Dear PickMaster User,
The new release of PickMaster 5.04 is now available. The new functions, error corrections as well as known issues are listed in the release notes below.
Best Regards,
Susanne
- GENERAL NOTES
1.1 - Tested on English Windows XP Professional
The recommended operating system is Windows XP or Windows Vista.
The application should work on Windows 2000 but it has not been verified.
2. FUNCTION RELATED NOTES
2.1 - Only IRC5 supported
PickMaster 5 only supports the IRC5 controller.
2.2 - Multiple robots
The software is designed to handle multiple robots.
MultiMove robots are supported.
2.3 - Upgrade of RobotWare may require upgrade of Communication Runtime on the PC
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.
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. Please refer to the configuration of the line
in the PickMaster application manual.
2.6 - Upgrading from previous versions of PickMaster
Any old versions of PickMaster should be uninstalled before installing the new
version of PickMaster. Otherwise they will be automatically uninstalled when
installing PickMaster 5.
When opening Lines and Projects from previous PickMaster 5 releases the user may
get an information/warning message. This should however not affect the line or
a project. If any problem occurs, please report the problem.
2.7 - Using both PickMaster 3 and 5 on the same computer
It is not possible to install both PickMaster 5 and PickMaster 3 on the same
computer at the same time. However, it is possible to use both from the same
computer through the following work around.
To use both PickMaster 3 and 5 on the same computer is only recommended for
support purpose. It should not be performed on a production site.
- Uninstall all versions of PickMaster.
- Install PickMaster 3.xx.
- Make a license request and install the PickMaster 3 license if needed.
(Only needed if you are going to actually run robots. If you already have a
valid PickMaster 3 license on the computer you don’t need to apply for
another.) - Make a copy of the entire PickMaster folder. The default path where PickMaster
is installed is C:Program FilesABB Industrial ITRobotics ITPickMaster.
This copy of PickMaster 3.xx will be your PickMaster 3 version. - Install PickMaster 5.
- Make a license request and install the license for PickMaster 5.
2.8 - Incorrect value of Z angle in Displacement frame
In settings of Displacement frame in Format Operation Set Configuration window
and Pallet Pattern Operation Set Configuration window, the valid value for Z
angle is between -180 degree and 180 degree. If any other value has been put in
this field, the application will try to convert it to a valid value which will
be displayed next time the window is opened. For example, 200 will be converted
to -160.
2.9 - Not possible to use one shape for several products in different layers
In Pallet Pattern Operation Set Configuration window, it is not possible to use
different products of the same shape for different layers in the same pallet
pattern. Except pallet and slipsheet, the user has to configure the pallet
pattern with the same product.
2.10 - Incomplete layout in Pallet Pattern Operation Set
In the Pallet Pattern Operation Set the status for an individual layer might be
either “Incomplete” or “OK”.
The message “Incomplete” is displayed for different problems. The
reasons may be:
- Shape has no item
- Item has no formats
- The formats can not add up to a complete layer
2.11 - One format for pick and place
It is not possible to use same format for pick and place in the same position
source. The work around for this problem is to create two identical formats and
assign one of them for pick and the other for place.
- FEATURES ADDED IN 5.04
3.1 Reachability check
Reachability check function has been added in the Pallet Pattern Operation Set
in PickMaster 5.04. This function allows the user to check if a robot movement
with products can be reached or not in the configuration phase.
3.2 Extension of the I/O interface
The runtime I/O interface has been extended
to handle
- Start, stop, halt and restart of projects.
- Start and stop of flows.
- Supervise the status of project and flows.
The functionality is configurable from Pickmaster 5.04.
It requires RobotWare5.11.01 or a later version.
On the controller, the functionality is realised through:
- Two new RAPID modules.
- A new RAPID background task.
- A set of new RAPID instructions and data.
- More than 100 new predefined I/O signals for Pickmaster.
- The RAPID implementation may be modified to handle
customer specific requirements.
3.3 Multiple safe positions
From PickMaster 5.04, the user can add multiple safe positions in a Position
Source. The robot will pass all the safe positions before it reaches/leaves
the work area.
Please note the order of the safe positions:
The last safe position in the selected safe positions list is the one that the
robot reaches latest when it is reaching the work area and it is the one
that the robot reaches first when it is leaving the work area.
