Mech-Viz 1.7 Release Notes

The link redirection failed and Step names were displayed abnormally in the software when the operating system language of the computer was not a language supported by the software.

The language pack could not be loaded successfully according to the operating system language of the computer.

The “Palletizing” parameter for Palletizing Steps was renamed to “Pallet position”.

The information about rows in a box group, box_group_row_count, was added to the log and plan_result related the “Vision Move” Step.

Modifying the soft limits of the robot might cause a crash of the software.

There was an error in the visualization model of the FANUC R-2000iC/270F robot.

When the project was simulating or running, the “TCP” and “Joint positions” could not be switched in the Robot panel.

The toolbar could still be used when the Tool Configuration window was opened.

In the TCP Calibration window of the Tool Configuration window, the Input Flange Pose of Robot window could not be displayed properly after “Add pose” was clicked.

The unconfirmed change of the tool type would be saved when the Tool Configuration window exited.

The X-axis rotational symmetry and the Y-axis rotational symmetry could be set at the same time.

The toolbar could still be used when the Workobject Configuration window was opened.

The default workpiece configuration might be deleted.

Configuring the scene object might cause a crash of the software.

The toolbar could still be used when the Scene Object Configuration window was opened.

When the bin was not involved in the collision detection, the vision pose would be considered outside the bin.

If two “Relative Move” Steps were dependent on each other, the software would enter a dead loop.

The “Vision Continue Palletizing” Step might cause a crash.

After the “Multi Pick Palletizing” Step was reset, the palletized cartons remained unpalletized.

When the robot was not moving, the “Update Held Workobject” Step could not display the model of the held workobject.

The “Update Held Workobject” Step might cause a stuck on the software.

When the “Classify” Step was in front of the “Vision Move” Step, and the Avoid Picking on Save Workpiece feature was enabled in “Vision Move”, the software might enter a dead loop.

When another move-type Step was connected with the Other failures exit port of “Vision Move”, an error message still popped up.

The “Only Group Complete Row” setting along Y-axis in the multi-pick depalletizing algorithm was not effective.

The “Only Group Complete Row” setting along Y-axis in the multi-pick depalletizing algorithm was not effective.

The “Multi Pick Depalletizing” might not match the pallet pattern successfully due to the floating-point error.

The picking solution in which more cartons are picked at once was not given priority in “Multi Pick Depalletizing”.

Using the “Pallet Editor” might cause a crash of the software.

The configuration in the “Tool Array Configuration” window could not be saved.

The vision records in the Set Vision Records window could not be loaded properly.

The modification of an existing pallet pattern by using the “Pallet Editor” could not be saved.

The move-type Steps listed in the first level entry in the Plan history panel were not complete.

When an unreachable waypoint led to a planning failure in the Plan history panel, the robot tool model could not be displayed correctly.

When an unreachable waypoint led to a planning failure in the Plan history panel, the robot tool model could not be displayed correctly.

Project: Display the project name, project modification status, and the project autoload status.

Robot: Display the robot model used in the current project.

Reference frames: Aggregate all reference frames in the 3D simulation area.

Tools: For creating and deleting tools and managing the existing tools.

Workobjects: For creating and deleting the workpiece configurations and managing the existing workpieces.

Floor: For adjusting the height of the floor.

Scene objects: For creating and deleting scene objects and managing the existing scene objects.

Model library: For managing all models used in the project. All models should be imported to the Model Library first and then utilized with other functions.

When the project is not simulating or running, right-click the name of the tool in the Resources panel and select “Set as Active Tool” to change the “active tool”.

When the project is simulating or running, you can change the “active tool” by using the “Change Tool” Step.

Added “New Project” option in the File menu.

Added robot models for ROKAE SR3 and ROKAE SR4 robots, and generated the corresponding special robot configurations.

You can select multiple Steps and use the shortcut Ctrl + G to pack them as a Procedure, and you can also use the shortcut Ctrl + Shift + G to unpack the selected Procedure.

Added a “Wait Timeout” port to the “Branch by Msg” Step. You can set a timeout period and the Step will take the “Wait Timeout” port to proceed if a timeout occurs.

You can save and import the pallet pattern in the offline mode of the “Mixed Pallet Pattern” Step.

Added a new feature to specify the direction of the palletized carton in the “Mixed Pallet Pattern” Step.

Added a new “Pinwheel 2” pallet type in the “Predefined Pallet Pattern” Step.

Added a new feature to adjust the workpiece orientation in the “Predefined Pallet Pattern” Step.

A new “Set Frame” feature is added to the Model Editor. With this feature, you can set the origin and the directions of the axes for the reference frame. Therefore, the exported OBJ model can be accurately and quickly installed at the end of the robot flange.

The project in Model Editor is saved as M3D file and you do not need to create a folder to save the project.

OBJ models exported by Model Editor are compatible with Mech-Viz 1.6.0 and earlier.

Removed the “Not Print Message Sent to Robot” option, and the messages sent to the robot will always be printed.

Removed the “Write Debug File (.dmp)” option. This feature is no longer supported.

Changed the default options of the global unit settings in Settings - Options from Use built-in units of Steps to mm and °.

Removed the “Autoload” button on the toolbar. You can go to the Resources panel, right-click the project name and select “Autoload Project”.

The interfaces used for suction cup configurations and tool configurations are combined, and the individual suction cup configuration file will not be saved.

When the tool configuration, workobject configuration, and scene objects configuration windows are opened, you can adjust the perspective and zoom in or out in the 3D simulation area at the same time.

Re-structured the layout of the buttons used for fast setting, pose transformation, pose calibration, and pose editing in move-type Steps.

The maximum port number in the “Set DO List” is increased to 30000.

The “unfinished” port of the “Check Look” Step is renamed to “Timeout”.

Improved the log when multi-pick depalletizing is used in the “Vision Move” Step. The carton combination information and carton offset planning details are included.

A new “Failure” exit port is added to the “Update Scene Objects” Step when vision service is used as the source for updating.

When the “Vision Move” Step is used to pick multiple cartons at one time, the model of the cartons to be picked together are displayed as multiple individual cartons instead of a single large carton.

Removed the “Selected” option from the Relative Move Dependency option in the “Relative Move” Step.

Removed the “set_robotiq” and “call_robot_function” Steps.

Removed the Save Successful Vision Result parameter and related features in the “Vision Move” Step.

Added value display for the dynamic limits of joint positions that changes as another joint position is adjusted.

For YASKAWA PL80, MPL80II, and MPL100II that have different display formats of the joint positions, the display format of joint positions in the interface is updated to match the joint positions displayed on the robot end.

The tool list will not be cleared after the robot is switched.

If the robot used in the project is lost, you can re-select other robot models in the robot library.

Whether the collision detection between the point cloud and others is enabled or not, the point cloud of the held workobject will be removed by the “Vision Move” Step.

Whether the collision detection between the point cloud and others is enabled or not, the point cloud will be reset after resetting the “Vision Look” Step.

Added the “Skip waypoints approximate to others” parameter, which can be used to determine whether to send two waypoints that are close to each other.

Removed the “Send Tcp Pose” option in the Others functional panel, and the software will always send the TCP.