Before You Upgrade

2.0.0 Upgrade Notes

This section introduces the upgrade notes for Mech-Vision 2.0.0, Mech-Viz 2.0.0, and Communication Component.

General

  • Starting from Mech-Vision & Mech-Viz 2.0.0, Mech-Mind uses Sentinel LDK as its software license system. The relevant precautions are as follows.

    • Mech-Vision & Mech-Viz 2.0.0 cannot be opened with a software license of an earlier version. Please contact Mech-Mind Technical Support to obtain a Sentinel LDK software license.

    • After using the new software license, Mech-Vision & Mech-Viz 1.8.2 and earlier versions cannot be opened.

  • Starting from Mech-Vision & Mech-Viz 2.0.0, multiple versions of software suites are allowed to be installed on the same computer. The relevant precautions are as follows.

    • Before using the latest version of the software to open projects or solutions created in an earlier version of the software, it is recommended to back up the projects or solutions to avoid being changed by the latest software version.

    • When both the latest and earlier versions of the software are set to Auto-start on boot up, only the earlier version will start after the system boots.

    • If Python libraries were installed while using Mech-Vision of an earlier version, you will need to reinstall the corresponding Python libraries after installing the latest software.

Mech-Vision 2.0.0 Upgrade Notes

Please pay attention to the following issues when upgrading Mech-Vision from the previous version to 2.0.0. If you need to upgrade the solution, please refer to Mech-Vision Solution Upgrade Guide to proceed.

  • If you use Mech-Vision 2.0.0 to open a project created with a previous version, you will not be able to use the target object editor, production interface, robot communication configuration, and other features. In this case, you need to upgrade the solution of the previous version. For detailed instructions, please refer to Upgrade Solution.

  • Starting from Mech-Vision 2.0.0, the “solution” will be used as the only storage unit, as explained below.

    • When creating a new solution, the projects within it will be automatically registered, i.e., these projects can be called by external services by default.

    • Automatically loading projects that do not belong to any solution is no longer supported, i.e., such projects cannot be called by external services.

    • The “Save Project As” and “Backup Project” options are no longer supported. To back up a project, please click “Back up Solution” in the context menu.

  • The compatibility mode is no longer supported from Mech-Vision 2.0.0. When the tool pose on the robot teach pendant does not correspond to the tool pose displayed in the software interface, the software will no longer automatically compensate for the difference. Please refer to Compatible Mode to manually compensate for the difference.

  • A target object editor is introduced in Mech-Vision 2.0.0. It integrates functions such as creating point cloud models of target objects and adding pick points. The related precautions are as follows.

    • The “Matching Model and Pick Point Editor” from the previous software version will not be available in Mech-Vision 2.0.0. However, the point cloud models and pick points output from this tool can still be used.

    • When the point cloud model generated by the “Matching Model and Pick Point Editor” is used in the project, the “Target Object Editor” will be disabled.

    • For unassigned projects, the point cloud models generated by the “Matching Model and Pick Point Editor” can only be selected through the “Select Point Cloud Model” parameter in the matching Steps of previous versions. In solutions created in Mech-Vision 2.0.0, all target objects configured in the target object editor can be selected through the “Select Target Object” parameter.

  • When using Mech-Vision 2.0.0, the camera firmware must be upgraded to version 2.4.0 or above to enable camera connection and image acquisition.

  • The production interface configured in Mech-Vision prior to version 2.0.0 cannot be opened in Mech-Vision 2.0.0, requiring a reconfiguration of the production interface in the latest software.

  • Mech-Vision 2.0.0 has re-organized the Step library, as explained below.

    • Some Steps that are no longer maintained have been removed.

    • All Procedures have been deleted. If needed, you can obtain the hands-on examples in the solution library to refer to relevant project logic.

    • By default, only the frequently used Steps are displayed, and these Steps have been re-categorized.

    • Some Steps have been converted into plugins. If needed, you can go to the menu bar and enable the corresponding plugins under Help  About Plugins, then restart the software to find the corresponding Steps in the Step library.

    For detailed information on the changes to the Steps, please refer to the Release Notes.

  • The Output Step has been improved in Mech-Vision 2.0.0, and the relevant precautions are as follows.

    • The “Output” Step now includes the functionality of the “Send Point Cloud to External Service” Step, allowing textured point clouds to be sent to Mech-Viz. The “Send Point Cloud to External Service” Step has been deleted.

    • The “Output” Step can now map the pick points from matching Steps to multiple pick points, without needing the “Map to Multiple Pick Points” Step.

  • In Mech-Vision 2.0.0, there are compatibility issues related to deep learning. See the following for details.

    • Starting from Mech-Vision 2.0.0, only the Object Detection, Instance Segmentation, Classification, and Defect Segmentation model packages can be loaded in the Deep Learning Model Package Inference Step. The Unsupervised Segmentation, Fast Positioning, Text Detection, and Text Recognition model packages are no longer supported.

