PickMaster 3.22 released [PickMaster 3]

PickMaster
1

Dear PickMaster User,

The new release of PickMaster 3.22 is now available. The new functions, error corrections as well as known issues are listed in the release notes below.

Best Regards,
Susanne

Release Notes PickMaster 3.22

This version of the PickMaster application is compatible with:

  • IRC5 M2004
  • RobotWare 5.10 or later
  1. GENERAL NOTES

1.1 - Tested on English Windows Vista and Windows XP Professional

The application is tested on a US English Windows XP Professional SP 2.
The recommended operating system is US English Windows XP Professional SP 2.
The application is also tested on US English Windows Vista SP 1.
1.2 - Requirements

PickMaster requires .NET 1.1 and .NET 2.0. The required versions of .NET are
automatically installed when installing PickMaster.
The Windows Installer 3.0 is required for the installation and must be installed
before installing PickMaster. The Windows Installer 3.0 is included in Windows
XP SP2.
The Windows Installer 4.0 is included in Windows Vista SP1.
1.3 - Installation - Important!

The installtion can be summarized in the following steps:
-Hardware installation
-Configuring IP addresses of network cards
-PickMaster software installation
-Configuring IP addresses of Ethernet cameras
-Installing Ethernet vision “Performance Driver”
A detailed description of the installation process. Please read through carefully before starting.
1.3.1 Insert the vision network card. Click cancel on the “Install new hardware” message box. Install Intel’s driver which
is available on the PickMaster CD under PickMaster/NetworkAdapterDriver.
1.3.2 Connect all cameras, both power and Ethernet. See wiring instructions in User’s guide.
The electrical wiring instruction for the Ethernet switch is included on the PickMaster CD under “Vision Documentation”, document EKI-2725_Manual_ed1.
1.3.3 Disable the Windows Firewall.
1.3.3 Open network connections.
1.3.3.1. Set the IP address of the network card that will be used for communicating with the robot controller. Use IP address: 192.168.1.X. Subnet mask: 255.255.255.0. Default gateway: 192.168.1.254
1.3.3.2. Set appropriate network addresses of the network ports used by the vision system (default gateway is not required). For example use:
1.3.3.2.1 IP address: 192.168.101.101. Subnet mask: 255.255.255.0. For port #1.
1.3.3.2.2 IP address: 192.168.102.101. Subnet mask: 255.255.255.0. For port #2 (if more than 1 camera is used).
1.3.4 Start PickMaster installation.
1.3.4.1 When prompted: Check the checkbox to install Cognex drivers.
1.3.4.2 When prompted: Choose the network address of the network card on the PC that will be used for communication with the robot controller. This can also be done later when PickMaster is started, from the options menu.
1.3.5. Reboot PC
1.3.6. Start the "Ethernet camera tool?__ to set the IP addresses of the cameras. The program is found in the PickMaster directory on the start menu.
1.3.6.1 Cameras connected to the network port with IP address 192.168.101.101 should have network address according to 192.168.101.XXX. E.g. camera1 192.168.101.111, 192, camera2 192.168.101.112, etc.
1.3.6.2 Cameras connected to network port 192.168.102.101 should have network addresses according to 192.168.102.XXX.
1.3.7. Install the "Performance Driver?__ for each vision network port. This must be carried out individually for all network ports to which cameras are connected.
1.3.7.1 Open the "Ethernet Camera Tool?__ located under PickMaster on the start menu.
1.3.7.2 In the left (white) view, click on a vision network card.
1.3.7.3 At the bottom of the (grey) middle view there is a button “Set performance driver”. Press this button and wait. Click OK on any warning about installation of ?_ounsigned software?__. Neglect any Windows message to install new hardware.
1.3.7.4 Reboot computer at the end of the installation
1.3.7.5 Redo a-d for the second network port, if it is used.
1.3.8 Insert USB stick, containing the Cognex license. Wait a few seconds until it has been
recognized by the PC.
1.3.9 Start PickMaster.