3.4 Error recovery - Redo last Pick
A new error recovery option is added, Redo Last Pick. See PickMaster user documentation for more information.
3.5 Predefined I/O signals
New predefined I/O signals have been added on both PickMaster PC and RC in
PickMaster 5.04.
More than 100 predefined I/O signals are installed
with the Prepared for Pickmaster option from
RobotWare5.11.01. The signals cover the basic need of
I/O signals when setting up a Pickmaster project.
The signals can be selected in Pickmaster 5
when configuring the I/O interface.
Signals are predefined for:
Project handling, flow handling, work areas, flows,
robot tool, event reporting and system actions.
The signals are connected to simulated I/O units
but may be reallocated to real I/O units during the
comissioning phase of an installation.
Some of the prededined I/O signals are dedicated for work
areas. Depending on what type (infeeder, outfeeder, pallet or slipsheet)
and index the work area has, PickMaster PC will suggest appropriate signals.
A suggestion of predefined I/O signals is also made when defining a robot tool
or when setting up flow status signals.
3.6 Support for parallel rod robots
Functionality has been added to support 6-axis parallel rod
robots (an example is the current versions of IRB4400) with
Pickmaster 5.
Parallel rod robots are handled the same way as a 6-axis
bending backwards robot, as described in the Pickmaster 5 customer
documentation. The only difference is that rapid calls to
the routine PmCalcArmConf shall use the new optional
argument TypeB1 instead of cf6. Example:
PmCalcArmConf Act.RobTgt,Tgt.TargetTool,Tgt.TargetWobjTypeB1MaxAngle:=MaxToolAngleMinAngle:=MinToolAngle;
Limitations:
The new functionality is adapted for picking and placing
in front of the robot (=no bending back of robot arm to reach
a work area / operation set).
3.7 New optional argument to PmGetWaHeight, UseSafePosition
If UseSafePosition is set, the height is equivalent to the maximum
z-coordinate of used safe positions and the current top layer expressed
in the work object.
3.8 PickMaster5 project management instructions from background task
It is now possible to use PmWaitProjStart, PmStartProj and PmStopProj
from a non motion tasks. With this improvement it is possible to have
a background task that supervises commands for starting and stopping projects.
4. PROBLEMS SOLVED IN 5.04
4.1 Controller error when omitting search activation signal
The search activation signal can now be omitted when using stack search.
If the signal is omitted, a search activation event will not occur
before the search movement and a search deactivation event will not
occur after the stack search movement.
4.2 Concurrency selection for operation sets
When concurrency of RAPID move instructions is unselected for an
operation set, all movements for that operation set will now be done without concurrency.
4.3 Copy/Paste format/operation set creates no unique ID
When copying/pasting a format in the Organize Format dialog or via
copying/pasting a product, the new format will get a unique ID.
When copying/pasting an operation set in a Position Source, the new
operation set will get a unique ID.
4.4 More project-transferring checks
The following checks have been added at transferring a project to the controller:
- If the Activator signal contains enough bits for the activators definition.
- If there is any start bit overlapping in the activators definition.
- If search tool is defined when Stack search is activated in an operation set.
4.5 Sizes are displayed with 1 decimal in the Layout Editor dialog
The following improvements have been added in the Layout Editor dialog:
- All sizes are displayed with one decimal in mm.
- It is possible to enter 1 decimal in x, y values in the Selection group.
- It is possible to enter negative value in the Selection group if it is inside the Layout margin.
- The function Distribute has been improved to avoid incorrect overlapping message.
4.6 PickMaster5 Safe position works together with stack search
The previous problem with combining a safe position with stack search on
a work area is now solved.
- KNOWN ISSUES IN 5.04
5.1 With stack search, work area tune may cause a non vertical search movement
When tuning a work area that is used with
stack search, the start position of the search movement
will depend on the tuning but the end position of the search
movement will not be affected by the tuning.
This will cause a slightly non-vertical
or rotating search movement if the size of the tuned offset or rotation
not is neglectable compared to the length of the search movement.
5.2 Robot movement halted after restart layer
Restarting after a process error with restart option “Restart Layer” might result
in a delayed robot movement. Sometimes one operation is performed as expected and
then a delay of a short time occurs before the robot continues with normal
operation.
