Mech-Viz 1.7.2 Release Notes

This document introduces the improvements and resolved issues of Mech-Viz 1.7.2.

Improvements

Simulating All Planned Waypoints

In previous versions, if “Send Waypoint” was not selected for a move-type Step, the corresponding waypoint would only be involved in the path planning, and the simulated robot would not move to this waypoint. In Mech-Viz 1.7.2, the simulated robot will move along all planned waypoints by default. If you want to keep the previous setting, please adjust it in Settings > Options > Basic settings.

STL and DAE Source Files Will Be Retained after Robot Exporting

In previous versions, the STL and DAE source files of the robot would be deleted while the robot was exported. In Mech-Viz 1.7.2, the STL and DAE source files of the robot will be retained after the robot is exported.

Removed the “Side Vacuum Gripper” Option

In previous versions, the “Side vacuum gripper” option can be configured in the “Vision Move” Step and “Tools”. This feature was used for depalletizing applications in which the side vacuum gripper was used as the end tool. From Mech-Viz 1.7.0, the “Depalletizing vacuum gripper” option covers all features of the “Side vacuum gripper”. Therefore, the “Side vacuum gripper” option is removed in Mech-Viz 1.7.2. Please re-configure the “Depalletizing vacuum gripper” option if you used the “Side vacuum gripper” option previously.

Supported More Euler Angle conventions

In previous versions, only 5 common types of Euler angles were supported. In Mech-Viz 1.7.2, another 13 types of Euler angles are supported as well.

Removed “Run in Advanced on Planned” Parameter from “Branch by Msg” Step

In Mech-Viz 1.7.2, the “Run in Advanced on Planned” parameter in the “Branch by Msg” Step has been removed.

Updated Soft Limit Algorithm for SCARA Robots

In previous versions, there was an error in the soft limit algorithm for SCARA robots, which made it unable to save the soft limits of J3. In Mech-Viz 1.7.2, this issue has been fixed, and you will need to adjust the soft limits of J3 manually.

Resolved Issues

Mech-Viz 1.7.2 has fixed the following issues:

  • The transparency status of “Tools” set in the “Resources” panel was not consistent with that of the tool in the simulation area.

  • The “Set effective range for pose” feature for bins in “Scene objects” did not take effect.

  • The software might crash when the “Smart Obstacle Avoidance” feature was used.

  • When the “All Waypoints in One Move” feature was used in the “Move by List” Step, certain waypoints might be missed.

  • When the box dimensions were adjusted in the “Predefined Pallet Pattern” Step, the palletizing sequence would not be adjusted automatically according to the change of the pallet pattern.

  • When the “Mixed Pallet Pattern” Step was used, the box might be palletized on a position that had been occupied by a box.

  • The source Step of the pallet pattern had been selected in “Vision Continue Palletizing”, but a hint saying that no Step was selected popped up.

  • The box depalletizing algorithm considered the gap between suction cups as valid suction cup areas.

  • The output vision result of the box group did not contain labels for each box.