  1. FUNCTION RELATED NOTES

2.1 - Multiple robots

This release was tested with 9 single robot systems and 1 multimove system with 2 robots. The software
is designed to handle ten robots and cameras.
2.2 - Windows XP Service Pack 2

The firewall installed with Windows XP Service Pack 2 will prevent the
PickMaster Time Synchronization Service to function. This will cause any IRC5 to
function improperly. Please refer to the System Setup chapter in the User’s
Guide for further information.
2.3 - Upgrading RobotWare on IRC5

An upgrade of RobotWare to a new version may require an upgrade of the ABB
Industrial Robot Communication Runtime on the PC. The installation can be found
in the Utility folder on the RobotWare CD.
The ABB Industrial Robot Communication Runtime can also be updated by installing
the latest Robot Studio Online (RSO). It is however not recomended to run RSO on
the same computer as PickMaster. The separate ABB Industrial Robot Communication
Runtime installation is the recommended way to update.
Please note that when upgrading the baseware on the IRC5, the robot controller
will change its system identification. The robot controller must therefore be
reselected in the PickMaster line file. Please refer to The Line chapter in the
User’s Guide for further information.
2.4 - Encoder software version

The encoder board must have Qtracker version 1.9 or later. This version corresponds
to material number 3HNE01586-1/XX, where XX should be 11 or higher.
Instructions on how to check and change the software can be found on the PickMaster
support forum (http://213.115.162.163/supportportal/).
2.5 - Upgrading from PickMaster 3.XX

Uninstall any previous versions of PickMaster before installing PickMaster 3.22.
If Cognex drivers 2.5 or earlier is installed, please uninstall them all. When
installing PickMaster 3.22, choose to install the Cognex drivers. The new drivers
of version 2.6 will be installed.
In order to run PickMaster 3.22, CVL6.6 or later must be used. If cameras are
to be used, Cognex Drivers 2.6 or later must be installed.
Installing of the new Cognex drivers can also be launched manually by using the
program “PickMasterFrame grabber driverssetup.exe” on the PickMaster CD.
Lines and projects from PickMaster 3.XX are compatible with PickMaster 3.22.
2.6 - Upgrading from PickMaster 2.XX

Uninstall any previous versions of PickMaster before installing PickMaster 3.22.
The frame grabber drivers must be reinstalled.
Lines and projects from PickMaster 2.XX are compatible with PickMaster 3.22.
2.7 - Upgrading from PickMaster 2.23, or earlier, to 3.22 and frame grabber drivers

When upgrading from PickMaster 2.23, or earlier, to PickMaster 3.22 the frame
grabber drivers for Cognex MVS 8120 and MVS 8100 might not work. The drivers
must be manually uninstalled and reinstalled.
Windows renames the Cognex-provided cognexhw.inf file to a name of the form
oemnn.inf, where nn is an integer. To locate the correct oemnn.inf file to
delete, search for the string “Cognex” in all oemnn.inf files.
There may be more than one match if CVL or other Cognex software has been
installed several times on the PC. Delete all Cognex-derived oemnn.inf files.
Each such file will have a matching file with .pnf extension; delete those files
as well. For example, if oem23.inf contains the string “Cognex,” then delete
both oem23.inf and oem23.pnf.
Uninstalling Windows NT Drivers
After uninstalling CVL from a Windows NT system, make sure that the relevant
driver files were removed.
Check whether the following driver files were removed by the uninstallation. If
not, manually delete the appropriate files from Windows Explorer, as follows:

  • MVS-8100 driver
    (all versions): winntsystem32driversv8100.sys
    Note The MVS-8100 driver applies to all MVS-8100C, MVS-8100C/CPCI,
    MVS-8100M, and MVS-8100M+ frame grabbers.
  • MVS-8100L driver
    (CVL 5.5.1): winntsystem32driversvp8100l.sys
    (CVL 5.5.3 and later): winntsystem32driversfg8100l.sys
  • MVS-8100D driver
    (CVL 6.0 and later): winntsystem32driversfg8100d.sys
  • MVS-8120 driver
    (CVL 5.5 and later): winntsystem32driversfg8120.sys
    Use the program “PickMasterFrame grabber driverssetup.exe” on
    the PickMaster CD to reinstall the drivers.
    2.8 - PickMaster RIS plug-ins must be reconfigured when upgrading to 3.22

The RIS configurations (Tcp, Serial, DigitalIO, Fieldbus) in PickMaster must be
reconfigured when upgrading to PickMaster 3.22 from PickMaster 2.xx due to
internal changes.
2.9 - New default signal names in PickMaster 2.10

New default signal names where introduced in the PickMaster 2.10. The new signal
names are adapted to suit the default signal names in the RobotWare 4.0.70 and
later. When upgrading a system to this version, the RobotWare must be upgraded to
4.0.113.
There are two different ways to handle the incompatibility:

  1. Use the saved robot EIO parameters from the old RobotWare version. This will fit
    the signal names in the projects created in PickMaster versions before
    PickMaster 2.10. If new lines are created in PickMaster 3.22, the default signal
    names must be changed.

  2. Change the saved EIO parameters and the signal names in the PickMaster lines
    created in previous versions to the names shown below. Load the changed EIO file
    to the controller.
    Changes:
    diSensor1 → di1_1
    diSensor2 → di2_1
    diSensor3 → di3_1
    diSensor4 → di4_1
    diSensor5 → di1_2
    diSensor6 → di2_2
    diSensor7 → di3_2
    diSensor8 → di4_2
    doPickStart1 → doStartCnv1
    doPickStart2 → doStartCnv2
    doPickStart3 → doStartCnv3
    doPickStart4 → doStartCnv4
    doPickStart5 → doStartCnv5
    doPickStart6 → doStartCnv6
    doPickStart7 → doStartCnv7
    doPickStart8 → doStartCnv8
    2.10 - Stop/Pause robot from RIS clients

In PickMaster 2.20 it is possible to stop a robot (see 4.3) and this command is
also added to the RIS plug-ins. Previous versions of the RIS plug-ins only had
the option to pause a robot even if the command might have been called stop. To
verify that the Pause and Stop commands are configured as expected and to add a
command value for the new Stop command open the configuration dialog for each
project accessed through a RIS plug-in and accept the changes.
2.11 - Dragging the Detailed vision info dialog box

The computer can hang when dragging the Detailed vision info dialog box if the
trigger frequency is high. This can be avoided by selecting the Windows option
“Show window contents while dragging”.
In Windows 2000 select:
Display Properties → Effects → Show window contents while dragging
In Windows XP select:
Display Properties → Appearance → Effects → Show window contents while dragging
In Windows Vista select:
Display Personalize → Window Color and Appearance → Effects → Show window contents while dragging
2.12 - Start/Stop with load balancing or ATC

If one robot in a load balance group or an ATC group use start/stop
functionality for a common conveyor, it will cause problems if the robot stops
for any reason. The conveyor will then stop and the other robots in the load
balance group will not get any more items to work with. This problem must be
solved by the use of an extern PLC.
2.13 - Vacuum event accuracy

The accuracy of the vacuum events (Vacuum Activation/Reversion/Off) is described
in the limitations section for the TriggEquip instruction, in the RAPID
reference manual.
The values typed in the PickMaster dialogs are used as EquipLag in the
TriggEquip instruction. Act and Rev times are positive and the Off time is
negative.
2.14 - View robot configuration removed

In PickMaster 2.10 it was possible to save robot configuration files in a
PickMaster line. This feature was removed and in PickMaster 3.00 any previously
saved configuration files will be discarded and it is not possible to view old
files.
2.15 - Robot Base Frame Configuration Ceiling-Mounted IRB

