K-ROSET V1.7.0 a

Release notes K-ROSET V1.7.0

Table of Contents 1 Release information.............................................................................................................................................................. 3 1.1 Overview......................................................................................................................................................................... 3 2 New features in this version ................................................................................................................................................. 7 2.1 Recycle Bin(Layout）.................................................................................................................................................... 7 2.2 Program Instruction..................................................................................... ................................................................... 8 2.3 Simulation Functional Extension................................................................................................................................... 8 2.4 K-ROSET Multi-Viewer.................................................................................................................................................. 9 2.5 Cycle Time extensions................................................................................................................................................... 9 2.6 Robot Panel Option Screen extension ........................................................................... ............................................ 10 2.7 STL Thumbnail Display ............................................................................................................................................... 10 2.8 Clip Plane Extension.................................................................................................................................................... 11 2.9 Axis Plane extension.................................................................................................................................................... 12 2.10 Camera Setting.......................................................................................................................................................... 12 3 Problems Corrected............................................................................................................................................................ 13 4 Late Breaking Information .................................................................................................................................................. 16 5 Known limitations ................................................................................................................................................................ 17

1Releaseinformation 1.1Overview

Releasename ReleasenameisK-ROSET1.7.0.Revisionis12951.

Releasedate th

Thereleasedateis27 ofFebruary,2014.

Document DocumentsprovidebyPDFfile.Theseareextendingtothespecifiedfolderafterinstallation. When you open from all programs, these are in the Kawasaki Robot Solutions/K-ROSET/Hisui /Documentsfolder. Whenitdefaultinstallationlocationforthefolder,containsthefollowingfolder. C:¥ProgramFiles¥Kawasaki¥K-ROSET¥Hisui¥documents Pleaserefertothese.

SimulationModels Following robots are provided. E-controllerStandard BX Series BX100N-A001,BX200L-A001,BX100N-B001,BX200L-B001 MCR Series MC004N-A001, MC004N-A041 R Series RS003N-A001, RS005N-A001, RS005L-A001, RS006L-A001, RS010N-A001, RS010L-A001,RS015X-A001, RS020N-A001, RS030N-A001, RS050N-A001, RS080N-A001, RD080N-A001 RC005L-A001 RF010N-A001,RF020N-A001 Y Series YF003N-A001,YF003N-A101, YS002N-B001 Z Series ZX100L-S001, ZX130L-B001,ZX130S-A001, ZX130S-B001, ZX130U-B001, ZX165L-B001, ZX165L-B501, ZX165U-B001, ZX165U-B501, ZX200S-B001, ZX200S-B501, ZX200S-S001, ZX200U-B001, ZX300S-B001, ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT130U-C001, ZT130Y-A001, ZT165U-C001, ZT165X-A001, ZT165Y-A001,ZT200S-C001, ZT200U-C001, ZT200Y-A001, ZH100U-A001

ZB150S-B001 ZD130S-D001, ZD130S-E001, ZD250S-B001 M Series MX350L-A001, MX420L-A001, MX500N-A001, MX700N-A001, MD400N-A001, MD500N-A001

D/D+controllerStandard F Series FS002N-A001, FS003N-E001, FS006L-B001, FS006N-B001, FS010C-B001, FS010E-B001, FS010N-B001, FS010L-A001, FS010X-A001, FS020C-A001, FS020N-A001, FS030N-A001,FS030N-E001, FS030L-A001, FS045C-A001, FS045N-A001, FS060L-C001 FD050N-C001 Z Series ZX130L-B001, ZX130S-B001, ZX130U-B001, ZX165L-B001, ZX165L-B501, ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX200S-B001, ZX200S-B501, ZX200S-S001, ZX300S-B001, ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT130U-C001, ZT165U-C001, ZT165X-A001, ZT200U-C001, ZH100U-A001 ZB150S-B001 ZD130S-D001, ZD130S-E001, ZD250S-B001 M Series MX350L-A001, MX420L-A001, MX500N-A001, MD400N-A001 MT400N-A001