5.3 Elog message 112059 when mixing FlexPendant and RAPID project start
Elog message 112059 can occurs when mixing between FP start of project and RAPID
stop/start project.
- Start a RAPID program that performs a PmProjStart
- Open PM5 FlexPendant application
- Stop Project
- Start Project results in elog message 112059
5.4 - 3D view does not function properly after screen saver is activated
The 3D view used to present shapes, products and pallet patterns do not function
correctly after a screen saver has been active. Exiting the window and opening
it up again will resolve this problem.
5.5 - IRC5 Configuration reports IRB660 as a 6-axis robot
In the IRC5 Configuration of PickMaster the number of axis for each mechanical
unit is presented. The IRB260 and IRB660 are incorrectly presented as 6-axis
robots instead of 4-axis robots. This does not affect any functionality.
5.6 - Production performance (Event 50024, Corner path failure for each target)
The major part of the problem has been solved in RobotWare5.10.02.
During production with PickMaster 5.00 the event message 50024 Corner Path
Failure will occur during production. This performance issue adds approximately
200ms for each cycle (single pick and single place).
The message will fill the robot log and it may be suppressed by setting the
“Remove Corner Path Warning” parameter to “Yes”. It can be found in the system
configuration of the controller (Configuration → Motion → Motion Planner).
5.7 - Project transferred without requesting mastership of controller
Whenever a project transfer from a PC to a robot controller is initiated, no
mastership of the robot controller is requested by the PC. Thus, if two PC:s
transfer one project with the same name to the same controller at the same time,
the outcome is not specified.
5.8 - Dependencies within line and projects are not automatically updated
Changing the tool or work area in a line might affect the formats that use this
line and the format might need to be updated. This update of the projects that
use the line must be done by the user since it is NOT done automatically. After
changing i.e. the tool, a warning sign will be displayed in the item tree for
the items that need to be re-opened and re-updated/re-confirmed.
5.9 - Project Configuration print out problem
When using print function in Project Configuration window, the printed version
contains columns that overlap.
A possible workaround is first to save the project configuration in a *.txt
file. Then open the saved text file, copy the text to an Excel sheet and modify
the layout there.
5.10 - A few configuration dialog boxes are too big for a small screen
It is not possible to resize the dialog boxes, therefore OK and Cancel buttons
are not always visible. Increase the screen resolution to at least 1024x768 to
avoid the above mentioned problem.
5.11 - Power Fail
The system is not keeping any information in memory if a power failure occurs.
The entire project must therefore be restarted from beginning after that robot
tool and work areas are cleared.
5.12 - Too long project names not handled
If the complete path to the project residing on the controller is too long (path
to “…HOME/PickMaster/RC-Mode//Setup.xml” is more than 99
characters on the controller or more than 255 on the Virtual Controller), the
project appears to be transferred successfully even though it is not completely
transferred. Opening such a project from the FlexPendant application will cause
a few internal event messages.
Use a shorter project name to avoid this problem.
5.13 - Not updated X, Y values in Layout Editor dialog
When selecting a product in the Layout Editor dialog, the X, Y values of the position
to the product is shown in the Selection group. When rotating the selected product,
the X, Y values are not updated. Reselect the product will show the correct X, Y
values.
5.14 Changing shape height creates overlapping items
When changing shape height,
it may create overlapping items in pallet patterns although x any y size not
has been updated. The pattern layouts must then be manually modified.
5.15 Uninstalling PickMaster 5 on a Windows Vista computer
Before uninstalling PickMaster 5 on a Windows Vista computer, please sure that processes
RobComCtrlServer.exe and RobNetScanHost.exe are ended.
If those processes are running when uninstalling PickMaster 5, an error will occur.
5.16 Incorrect tool data defintions make Reachability check fail
When using Reachability check function from PickMaster 5, please make sure
that no tool data on the robot controller is defined with an arry. If there
is any tool data defined with more than 1 element, the Check reachability
will return the following error:
Cannot check reachability. Failed to connect to the controller.
5.17 Wrong transfer check on product io selection
The transfer check of a PickMaster project is not always correct performed
on product IO selection signals. There is no need for a product selection
GO/GI signal if there is only one product used in the position source.
The warning message can in this case be ignored.