To be able to use ceiling-mounted IRB with PickMaster the base frame of the
robot must be set up correctly. For IRB340 this is done automatically in
RobotWare system 5.06 or later. In earlier systems the base frame must be set-up
with the correct quaternion coordinates (q1,q2,q3,q4).
This is done by:
*Selecting the “System Parameters” menu on the Teach Pendant
*Select the topic “Manipulator”
*Select “System_2” and select the “Type 1” drop down menu, choose “Robot”
*Select “Master” and press Enter
*Edit the parameters for “BaseFrame q1, q2, q3 and q4” with the values 0,1,0,0.
*Restart the controller
2.16 - Starting a robot in Guard Stop state

It is not allowed to start IRC5 directly from PickMaster if the controller is
in Guard Stop due to security reasons. Before a robot connected to an IRC5 can
be started from PickMaster the motors on button on the controller must be pushed
manually.
2.17 - Warnings 4316, 4317 and 4318

There are several causes for the warnings 4316, 4317 and 4318. To check all the
possible causes the following must be verified.

  • Check all the trig/strobe wiring and see that it is connected in the right way
    and that all the cables are shielded
  • Check all the LAN cables. Make sure that you are using shielded cables and that
    all the cables are properly attached
  • Some switches are buffering data that needs to be resent. This buffering time
    might be too long. Try to switch to a simple hub or to set this buffer time to
    some shorter values. Make sure that you have the newest software running on the
    hub/switch
  • Check that you have the right IP address, default gateway and subnet mask (on
    both PC and robot controller). Note that you need to set all three values even
    if you are only using one computer and one robot controller on the network
  • Triggering too frequently. Sometimes the trigger distance is very short
    causing the system to trigger much more often than it can handle. How often
    a trigger can be handled depends on how complicated the models are that are
    used on the system. Sometimes the frequent triggering can be caused by faulty
    trig/strobe wiring or electrical noise.
  • IRC5 only: Check that there are no firewalls active that are affecting the time
    synchronization services (only on the IRC5 controller)
    2.18 - Rebalance among running work areas affects ATC

The rebalance strategies that are selected in the Load balance tab in the
Position Source Configuration dialog box are also applied when using ATC.
2.19 - The item region is ignored when using a user hook

The item region can not be combined with a user hook. The information about the
item region of a vision model is removed when the positions are sent to the user
hook. Even if the positions are not changed in the user hook the information
about the item region is lost. This means that overlapping items will not be
removed. This is by design but it is not properly explained in the
documentation.
2.20 - Error message when updating PickMaster project with a blob model

When opening a project created with PickMaster 3.10 or previous in PickMaster
3.22 and the project contains a blob model, an error message will appear in the
log.
“Error 4101 [ItemRegion] Failed to read data from xml. Object reference not
set to an instance of an object.”
This is not an error when upgrading from previous versions. It is caused by the
new functionality Item Region. After saving the project the error will
disappear.
2.21 - Cognex drivers - installation/un-installation

The installed Cognex driver set can be seen in the Add/Remove programs directory.
The driver(s) are not automatically removed when PickMaster is un-installed.
To remove the driver set, choose remove program and follow the instructions.
When the ethernet performance driver is installed, un-installation will cause the network adapters to
loose their IP-addresses.
2.22 - Content of PickMaster distribution changed since PickMaster 3.22

The PickMaster distribution no longer contains 3rd party software except
Adobe Reader which is required for reading the user documentation. We
recommend to download the latest versions of the removed or similar
applications. More specifically, these applications have been removed:

The PickMaster distribution no longer contains 3rd party software vncviewer. We
recommend to download similar application.