Explosion-proofPaintingE -controller KF Series KF121-A001, KF192-A001, KF192-B001, KF193-A001, KF194-A001, KF262-A001, KF262-B001, KF263-A001, KF264-A001 Conveyorpredefinedmodels KF121-A001-CV, KF192-A001-CV, KF192-B001-CV, KF193-A001-CV, KF194-A001-CV, KF262-A001-CV, KF262-B001-CV, KF263-A001-CV, KF264-A001-CV

Tombowpredefinedmodels KF121-A001-Tombow1000_20, KF121-A001-Tombow1000_40, KF121-A001-Tombow1200_20 KF121-A001-Tombow1200_40 KF193-A001-Tombow1000_20, KF193-A001-Tombow1000_40, KF193-A001-Tombow1400_20, KF193-A001-Tombow1400_40, KF194-A001-Tombow1400_20, KF262-A001-Tombow1400_20, KF262-A001-Tombow1400_40, KF262-B001-Tombow1400_20, KF262-B001-Tombow1400_40, KF263-A001-Tombow1400_20, KF263-A001-Tombow1400_40 KF264-A001-Tombow1400_20,

TombowRpredefinedmodels KF121-A001-TombowR1800_20, Twisterpredefinedmodels KF121-A001-Twister800, KF193-A001-Twister800 Spinnerpredefinedmodels KF193-A001-Spinner_20, KF193-A001-Spinner_60 KF263-A001-Spinner_20, KF263-A001-Spinner_60 KF264-A001-Spinner_60 Turntablepredefinedmodels KF262-A001-Turntable2000_500, KF262-B001-Turntable2000_500, KF263-A001-Turntable650_500, KF263-A001-Turntable2000_500 Shuttlepredefinedmodels KF192-A001-Shuttle2700_60 KF263-A001- Shuttle3200_60 KGSeries KG264-A001 Conveyorpredefinedmodels KG264-A001-CV KJ Series KJ264-A001, KJ264-A001-SHELF, KJ264-A001-WALL, KJ264-A001-WALL2, KJ314-A001 Conveyor predefined models KJ264-A001-CV, KJ264-A001-SHELF-CV, KJ264-A001-WALL-CV, KJ264-A001-WALL2-CV, KJ314-A001-CV

Explosion-proofPaintingC -controller KFSeries KF121-A001, KF192-A001, KF192-B001, KF193-A001, KF194-A001, KF262-A001, KF262-B001, KF263-A001, KF264-A001 KE Series KE610H-A001, KE610L-A001

E-controllerSealing R Series RS003N-A001, RS005L-A001, RS005N-A001, RS006L-A001, RS010L-A001, RS010N-A001, RS015X-A001, RS020N-A001, RS030N-A001, RS050N-A001, RS080N-A001

Spin axis predefined models RS050N-A001-Spin Z Series ZX130L-B001, ZX130S-B001, ZX130U-B001, ZX165L-B001, ZX165L-B501, ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX200S-B001, ZX200S-S001, ZX300S-B001,

E controller Arc Welding R Series RA005L-A001, RA006L-A001, RA010L-A001, RA010N-A001, RA020N-A001 RS003N-A001, RS005N-A001, RS005L-A001, RS010N-A001, RS010L-A001, RS015X-A001, RS030N-A001 Z Series ZX130U-B001, ZX165L-B001, ZX165L-B501, ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX300S-B001, ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT165U-C001, ZT200U-C001, ZT200S-C001, ZB150S-B001, ZH100U-A001

E-controller Servo Welding Gun BX Series BX100N-A001, BX100N-B001, BX200L-A001, BX200L-B001, Z Series ZX130L-B001, ZX130S-B001, ZX130U-B001, ZX165L-B001, ZX165L-B501 ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX200S-B001, ZX200S-B501 ZX200S-S001, ZX300S-B001, ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT130U-C001, ZT130Y-A001 ZT165U-C001, ZT165X-C001, ZT165Y-C001, ZT200S-C001, ZT200U-C001 ZB150S-B001, ZH100U-A001 M Series MX350L-A001,MX420L-A001,MX500N-A001,MX700N-A001

2Newfeaturesinthisversion

Overview Thissectionprovidesinformationaboutthenewfeaturesinthisrelease.

