Release Notes for RobotStudio 2021.3

General

The release name is RobotStudio 2021.3 and the build number is 21.3.9648.0. The release date is November 9, 2021.

New Functionality

Display and fix mismatches between Safe I/O and System Parameters

Starting from RobotWare 7.4 there is a new behavior in the interaction between I/O Engineering Tool and Visual SafeMove. Changes in the I/O Engineering tool no longer automatically updates the safety configuration in Visual SafeMove. Instead Visual SafeMove will indicate if there is a mismatch between the safety configuration in Visual SafeMove and the corresponding I/O configuration in the System Parameters in the robot controller.
A new Safe I/O node that indicates if there is a mismatch has been added to the Visual SafeMove browser.
The Visual SafeMove safety configuration can be updated according to the System Parameters using the "Update" button.
The differences can be shown using the "Show diff" button.
The new Safe I/O node also shows errors in I/O part of the safety configuration.



Export mechanism geometry

It is now possible to export a mechanism to various graphics formats including glTF.

Improved support for SpaceMouse from 3Dconnexion

The support for 3Dconnexion SpaceMouse devices has been improved.
  • Added support for physical buttons or mappings for top/bottom/left/right/front/back view, fit and toggle perspective/orthographic projection.
  • When using a SpaceMouse, the view can be rotated freely and the "up" direction is no longer locked to the positive z axis. To disable this behavior, open Advanced Settings in 3DxWare and uncheck the sideways rotation option:

OmniCore Virtual Controller for IRB 460, 660, 4600, 6650S and 6700

Added support for creating an OmniCore Virtual Controller for IRB 460, 660, 4600, 6650S and 6700. RobotWare 7.4 or later is required.

Wizard Easy Programming Add-In included for collaborative robots

The Wizard Easy Programming Add-in is now included when creating a virtual controller for collaborative robots (single-arm YuMi®, GoFa™ and SWIFTI™).
If the Add-in is not already present on the PC, it is downloaded and installed automatically.

Improvements

Installation Manager now checks that a robot is selected

Installation Manager 6 and 7 now checks that a robot is selected before any changes are applied. 
The installation can continue if the user loads a robot manually or via an AddIn.

IOC Offline shows all configurable RobotWare versions

It is now possible to create a project in I/O Engineering offline tool with RobotWare version 6.10 and higher.

Information

Installation Manager can no longer choose the product folder

This is a clarification about changes in RobotStudio 2021.2.

The 'Installation location for virtual controller products' setting that changes the location where RobotWare and AddIns for virtual controllers are installed, will only be available in RobotStudio under 'Options' ,'Files & Folders'. This path is automatically used by Installation Manager. Previously, there were settings for this in both Installation Manager Preferences and RobotStudio Options.

Corrections

PDD
13288Positioner Smart Component not working

Fixed an issue where the Positioner Smart Component didn't work with physics-enabled objects during simulation.

13548Mirroring with offsets

Mirror Path now supports move instructions with Offs() and RelTool() in the target arguments. The displacement parameters of Offs() and RelTool() are copied as-is and are not mirrored.
13864Visual SafeMove: Not possible to configure Category1Stop for Stand Alone Controller

It is now possible to configure stops as long as there is a drive module.
13878Output window scrolling issue

The Output window has been improved making sure the newest item at the bottom of the list is automatically scrolled down to while another tab or window tab is active. 
13891SteamVR Motion Smoothing issue

SteamVR consumed all memory in the computer when starting a VR session in RobotStudio if Motion Smoothing was enabled in SteamVR. This caused Windows to crash and the computer had to be restarted.

To avoid this instability RobotStudio now prevents a VR session from being started if Motion Smoothing is enabled and instructs the user in the output window to disable Motion Smoothing.

Motion Smoothing can be disabled in SteamVR Settings.