  1. FEATURES ADDED IN 3.22

3.1 User Hooks

Building user hooks with Pickmaster 3.22 requires
Microsoft .NET 2.0 , supported by Visual Studio 2005.
Old user hooks built using previous Pickmaster releases
will still run with PM3.22. In previous releases,
.NET 1.1 and Visual Studio 2003 was required for
building user hooks.
3.2 - Digital Signatures

The PickMaster application files and installation files (all .exe files all Pickmaster
.dll files, and setup.exe) are now digitally signed. The digital signature
assures that the binary really comes from ABB and has not been altered or corrupted
since it was created and signed.
To check the digital signature right click the file and select Properties. Select
the Digital Signatures tab. Select the ABB Automation Technologies AB signature in
the list and click Details. Make sure that the Digital Signature Information states
“This digital signature is OK” and not “This digital signature is not valid”.

  1. PROBLEMS SOLVED IN 3.22

4.1 Problems with “stop and paused”

When pausing a robot, the robot would sometimes go to stopped state
(not paused state…) if the task was not accomplished in about 15 seconds,
due to a timeout.
If several pause commands were made before the task was accomplished,
the pause timeout time will be increased to be more than 15 seconds.
The timeout for the pause command has now been removed. After a pause
is ordered, the robot will turn to paused state when the robot has
finished the task (and is ready for a restart).
The timeout remains for the stop command. A stop command will override an
ongoing pause.
4.2 - Strobe in video mode

The Basler Scout Gigabit Ethernet cameras no longer generate a strobe when used in “off-line” mode
(acquire/live video).
4.3 - BaslerScaConfig.exe not needed

The camera configuration program “BaslerScaConfig.exe” is no longer needed.
These settings are performed by PickMaster automatically.
4.4 - Disappearing image in 3.20 and 3.21

When using the “rotate image” or “region of interest” settings in the camera settings dialog, the image
could previously disappear. This has now been corrected. In case a line created with PM3.20 or 3.21 is
opened with 3.22, and the user attempts to apply a roi, it will appear as a 1x1 rectangle in the upper
left corner. Once it has been adjusted to the required size the behaviour is normal again.
4.5 - Camera needs to be re-calibrated

In PM3.20 and 3.21 when entering the camera settings dialog and pressing OK, the user was always
prompted to re-calibrate the camera. Now, this only happens when the image size has been changed. For
example when rotating the image, or applying a ROI.
4.6 Need to re-configure camera if the IP-address is changed

In PickMaster 3.22 Gigabit Ethernet cameras are identified by their MAC address instead of their
assigned IP address. The effect is that a certain camera object in the PickMaster workspace is
associated with a physical camera, instead of an IP-address. This solves the previous problems with
having to re-configure the camera if the IP-address was changed.
4.7 - PickMaster locks up when trying to connect to 8100d frame grabber

A upgraded driver for the 8100d frame grabber is included in PM3.22. This addresses communication
problems previously seen on some computer brands/models.
4.8 - Uplink warning messages

If the connection between Pickmaster and a robot controller is lost there will be only one “Uplink message failed” error logged on the controller for the first communication error.
4.9 - Correction of enter and exit limits

The resulting positions of the enter and exit limits on the conveyor
relative the robot’s base frame have been corrected. Any mounting
position/angle of the robot relative the conveyor will give a correct result.
The correction has been applied to all robot types except
supported versions of IRB140 and IRB340.
If upgrading a robot to Rw5.10.02 or later
and a robot type is used different from IRB340 or IRB140,
the enter,exit,start and stop limits may have to be adjusted if one of the
following is true for the installation:

  1. The x-axis of the robot base frame is directed with an angle to
    the conveyor movement direction different from 0 degrees,
    ±90 degrees or 180 degrees.
  2. The distance from the robot base frame to (the x-axis of) the conveyor
    is longer than the conveyor travelling distance from the zero position
    (=camera position if vision is used) to the robot.
  3. The robot base frame has been changed from
    the default value by calibration.
    Another compatibility issue that may occur for these three types
    of robots: If the widely spread RAPID ppa utility module is used to speed up
    double picking, a motion coordination may occur since the quick ack
    functionality is based on the old version. An updated version will
    be published on the Pickmaster forum.
    4.10 - Some robot startup problems