2.1 Recycle Bin(Layout ） Recycle Bin icon will be displayed when K-ROSET is activated with V1.7.0 and after.  After V1.7.0, Recycle Bin icon will be displayed when K-ROSET is started.

Deleted Entity will be temporarily saved in Recycle Bin. Entity which is deleted from Recycle Bin can be restored.

Entity name, deletion time and information about structure of the Entity when deleted will be displayed in Recycle Bin Window.

2.2 Program Instruction Program Instruction is a function which creates AS, Block teach and Explosion-proof instruction in programing step of program name which is selected in the program display. Same instruction as actual robot can be input. Instruction variation is different by application and robot controller option. Selecting program in program tab will activate the tab and available instruction tab will be displayed when applied.

2.3 Simulation extension Group Name Display Group name is added in the simulation tab which is displayed on right side in the program name.

Program selection in controller Selecting teaching program in virtual robot controller is available.

2.4 K-ROSET Multi-Viewer New feature allows K-ROSET be multi-active. / Multi-activating K-ROSET is available. Second K-ROSET window and after will be activated as [K-ROSET Viewer].

2.5 Cycle Time extension History function in Cycle Time is available. History can be displayed by repeated date and time. Detail screen will appear by clicking Detail button as same as before.

2.6 Robot Panel Option Screen extension Floating display is available for teach panel option screen. By clicking button in Option in Robot Panel tab will activate the screen separately from task panel (right side panel).Get back to Teach Panel tab by clicking X button in the Option(RobotPanel) screen.

2.7 STL Thumbnail Display Thumbnail display of STL in file selection screen is available. Thumbnail will be displayed by selecting file in STL.

2.8 Clip Plane extension Cross section view/ split view setting by each quad view is available. Select sectional view from dropdown list.

2.9 Axis Plane extension Displaying coordinate plane by XY,YZ,ZX view is available.

2.10 Camera Setting View point angle can be changed by each view with quad view mode.

3ProblemsCorrected

Overview ThischapterdescribestheitemsthatwereresolvedwithK-ROSET.

Releasedate Thereleasedateis27thFebruary2014.

R12951 On item resolved ID

Title

93

Work near tool coordinate in clamp state. (Distance is not measured appropriately)

162

Displaying grid at XY, YZ, XZ view in quad view.

163

Match all the center of each projection view of view point management when it’s in quad view.

164

Change settings for cross section view by each when it’s in quad view.

178

Implementation of Recycle bin function

179

Operation improvement in autocomplete function.

180

[Program tab] Copy / cut function is not displayed when editing comments in program tab.

188

Implementation of preview function for STL file.

281

Add new robot by specifying fill.

295

Countermeasures for using prohibition letters

297

Problem on not changing highlighted color

298

Problem on option for foregrounding of track line

328

Problem on option for saving data without shape data file

348

Viewer is flickering in clamping work.

354

Current folder in terminal tab activated multiply.

355

Cannot get distance when clamping (GetDistance)

356

K-ROSET hangs up when simulating repeatedly with multiple robots

357

Left side label on value of joint value and step information in teach panel can be edited when it shouldn’t.

358

Group of teaching points are not drawn

359

Track line, Spray line and Welding line are not drawn

361

Executing load-command with selected file locked cause internal error

364

Destruction of demonstration project in handling is slow

365

Hide all the unsupported function in option tab

368

K-ROSET will be exit when releasing by multiple clamping setting in handling clamp menu

370

Work will be temporarily displayed at original point when holding multiple work

372

Robot moves XYZ by operating with RX,RY

373

There is a blank line in pop up of additional step in program table

377

current conveyor position when rewinded in Simulation menu

378

Modification with floating display function on option display in Robot panel

379

How to change shape of patterns

380

Touch-up on painting tool PPH707

381

Change on default for Spray track line variation from “dot” to “line”.

