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Release note Software version 3.13.x.x

For CB-series only

date created: April 8th, 2020

RELEASE NOTES 3.13.1 - 04/06/2020

Released Versions:

UR Software Update: 3.13.1
URSim Linux: 3.13.1
URSim Virtual Machine: 3.13.1
Robot Image: 3.13.1

Bug Fixes

Fixed issue where an unhandled 'ConcurrentModificationException' exception could a occur in a URCap if the URCap was accessing Features in the installation.

Fixed issue where?the first Point/Line Feature from the list in the Features installation screen was always used by Conveyor Tracking regardless of which Feature was original selected in the Installation.

Fixed issue where loading certain older installation files would fail if the installation contained installation variables that were used by the loaded program

Reduced distance for precise automatic move when using pose editor, and "move here" functionalities.

Fixed issue where robot would not stop movement after depressing "automove" button on the TP screen.

Support zip file can now be opened as compressed folder on Windows 10. Support files generated in older releases can still be opened with 3rd party applications (i.e. 7zip).

Controller

URCAP SOFTWARE PLATFORM

URCap API:?
Fixed issue where a 'ConcurrentModificationException' exception could be thrown when features where retrieved by calling methods in the 'FeatureModel' interface.

RELEASE NOTES 3.13.0 - 09/04-2020

Released Versions:

UR Software: 3.13.0.10253
URCap Software Platform:?
- URCap API: 1.10.0
- URCap SDK: 1.10.0
URSim: 3.13.0.10253
URSim Virtual Machine: 3.13.0.10253 (internal version: 2.0.78)
Robot Image: 3.13.0.10253 (internal version: 1.0.103)
UR Firmware 3.12.7 (no change)
Manual: 3.13.0?(internal version: 3.8.60)
Support Log Reader:?3.8.65
RTDE: 2.3.6 (internal version)

Summary of updated content regarding this release

Key Features:

URCap API: Improved support for fixed position configuration of Waypoint nodes

Export of robot configuration for Technical Support

Introduced functionality where user can easily export data necessary for diagnosing issues with robot application.

Export button is available on the log tab. User access can be restricted by setting system password.

Single zip-compressed file will be created. File can be saved directly to USB flash drive.

File contains:

all previous flight reports
all programs, scripts, and installations
entire robot log
individual log files for all software components
operating system log files, memory consumption, and available disk space
configuration files
calibration file
robot arm statistics
software metrics

PolyScope GUI

All empty expression fields (which are part of the configuration of a program node) are now displayed with yellow background

The text field in the Popup program node is displayed with yellow background if it is empty

Optimized performance for programs and installations:

Faster loading time for large programs
Faster loading time for installations
Reduced time spent creating or loading an installation when a large program is loaded
More responsive controls when navigating a program, scrolling and expanding/collapsing nodes in a program tree when a large program is loaded
Inserting new nodes in the program tree is faster
Making modifications to the program when a large program is loaded, such as undoing/redoing, copy-pasting, etc. is optimized

URCap Software Platform

Compatibility Notice: Behavior change for valid TCP names in Screwdriver and Gripper driver contributions

This release will introduce a minor behavior change in the URCap API that might affect existing URCaps. The change will not break backwards compatibility of the API itself, but the behavior of one specific method will be affected, which can cause exceptions to be thrown in some cases. The behavior change will only affect Screwdriver and Gripper driver contributions.

Changes:

When TCPs are added through a Screwdriver or Gripper driver contribution (using the 'setTCP(String, Pose)' in the 'TCPConfiguration' interface) certain names will no longer be accepted. The following will be disallowed when specifying the name for a TCP and will throw an 'IllegalTCPNameException' exception:

Any occurrences of hyphens (-)
A name starting with a number or an underscore (_)
Any occurrence of special characters, such as #, [, (, etc.

Previously, these cases were accepted, and the specified name was automatically corrected. This change is implemented to align the behavior with all other API functionality that allows for adding/contributing named entities to PolyScope (such as variables, features, etc.).

URCap API:

Improved support for gripper driver contributions:
- Gripper program node and toolbar:

Added integrated payload support:

Note:

Applying the new payload is not the responsibility of the gripper driver, since this is automatically handled by PolyScope
To ensure that the new payload is properly applied by PolyScope, the generated script code for the gripper action must not finish earlier than when it is appropriate to apply the new payload value (i.e. when the object has been gripped or released). For more details, see the new section "3.2: Integrated Payload Support" and the updated section "3.3: Script Code Generation" in the "URCap Gripper Driver" SDK document.