If a robot, having stopped state, got a start command several times before
reaching running state, the startup sequence would fail and the
robot would be stuck in the startup sequence until the robot was ordered
to stop. This has been corrected in PM3.22.
If a robot restart command failed due to robot outside reach (eg after releasing
the brake button on the IRB360 and moving it outside reach), it would not
always be possible to restart the robot after moving the robot inside
reach unless the project (or robot) first was stopped and the queues was cleared. This has been corrected in PM3.22.
One important part of the correction is included in the rapid template PMppa_360IRC5.prg:
A new rapid flag in PPAMAIN module:
TASK PERS bool RestartOK:=TRUE;
See template updates in procedures:
PROC GotoRestartPos()
PROC PickPlace()
4.11 - New rapid template PMppa_360IRC5.prg

The rapid template PMppa_340IRC5.prg in the RAPID folder
of the Pickmaster 3 installation has been replaced with PMppa_360IRC5.prg.
The new template can be used with both IRB340 and IRB360 robots.
The home position has not been changed when used with the IRB340.
The home position when used with the IRB360 is 5 mm below the upper working range. For the 340 it is 10 mm below the upper working range.
In the new template, a startup working range check has been added to improve user information and recovery if the robot has been moved outside reach
after breaking the safety chains of the controller (e g by moving the robot after pressing the brake release button).
The working range check will make it possible to startup the robot from paused state after it has been moved back into the working range.
4.12 - Multimove changes in start and stop handling

The changes only affect Pickmaster multimove robots:

  1. A multimove robot may not be restarted individually from stopped state (any more), unless the other robots used with the same controller is unused by running projects.
  2. When stopping an individual multimove robot, the other robots used with the same controller will also automatically be stopped.
    GUI changes:
    It will not be possible to start a single multimove robot from stopped state.
    A menu has been added to start, stop and pause all multimove robots for a controller in the production view. Emergency stop may also be reset from this menu. Right click a controller to get the menu.
    RIS changes:
    Multimove robots used with the same controller will not be started from stopped state until all robots has got their start command. If start command not
    has been received for all robots within 10 seconds, the startup sequence will
    be interrupted and all robots will remain in stopped state.
    Not changed:
    Multimove robots may still be individually paused.
    Multimove robots may still be individually restarted from paused state, e g after an emergency stop.
  1. KNOWN ISSUS IN 3.22

5.1 - Position source is locked if the controller is unavailable

If the project is stopped when a controller is unavailable it may not be
possible to open the position sources. To be able to edit the position sources
the project must be closed and reopened. Unavailable means that the network may
be down or the controller is in an error state that prevents communication.
5.2 - PickMaster grip location does not affect items in containers

If an item’s grip location is changed, it will only affect the item when it is
used directly by vision/predefined. If the item is a part of a container all
changes in the grip location will be ignored.
5.3 - Presentation of discarded vision hits versus item region overlaps

Items located after a search operation in the PatMax configuration window is
presented as discarded due to item region overlap even though they are actually
rejected due to another parameter (fit error, clutter etc.). This will only happen
if the item region is activated and the item regions overlap each other in
runtime, however the discarded items will be removed before applying the item
region.
5.4 - Combining Fine/Coarse Granularity and Uniform Scale

When combining Fine/Coarse Granularity and Uniform Scale a slight difference in
the score can appear between design time and runtime. Therefore, the model
should be tested in runtime to verify that items are identified as expected.
5.5 - Segmented image in blob model configuration window not updated correct

When the “Segmented image” option is checked in the blob model configuration
window and any settings are changed that affect the outcome of a search
operation, the segmented view is not updated correctly upon a new search
operation.
5.6 - PickMaster Result difference

The result in the Vision Analyzer and the Vision configuration dialog box can be
different in a few cases. The values (x, y and angle) are identical but the
cross marking the pick/place position in the image is in different positions.
The problem is only cosmetical. The pick/place operation performed by the robot
is correct but the position shown in the dialog box will be faulty. This problem
is very unusual.
5.7 - Memory leakage when a camera is not connected

