press ENTER, while SHIFT is on).
Fixes to textfields (index selection and highlighting).
Improvements to the preview image in the camera menu.
Some changes to the structure of tmp.
Fixed issue with the directory paths in Linux/Mac OS.
Fixed reverse logic for position register recording type
Improved '@' update in the program instruction navigation menu.
Added camera exercise scenario: hideNSeek.
Reversed joint 3 for jogging.

Improvements To Memory Management Among Other Things

Important changes:

• You must hold down control in order to edit world objects with the mouse now
• Improvements to memory usage regarding complex shapes
• Improvements to saving and loading data for robots and scenarios, overall
• Changes in maximums:
  • 80 programs per robot
  • 800 instructinons per program
  • 30 scenarios
  • 20 world objects per scenario
• Included information regarding the robot camera in the user guide
• Tool frames names are display in the frame navigation menus and the program instruction navigation menu

Other changes

• Fixed an elusive issue with moving a robot with a joint motion instruction while it is holding a part
• You can change the speed for the move to function in the position register and frame teaching menus while the robot moves
• Fixed some issues with call instruction creation and editing
• Fixed some inconsistencies with paste options
• Some improvements for space usages in frame related menus

Improvements to Vision System Among Other Things

Important changes

The programs.bin save file has been changed to a programs directory, which houses all the program save files. RobotRun will still load from recent programs.bin files, however, it will create the programs directory and remove the programs.bin file when saving.

In addition, program text files are saved in an out directory in the robots subdirectory and the program export feature is now bound to a button in the miscellaneous menu.

Finally, restrictions are in place for memory allocation of the applicaiton:

• Maximum program size is 1000 instructions
• Maximum programs per robot is 100
• Maximum scenario size is 30 world objects
• Maximum number of scenarios is 60

Of course, this only applies to the number of each used by an application at one time. It is entriely possible to create multiple tmp directories and switch between them. Unfortunately, even with these restrictions, if you try and create a number of large of programs, then saving and loading will slow down drastically. Also, if you try to import too many complex objects, which use .STL files of large sizes (i.e. grinder.stl), then you can crash the application quite easily.

Therefore, try and use boxes and cylinders (which use considerably less memory) over complex objects. And use more .STL files with smallers sizes (you can check the file size of these models in the data subdirectory of the RobotRun directory).

Other changes include

Updatest to camera scaling and orientation
More flexible world object selection (in the edit and camera menus)
Moving and copying options world objects between scenarios
Improvements to the robot camera menu and teaching method
Additional debugging features in the miscellaneous menu
Fixed some more issues with expression evaluation
Fixed issue with program size when loading in large program files
Window resize functionality
Improvements to the tool frame

Some More Updates to the Software

Some bugs have been fixed with Macros and updates to the frames.
Fixed the jump to line functionality.
Some updates to the error message display.
Fixes to camera object matching.

Error Message Display

Now for most user input, if the given input is invalid, then a message will be displayed indicating the issue with the input.

In addition, some minor issues with macros and I/O registers have been resolved as well.

Modified trace, reworked expression editing

1.1.4

Minor fixes to evaluation and saving for world object match operands

Improvements to Trace Functionality and Fixes to some Buttons

The Buttons in the miscellaneous window (Add/Remove Robot, Hide/Show OBBs, Enabled/Disable Trace) now work again.

The trace functionality is also now also linked to the state of the glue gun and wielder I/O register states. So, if the either end effector is active and the state of its register is ON, then the trace will be enabled. However, the active state of the trace button has priority, so if the trace button is active, then the trace will always be active, even if the state of the active end effector is OFF.

Fixes and improvements to instruction copy/ paste and line select menus

Line selection should work more reliably now with multi-line instructions, and the user's selected instruction is now carried over when pasting instructions.

Screen Overhaul

Includes a major re-work to the way screens are created and displayed to the user, as well as a number of bug fixes and usability improvements.