v3.3u2 to v3.3u4 Change Log (April 12, 2019)

Installer Changes

  1. Changed to execute only the setting of RTX when selecting the Next / Install button without selecting a NIC, the installation of the NIC is omitted.

  2. Fixed the problem that various license information is not displayed on the downloaded license display screen of LicenseManager when license registration is performed using the license download function.

New Functions

  1. Added the following functions to path interpolation with rotation:

    • Added CreatePathIntplWithRotationBuffer, FreePathIntplWithRotationBuffer, GetPathIntplWithRotationBytesPerPoint, and ClearPathIntplWithRotation functions. Configuration parameters are set with SetPathIntplWithRotationConfiguration, points are added with AddPathIntplWithRotationCommand (this can be called multiple times), and interpolation is executed with StartPathIntplWithRotation.

    • Added EnableZAxis and ZAxis parameters. Added ZAxisTarget parameter to points.

    • Added EnableConstProfile option.

    • Added GetPathIntplWithRotationStatus function.

    • Added EnableLocalCenterOfRotation option and LocalCenterOfRotation parameter to each point.

    • Added DisableRotationalAxis parameter.

    • Added RelativeFromEnd path interpolation with rotation coordinate mode.

    • Added disableXYRotationalMotion option to path interpolation with rotation. This option will prevent the motion of the rotary axis from moving the X and Y axis positions.

    • Added StartPathIntplWithRotation start functions that specify the target position along the path or the target point. Modified path interpolation with rotation to support reverse traversal.

  2. Added set output commands to 3D Path Interpolation.

  3. Added support for Pause segments to path interpolation and 3D path interpolation.

  4. Added SetPSOIntervalData and GetPSOIntervalData functions for PSO mode. This function allows a range and interval to be specified.

  5. Added DistanceRatio output type to Path Interpolation and 3D Path Interpolation.

  6. Added output triggers for path interpolation with look ahead.

  7. Added velocity feedforward gain parameter.

Specs Changes

  1. Modified path interpolation with rotation to use channels.

  2. Changed minimum segment distance of path interpolation with rotation from 1 to 1e-6.

  3. Fixed path interpolation with rotation issue in which angle correction motion profile parameters were specified in units of radians instead of user units.

  4. Renamed time parameter of path interpolation, 3D path interpolation, and simulate path interpolation classes to timeMilliseconds.

  5. Modified PSO and Planned Velocity Override channels to return an error when setting configuration or point data while the channel is enabled.

  6. Modified OverridePos, OverrideMov, OverrideVel, OverrideAcc, OverrideDec, OverrideJerkAcc, and OverrideJerkDec to override from the current velocity instead of using the starting velocity of the original command.

  7. The path interpolation with look ahead SetIOOutBit command has been renamed to SetOutputBit.

Bug Fixes

  1. Fixed the following issues to path interpolation with rotation:

    • Added check to path interpolation with rotation to verify that the axes have not moved from the position where the path was defined, to prevent the axes from suddenly moving to a different position if the path is defined, the axes moved, and then the path executed.

    • Modified RelativeFromStart path interpolation with rotation coordinate mode to be relative from start instead of relative from the end of the path.

    • Modified path interpolation with rotation AddPathIntplWithRotationCommand to return the ConfigurationNotSet error when called before the configuration is set.

    • Modified path interpolation with rotation to support angle correction segment insertion while enable constant profile mode is on.

  2. Fixed issue in which Pause/Resume and OverrideVelocity functions did not work for certain functions in the AdvancedMotion module after v3.3.

  3. Fixed issue in which simulate functions and profile time statuses for 3D path interpolation were not correctly calculated when the cycle time is not 1ms.

  4. Fixed issue from v3.3 in which the feedback position could sway while communication is off.

  5. Fixed issue in which the command position became incorrect if an axis is changed to a single turn axis before starting communication, and the axis position feedback in the first cycle after starting communication is outside the single turn range.

  6. Fixed issue in which a ChannelOutOfRange error was sometimes incorrectly returned when calling the StopECAM function.

  7. Fixed invalid memory access when passing null pointer to pCount argument of GetPSOData and GetPlannedVelOverrideData.

  8. Fixed issue in which if the command position changed in the cycle immediately before homing, then the homing started at a velocity equal to that change in the command position.

  9. Fixed path interpolation and 3D path interpolation issue in which the command position suddenly changed to 0 if the first command in the path is a Pause command.

  10. Fixed several absolute encoder issues that caused the position to suddenly change or deviate from the correct position.

  11. Fixed path interpolation with look ahead issue in which the position during sleep and when an axis is not part of the current interpolation segment was set to a value 1 cycle before reaching the target position of the previous interpolation segment.

  12. Fixed path interpolation with look ahead issue in which the PathInterpolationAxesHaveBeenMoved error was sometimes not returned if the axis position is changed at the same time that the points are added to the path interpolation (for example, if SetCommandPos is called immediately before AddPathIntplLookaheadCommand with many commands).

  13. Fixed issue for path interpolation with look ahead in which the axis position could suddenly change at the end of a StopPathIntplLookahead operation when stopping during linear interpolation segments if the axis count or order in which the axes are defined are different between the linear interpolation segment and the path interpolation configuration.

  14. Fixed AdvancedMotion CLR .NET library issue in which the members of the Profile array of the PathIntpl3DCommand class were not initialized.

  15. Fixed issue in which the command and feedback position separated from each other if the gear ratio, single turn, or axis polarity was changed while the encoder command position did not equal the encoder feedback position.

  16. Fixed issue in which software limit switch could be triggered in the last cycle of homing, based on the command position before the new home offset.

  17. Fixed issue for triggered motion with the TriggerEvents argument in which if the first event has the invert option set, future triggered motion with the Trigger argument immediately executed.

  18. Fixed an issue that one overload function in API RegisterReadis not working properly.

Python API Changes

  1. Supported AdvancedMotion function.

  2. Supported to Python list structure.

  3. Modified WMX3Api’s Get function (such as GetStatus ()) to return multiple return values ??as a tuple without outputting a value to the argument.