13909 Visual SafeMove: Unhandled exception

Fixed an error that caused RobotStudio to crash when selecting additional axes that were on a different drive module than the robot.
13910Help file windows are opened behind the RobotStudio main window

Help files now open in front of the RobotStudio main window.
13925Incorrect change of an object's physics behavior

Fixed a problem where an object's physics behavior would not be restored correctly after it was attached and detached using Smart Components.
13933 Distribution package problem

Fixed a problem introduced in RobotStudio 2021.2 that prevented certain distribution packages containing library components from being loaded.
13953RobotStudio unable to create Station Viewer from large station

Fixed an issue with creating an executable Station Viewer from a large (over 2GB) station.
13968Visual SafeMove: Protected Elements do not correspond to the

The entries under Protected Elements now correspond to the functions available in OmniCore.
13980Visual SafeMove: Not possible to use logical axis 12

It is now possible to configure an Additional Axis for logical axis 12.
13981Visual SafeMove: Global signal LocalEmergencyStopStatus missing in all signal drop-down lists

LocalEmergencyStopStatus is no longer missing in older RobotWare. They are only excluded from safety configuration version 1.5.0 and newer.
14009Visual SafeMove: Actuator order issue in Pre/Post-logic

The order of actuators in Visual SafeMove, Safe IO Configurator Pre/Post-logic logic blocks will now be correctly stored and shown.
Visual SafeMove: False Error icon in Safe IO Configurator

Fixed an issue introduced in RobotStudio 2021.2 that caused an error indication to appear in the Signal Safe IO Configurator when there was no error. This happened for configurations with CIP safety and schema version older than 1.03.00.
RobotStudio Text Editor dark theme

Fixed text coloring when editing .cfg files in the text editor.
Visual SafeMove: Encapsulate upper arm not working for IRB 920T

Encapsulating upper arm is now working for IRB 920T
Visual SafeMove: Safe Range axis generated wrong in the graphic on IRB 14050 Single-arm YuMi

Safe ranges are now generated correctly in graphics.
Visual SafeMove: I

When generating a Tool Orientation Supervision from a simulation, the tolerance value could become invalid in rare cases.
This is now fixed.
Visual SafeMove: General Output not displayed as Reader
When assigning a global signal to a General Output node, the General Output is now displayed as a reader of the signal in the Safe IO Configurator window.

Save RAPID module to network location fails

A RAPID module in a virtual controller can now be saved to a network location.
VR: Tutorial and Show Tips shown together

Fixed a problem in VR where button tips and the tutorial could be shown in the same place and cause flickering.
VR Meeting: Conveyor objects invisible in guest RobotStudio

Improved support for transfer of objects created during a meeting. For example, generated conveyor objects are now transferred to the guests.
VSM: Unit for Max force in TFS is not mentioned in safety report

Tool Force Supervision Max force value is now followed by a unit in the safety report.
Visual SafeMove: Attribute "protected" removed

Protected attribute is no longer removed on devices/modules when opening a safety configuration while IO Engineering Tool is open. 
Visual SafeMove: Warning message for elbow offset is not in same units as in VSM property window

Warning for elbow offset now has correct units

Dark theme read-only color makes RAPID code difficult to read

Adjusted the background color in the RAPID editor to improve readability in read-only mode.
Help opens new instance every time

Fixed an issue which caused multiple instances of HTML help to be opened for a help file.
Error when creating controller from layout with positioner and RobotWare 5.16

Fixed an error that occurred when creating a RobotWare 5.16 virtual controller from layout with certain IRB K, R and A positioners.


CTRL-A no longer works in some windows when a line in the output window is selected

This is now fixed.

I/O Data Editor: Missing columns for Device and DeviceMap

Fixed a bug where the Device and DeviceMap columns were missing in I/O Data Editor, for RobotWare 7 configuration files
UINumTune not supported in Operator Window

The RAPID functions UINumTune and UIDnumTune are now supported by the Operator Window in RobotStudio.
Distribution Package: https link in manifest.xml causes error

Fixed a problem where https links in a Distribution Package manifest would cause an error and prevent the package from being loaded.
Not possible to start VC

Fixed an error that could occur when removing a Virtual Controller and restarting it again.
I/O Configurator - PROFINET Maintenance Alarms

The issue, in the diagnostic part of the I/O Configurator tool, with the PROFINET maintenance alarms for fiber optic devices has now been corrected and alarms from fiber optic devices shall now appear.