    • Starting from Mech-Vision 2.0.0, only model packages exported from Mech-DLK 2.4.1 or above can be loaded in the Deep Learning Model Package Inference Step.

    • Projects with deep learning models created in Mech-Vision 1.7.4 or later versions can be opened and run in Mech-Vision 2.0.0, while projects created in Mech-Vision earlier than version 1.7.4 cannot be opened.

    • In Mech-Vision 2.0.0, the “Predict Pick Points V2” and “Predict Pick Points (Any Objects)” Steps have been removed. If you need to use these Steps, please use the new Predict Pick Points Step instead.

  • The following features are no longer supported from Mech-Vision 2.0.0.

  • Camera Calibration (Quick)

  • Intrinsic Parameter Calibration

  • Measurement Mode

  • Glue Wizard

  • Camera Viewer

  • Matching Model and Pick Point Editor

    Please use the target object editor to make the point cloud model and add pick points.

  • EIH System Drift Auto-Correction

    This feature is under maintenance and is temporarily converted to a plug-in that cannot be selected.

  • Other Known Issues

    • If the depth map saved in Mech-Vision 2.0.0 is used in the “From Depth Map to Point Cloud” Step of a previous software version, an “Invalid depth map” error will occur.

    • Mech-Vision 2.0.0 cannot load the intrinsic calibration parameter groups or the calibration parameter groups obtained by collecting data through the “TCP touch” method in Mech-Vision prior to version 2.0.0.

Mech-Viz 2.0.0 Upgrade Notes

From Mech-Viz 2.0.0, a Mech-Viz project must belong to a solution and cannot be used separately. Pay attention to the following notes:

  • For earlier Mech-Viz projects, you need to upgrade the project after the software upgrade. For details, please refer to 2.0.0 Project Upgrading Guide.

  • Starting from version 2.0.0, the JPs or TCP values in Mech-Viz must match those on the teach pendant to ensure that the simulated robot’s posture is consistent with that of the real robot. Accordingly, when the simulated robot’s posture matches the real robot, the values in the software should also be consistent with those on the teach pendant.

    When upgrading a project to a solution, the robot model package will also be updated. Before controlling the robot’s movement, ensure that the tool pose values of the real robot on the teach pendant are consistent with those in Mech-Viz. If the tool poses are not consistent, please refer to Guide for Robot Model Parameter Verification to complete the verification of the robot model parameters.

  • After introducing the target object editor, the target object configurations from previous versions will be completely lost, and the rotational symmetry, picking relaxation, picking strategy, and collision model of the target object must be reconfigured through the target object editor. Refer to Quick Guide to Target Object Editor to re-create the target object and configure pick points.

  • Starting from Mech-Viz 2.0.0, all collision models generated from the target object editor will become scene objects after the target objects are placed. Therefore, a collision will be detected if multiple target objects are placed at the same location. Please refer to Held Target Object Collides with Placed Target Object for the resolution.

  • The Collisions functional panel is restructured and upgraded, requiring a reconfiguration of collision detection parameters.

  • The “Reference point” waypoint type in the Relative Move Step is no longer supported.

  • From Mech-Viz 2.0.0, classifying according to the Names of target object and pick point or Pick point label are supported in the Classify Step. If you open an old project containing the Classify Step in Mech-Viz 2.0.0 and complete the configurations in the target object editor, please configure the Select Branch By parameter according to the actual requirements and then re-connect the workflow.

Step Removal

The following Steps are deleted in Mech-Viz 2.0.0, and the lines connecting the Steps in the project will be disconnected.

  • Outer Index Move

  • Path Procedure

  • Vision Palletizing

  • Get JPs: Connect the workflow before and after this Step directly.

  • Set Bin: Please use the Update Scene Objects Step instead.

In addition, the “Vision Place” and “Transfer Control” Steps cannot be created with Mech-Viz 2.0.0. However, if a project created by an old version contains these Steps, they will continue to function as usual after the project is upgraded to a solution.

Communication Component Upgrade Notes

  • If no Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.

    • The velocity parameter (the fourth parameter) of the MM_Get_Pose and MM_Get_Jps commands of ABB, FANUC, Kawasaki, KUKA, and YASKAWA is changed to the tool ID parameter. Please check if your project uses velocity that is set in Mech-Viz. If your project does not involve velocity, no robot program modification is needed. Otherwise, please add code to set the velocity for your robot program.

  • If the Standard Interface program is reloaded onto the robot, take note of the following upgrade instructions to modify the robot program based on actual project requirements.

    • The number of vacuum gripper sections parameter is added to the Get Gripper DO List command.

    • The planning round parameter is added to the Set Gripper DO List command.

    • The velocity parameter (the fourth parameter) of the MM_Get_Pose and MM_Get_Jps commands is changed to the tool ID parameter.

Upgrade Notes of Previous Versions

1.8.0 Upgrade Notes

1.7.2 Upgrade Notes

1.7.0 Upgrade Notes

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