382

Positioning for second conveyer

383

Starting position of robot changes after synchronizing with controller

384

Change on size and position of object

385

Request for flexibility on sizing of object

386

Add assist Block teach instruction Program tab

387

Add display of gun operated time by each gun in cycle time menu

389

Make change on simulation system to PCAS program be selectable

392

Prepare manual for how to check collision between robots

393

Prepare flag for display presence in Cycle time

394

Problem on simulation system displaying same program multiply

395

Request for robot parts replacement

396

Multi-activate K-ROSET

397

Consideration on high speed PCAS

398

Setting up screen which integrated teach panel with program table

410

Improvement on project reading processing in K-SPARC

415

PCAS does not start up when reconnected after PCAS exited

416

Axis is inoperative when adding active axis in new project

417

Under Windows7 environment, only as for the extension application on right task panel displayed in Meiryo font.

419

Spec for deleting axis is different between using menu bar and using delete

420

Motion(operation) range of YF is different from actual movement

421

Handling method of control letter “o” when editing program of terminal

422

Prepare KJ264/KJ314 arm cover model

423

Switching tool is available.

424

Save each axis value of robot into project

425

Teach pendant hides behind main screen

427

Operation slower down when displaying model

430

Painting line be displayed multiply

431

Outer axis does not work even added it to MX robot

432

An error occur when adding controller with editor mode

433

An internal error occur in spot welding setting window

434

Command input is inoperable when display continues being updated in terminal

435

Change on AS side is not reflected on layout side when syncing with motor on.

436

Starting simulation with positioning dialog open could cause internal error

437

CSV outputting cycle time in Chinese setting causes garble on title

440

Editing in terminal is disabled when step has too many letters

441

Project hangs up when loading

444

Revised on display of cycle time for multiple robots at same time

446

Robot does not stop completely and continue moving a little while when interfere error occur at time of simulation

447

When importing robot, Joint move cannot operate.

448

Cross section will move with the timing of clamp when handling simulation

449

An error occur when execute after tool replacement at time of conveyer simulation

450

"Save" process of project is not executed

451

Project cannot be opened when it was loaded from network system and saved

452

Grid on viewer is not displayed

453

An error cause by recording operation screen

457

Demonstration project list is not displayed by a pass in installing holder in start page

459

Obstacles under tool come off when unclamped

460

Positioning(Z-，Z+ ) function for teaching point in teach panel option does not work( which is supposed be changing position/ angle by changing value with Z- ，Z+)

461

Loading project right after installation could cause fatal error

462

Loading project with teach panel activated could disrupt loading

463

Spray line is drawn with dash line

465

Restoring teaching point position could cause fatal error

467

Operation setting items are not displayed in setting screen of viewer

468

Work doesn’t unclamp

469

Lighting setting for viewer changes unintended

470

Spray command is displayed by the program choice of the arc robot

471

Revised on data base resource

472

Cross section view pop up represents Enable

473

Setting screen for cross section view represents English

474

When selecting “empty recycle bin” in recycle bin window, confirmation window saying

475

Do not let pass to be displayed in file name when outputting CSV in cycle time.

478

Deleting axis node cause internal error

479

Adding program could cause fatal error

480

Signal setting of touch sensing could cause internal error

481

Collision check does not performed when robot position is changed

485

Revised on error message on cooperative operation in Robot Panel

486

An internal error occur when simulating touch sensing

489

Simulation after changing display update of touch sensing interval causes error

490

Robot does not jump

491

Operating form button with state of effective limit in robot panel may make robot act wrong

492

Problem on drawing of rubber band of distance measuring application

501

Hiding motion range display is unavailable after imported robot

505

Loading sample project cause error on model loading

506

Selected cell with collision pair list cannot be deleted

510

YF003N-A101 is inoperative in teach panelYF003N-A101

4LateBreakingInformation

Overview Thissectioncontainslate-breakinginformationthatwillbeincludedintheappropriatedocumentsinthe subsequentreleases.

