Mech-MSR Release Notes

Translation calibration: Establishes the translation mapping between the image coordinate system and the machine coordinate system.

Rotation calibration: Builds a rotation mapping on top of translation calibration.

Calibration update: Supports reacquiring calibration data through external communication and updating existing calibration files.

Added the Coordinate Transformation Step, which enables bidirectional conversion between feature data in the image coordinate system and poses in the machine coordinate system based on translation/rotation calibration results.

Added the Single-Point Localization and N-Point Localization Steps, which calculate the robot poses for executing picking or placing actions from one or more sets of feature data.

Added the Single-Point Correction and N-Point Correction Steps, which calculate corrected robot placement poses from one or more sets of feature data and the corresponding current capture poses.

Added the Single-Point Alignment and Many-to-Many Alignment Steps, which calculate robot poses for placing one or multiple objects to their corresponding target positions based on object and target feature data.

Added the Crop Surface Step, which keeps surface data inside or outside specified feature regions to reduce the impact of irrelevant data on subsequent processing. The 6-DoF pose of each feature region can be adjusted, providing flexible control over the cropping region.

Added the Remove Surface Form Step, which removes global tilt and bending while preserving local height variations.

Added the Solution Access Control feature to control solution access with role and user permissions.

Added the Backup Solution feature for on-demand backup of solution configurations.

Added the Duplicate Project feature for on-demand duplication of project files and Step settings.

Optimized handling of scaling results in the 2D Matching and 2D Alignment Steps.

Added Object Pose output ports to the Surface Matching and Surface Alignment Steps.

Moved some feature parameters into related Step parameter panels for quicker adjustment.

The template coordinate system can now be set, so ROIs and feature regions in downstream Steps remain reusable after template updates.

Global Variable Management now supports setting queue capacity, that is, the maximum number of saved data entries.

The Global Variable Step now provides a Read Only option that reads all data stored in a queue without removing any data from the queue.

The 3D Laser Profiler Step now supports reloading MRAW files saved by the Save Data to Files and Save 3D Data Steps in virtual mode.

The Save Data to Files Step now supports saving surface data, and surface point clouds are now saved in PLY format instead of ZIP format.

The Create Plane from Features Step now supports creating a plane by offsetting the input plane along its normal.

The Create Line from Features Step now supports creating a constant line from a point and a direction vector.

The Project Feature to Plane Step now supports projecting point, line, and plane features onto a plane.

The Transform Surface Step now provides a Use Input Transformation Matrix parameter for transforming surface data using a transformation matrix provided through the input port.

The Measure Surface Flatness and Fit Plane to Surface Steps now support an additional percentile-based data filtering method, by fitted plane distance, which filters data points based on their distances to the fitted plane.

Optimized the fitting algorithm in the Measure Cylinder Step.

The service type Modbus TCP Slave has been renamed to Modbus TCP Master. In this service, Mech-MSR acts as the Modbus master and actively sends requests to the peer slave device, so the new name reflects its communication role more accurately.

Multiple trigger matching methods are now available. TCP Server/TCP Client services support Any match and Contains match. PLC-type services support Any match, Exact match, and Range match, and range matching supports configurable trigger ranges with inclusive lower and upper bounds.

The Modbus TCP Master service now includes a Send requests one by one parameter. When the peer PLC cannot handle high-frequency requests (for example, when requests time out), enable this option so the next request is sent only after the response to the previous request is received.

The Number of registers parameter in PLC-type services now supports up to 2000 registers.

When the Receive Data Step uses a PLC-type service, the Step can be run manually, allowing the service to actively read register variable values from the PLC.