Added API support for querying the enablement state of the grip/release detection option in the Gripper program node when generating script code for grip and release actions (in calls to the 'generateGripActionScript(ScriptWriter, GripActionParameters)' and 'generateReleaseActionScript(ScriptWriter, ReleaseActionParameters)' methods in the 'GripperContribution' interface):

If the grip detected feedback capability has been registered, URCaps can determine if the end user has enabled or disabled this functionality
This functionality enables URCaps to generate different script code for?grip/release actions depending on the enablement state of grip/release detection. For more details, see the updated section "3.3: Script Code Generation" in the "URCap Gripper Driver" SDK document.
See new method 'isGripDetectionEnabled()' in the 'GripActionParameters' interface
See new method 'isReleaseDetectionEnabled()' in the 'ReleaseActionParameters' interface

Improved Gripper node UI:

Allowed the user to define two independent values for the parameter for?each registered capability (e.g. width capability), one value used for the grip action and one value used for the release action
Removed the "Grip Now" and "Release Now" buttons
For gripper contributions supporting the Grip Detected and/or Release Detected feedback capability, the Grip Detection (or Release Detection) option is now enabled by default when the user selects the Action in a new Gripper program node
Increased the length of the sliders for adjusting capability parameters (e.g. width capability) in the Gripper program node

Improved Gripper installation node:

If a gripper contribution does not define a custom installation screen UI (for setting up the gripper), the installation node for the gripper will not be shown in the Installation
Moved the location for the custom logo to the header of the Gripper installation node

Added access to the TCP contributed by Screwdriver and Gripper driver contributions:

A Gripper or Screwdriver contribution can access the actual TCP it has contributed to PolyScope
See new 'getTCP()' method in the existing 'TCPConfiguration' interface (in the 'contribution.driver.general.tcp' Java package).

Improved support for requesting the end user to define a position of the robot (using the Move tab):

Introduced a new robot position callback which returns the TCP offset used when the user defined the robot position (together with the resulting pose and corresponding joint positions)
See the new 'RobotPositionCallback2' interface and the new 'getUserDefinedRobotPosition(RobotPositionCallback2)' method in the existing 'UserInteraction' interface (in the 'domain.userinteraction' Java package).
Deprecated the 'RobotPositionCallback' interface and the 'getUserDefinedRobotPosition(RobotPositionCallback)' method in the 'UserInteraction' interface.
See the new 'PositionParameters' interface (in the new 'domain.value.robotposition' Java package)

Improved support for configuration of waypoints:

Added support for creating a fully defined fixed position configuration for a Waypoint Node by specifying a pose and corresponding joint positions and TCP offset (obtained using the new? robot position callback)
See the new 'createFixedPositionConfig(PositionParameters, ...)' method in the existing 'WaypointNodeConfigFactory' interface (in the 'domain.program.nodes.builtin.configurations.waypointnode' Java package).

Added default rendering support for unresolved PolyScope entities in Swing combo box widgets:

A Swing combo box ('JComboBox' class) where the selected PolyScope entity is unresolved (e.g. because it was deleted/not present in the Installation) is automatically displayed as in built-in PolyScope program nodes (i.e. the entity name is italicized and the combo box is displayed with a yellow border).

Supported PolyScope entity types:

TCPs
Features
Variables (installation variables)
I/Os
Devices (such as grippers)

Performance optimizations:
- The unpacking of resources when the 'installResource(URL)' method is called on the implementation of the 'DaemonContribution' interface during startup will only occur the very first time (after the URCap has been installed or updated)
- In previous versions, the daemon resources would be unpacked every time PolyScope started (which could be time consuming with large resources).

Improved PolyScope startup time when a URCap with a daemon contribution is installed on the system:
Reduced the number of calls to the 'isDefined()' method in implementations of the 'ProgramContribution' interface during rendering of the program tree and when the data model is updated.
Reduced the time it takes to insert child nodes in sub-tree of a parent node, especially Waypoints nodes

When a Java exception has occurred in the code of a URCap, a detailed explanation including URCap information and stack trace is now provided in the Log tab (as a tooltip)

URCap SDK:

Updated the following Swing-based samples to use the new default rendering support for unresolved PolyScope entities in Swing combo boxes:

Cycle Counter Swing
Idle Time Swing
Tool Changer Swing

Updated the 'install.sh' script so that when executed, it will ask the user if the 'ant' Linux package should be installed, if that package is not installed on the system. The 'ant' tool is a prerequisite for the optional UR C/C++ cross-compiler toolchain.
Updated the "URCap Gripper Driver" document (gripper_driver.pdf?file) with description of the new integrated payload support:

Added new section "3.2: Integrated Payload Support"
Updated section "3.3: Script Code Generation" with information about how the generated script code for gripper actions should behave after the introduction of integrated payload support to ensure an optimal user experience