If not all cameras that are used in a project are physically connected to the
frame grabber when running the project, PickMaster might leak memory. The
problem only occurs for the 8100D frame grabber.
5.8 - Shutting down IRC5 during production

It is not possible to restart an IRC5 controller from PickMaster if the
controller is powered off during production. The PickMaster project must be
stopped and restarted again to be able to communicate with the controller.
5.9 - Signal change of state not detected

Sometimes there may be an issue with using a cross connection from the queue
idle signal to the position generator signal. This may be experienced if there
is a predefined indexed work area with only one item that is triggered
frequently. To workaround this problem, simply enter the digital output signal
(i.e. the queue idle signal) as the position generator signal.
5.10 - Maximum length of I/O signal names is 15 characters

The maximum name length for a PickMaster work area signal is 15 characters.
5.10 - Opening project with another line in runtime causes Pickmaster 3 to crash

If a project is opened from the PickMaster user interface while another project
is running that is using a different line, Pickmaster will have a failure that
requires a restart of the application.
5.12 - Installing PickMaster when a later version is already installed

It will not be possible to install PickMaster when a later version is already
installed. It may lead to strange behavior of the already installed version. It
may be necessary to reinstall the already installed version in order to make it
work properly.
5.13 - PickMaster fails when removing external sensor from line

A PickMaster application error occurs if an external sensor is removed from the
line which is used by the currently active project view. The failure occurs
when returning to the project view.
5.14 - Do not use the Ethernet Camera Tool and PickMaster at the same time

Running the Ethernet Camera Tool and PickMaster at the same time may result in
unpredictable behaviour. To avoid this, only use one of the programs at a time.
5.15 - It is not possible to open a PatMax model with PickMaster 3.13 that
has been saved with PickMaster 3.22

Due to an upgrade of the Cognex algorithms between PickMaster 3.13 and 3.20 it is
not possible to load a PatMax model in PickMaster 3.13 if it (the Project) has been
saved with PickMaster 3.20.
5.16 - PickMaster 3.22 running on Windows Vista

PickMaster runs on Vista with the following considerations:

  • Events created in an other Windows session than the one PickMaster is running in
    can only be opened if their names are extended with \Global. This applies when
    PickMaster communicates with the time synchronization service. Refer to PMTimeSyncComm.h
  • CVL6.6 or later must be used.
  • If cameras are to be used, Cognex Drivers 2.6 or later must be installed.
  • Probably PickMaster must be installed as administrator. Anything else has not been tested.
  • UAC must be turned off if the user wants to save files under the progrem files directory,
    even if the user is admin.
    5.17 - Fail to acquire image if PickMaster is shut down and restarted quickly with several cameras

If PickMaster is shut down and restarted quickly, and with several Gigabit Ethernet cameras, the Gigabit Ethernet
performance driver may not be loaded properly for some cameras. The sympthom is that the camera for
which the driver is not loaded may occasionally fail to acquire an image, if the system is stressed.
This can be avoided by waiting 15 seconds between shutting down and restarting.
5.18 - User Hook settings / xml string

If an xml string describing the encoding (“xml”, “version=‘1.0’ encoding=‘UTF-8’”) has been created from a User Hook
and that User Hook is saved in the PickMaster project, the encoding text will be added to the “HookData” element in
the project file. This means that the project can not open (the encoding text is added at the start of the project
file and in the HookData element). The encoding text will have to be removed from the HookData element.
Workaround: In User Hook remove the encoding element after creating the xml string for the settings and return only
that string when PickMaster calls the ‘Save’ method.
5.19 - Uplink warning messages

If the connection between Pickmaster and a robot controller
is lost there will be only one “Uplink message failed” error
logged on the controller for the first communication error.
5.20 - Pause does not release from GetItmTgt

When pausing a robot while it is waiting on GetItmTgt in rapid,
the robot will not go to the home position until next target
is received.