Change on project name in layout view K-ROSET utilize export function when saving project as new name. It used to show newly saved project name in Layout view despite the fact that the project on the screen actually shows the one before saved as new name. Revision on project name display has been made. Project name in Layout view sticks to original even after saving it as new name. New feature upon robot positioning Saving robot position is available with V1.7.0 and after positioning of robot will be saved in project after V1.7.0.

5Knownlimitations

Overview ThissectiondescribesknownlimitationsinK-ROSET.

Numberofrobottolaunchatthesametime Upto10robotscanbeaddedtoaproject. th Whentryingtoadd11 robot,youreceiveanerrormessagethatitisimpossibletoadd11ormore. Maximumnumberofthesamecontrollertobeaddedvariesdependonthetypeofcontroller. Upto4controllerscanbeaddedforthepaintCcontroller.Upto8controllerscanbeaddedforthe other. Licensingschemehasbeenchanged WithV1.6.5.10412ornewer,licensingschemehasbeenchanged. Sometimesitisimpossibletostartwhennewlyinstalled. Ifyouhaveahardkey,thereisnoalteration. IfyouhaveasoftkeyanduseRegular,Evaluation,LiteMode,andhavedifficultiesinstartingK-ROSET, pleaserequestanewlicensetooursupport. [email protected] Howtoinstall Incasetheoldversionisinstalled,itneedstobeuninstalledfirst.

InthefileselectiondialogboxinWindows7,MyKHIlibrariesandKHIlibrariesiconsarenotdisplayed. Ifyoudonothavepermissiontothefollowingregistry,sometimesiconsforfileselectiondialogmaynot bedisplayed. HKEY_CURRENT_USER¥Software¥Microsoft¥Windows¥CurrentVersion¥Policies¥comdlg32

Drawingprocessspeedatthetimeofrobotsimulation When using D/D+ controller handling, the drawing process is slower than that of C painting or E controller.  Also,whensimulatingrobotsofD/D+andEcontrolleratthesametime,thedrawingprocessspeedof EcontrollergetsslowerduetoadjustingitwithD/D+controller.

VirtualteachpendantofarcweldingEcontroller Currently,thevirtualteachpendantremainsasDcontrollerevenwhenselectinganarcweldingrobotof Econtroller.  ASversionofexplosionproofEcontroller ItisimpossibletoputpaintEcontrollerASversion8000001Eand80000V2Cinthesameproject. If putting them in the same project, virtualcontrollerterminates inadequately and not able to start controller. KJ314doesnotsupporttravelaxes. KJ314 Inthisversion,KJ314doesnotsupporttravelaxes.

Servo welding gun It does not support fixed teach points.

SimulationmaynotbesucceededwhenK-ROSETisstartedbydouble-clicktheprojectfilethatinstallsmorethantwo robots.

I/Omonitor,Terminal,Controllerapplicationmaynotbeabletoclick. TerminatesK-ROSETandstartsagainfromashortcutonthedesktoporallprogramsinWindows

Structuredfiles*.krprj  Allstructuredfilessuchasprojects, robots,tools,andenvironmentalobjectsarethesameextension name. K-ROSEToperatesstartandloadingaprojectatthesametimebydouble-clickingaprojectfile.  AlthoughK-ROSETstartsevenbydouble-clickingastructuredfileexceptforproject,itisimpossibleto loadafileexceptforproject. Structuredfiles*.krprj  Allstructuredfilessuch asprojects, robots,tools,andenvironmentalobjectsarethesameextension name. K-ROSEToperatesstartandloadingaprojectatthesametimebydouble-clickingaprojectfile.  AlthoughK-ROSETstartsevenbydouble-clickingastructuredfileexceptforproject,itisimpossibleto loadafileexceptforproject. It is impossible to save options of OX/WX signal extension by the block teaching. Until this issue would be solved, please set options every time you start.  At every start of the project, set OX/WX signal extension to be ON at Zoption_4.