Mech-Viz 2.0 Release Notes
This document introduces the new features, improvements, and resolved issues of Mech-Viz 2.0.
Mech-Viz 2.0.0 Release Notes
This document introduces the new features, improvements, and resolved issues of Mech-Viz 2.0.0.
New Features
Introduced Solution
From Mech-Viz 2.0.0, a Mech-Viz project must belong to a solution and cannot be used separately. The Mech-Viz and Mech-Vision projects used in conjunction must belong to the same solution to share the tool and target object configurations.
Updated Robot Model Library
All robot models in the online robot model library have been updated. Now, the origin of the reference frame for all robot models is consistent with the reference frame origin defined by the robot manufacturer.
The Update Local Model option has been removed from the context menu. If you want to update the robot model from the online robot model library, please click the Select button on the robot card, and then confirm to update.
Restructured Collisions Panel
The Collisions panel in Mech-Viz 2.0.0 is restructured and upgraded.
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Point cloud column is added as a Point cloud form for collision detection. The space below the point cloud will be filled with square columns for collision detection calculations.
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Tool models in STL format can be used for collision detection.
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Solutions to common problems are provided to help solve collision issues in typical scenarios, thus improving the success rate of path planning.
For more information about the Collisions panel, please refer to Collision Detection.
Brand New Target Object Editor
The target object editor is introduced in Mech-Viz 2.0.0 for one-stop configuration of rotational symmetry, picking relaxation, collision model, etc. The collision model of the target object can be generated with one click in the target object editor.
Click the configuration icon on the right to the Target objects in the project resource tree to open the target object editor.
For more information about the target object editor, please refer to Quick Guide to Target Object Editor.
Singularity Avoidance
A Singularity avoidance feature is added to the Basic move settings for move-type Steps. To avoid singularities, multiple segments of joint moves can be used to simulate the linear move.
Step
The new Steps or Step features in Mech-Viz 2.0.0 are listed in the table below.
Based on information such as bin and target object models, the new Smart Path in Bin Step can automatically generate paths for robots to enter the bin, pick the target object, and exit the bin. |
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Starting from the reference point, the new Move along Line Step can guide the robot to move a certain distance along the line connecting the reference point and the specified position. This Step can replace the Reference point mode in the previous Relative Move Step. |
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The new Execute Tool Action Step is usually used with the Change Tool Step whose Operation Mode is set to Auto-switch to appropriate tool to execute the corresponding tool action. |
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The Auto-switch to appropriate tool Operation Mode has been added to the Change Tool Step. Based on the tool configuration predefined in the target object editor, this Step can switch the tool to an appropriate one automatically and try to pick with the corresponding pick point. |
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Checking vision results based on custom alerts configured in Mech-Vision is now supported in the Check Vision Result Step. |
Improvements
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Plan history panel:
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The Click to zoom collision details feature is added to help locate where collisions occur.
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Duplicate entries in the plan history are removed to improve the usability during tuning.
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Total execution time and Total planning time are added to facilitate cycle time analysis and improvements.
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The Operator Mode in the toolbar is restructured into Improve Cycle Time. Enabling specific options according to the actual situation can improve the software’s efficiency.
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The improved algorithm for point cloud collision detection can improve the efficiency of path planning.
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Improved the error messages, logs, and notifications in Mech-Viz 2.0.0 to make them clearer and more user-friendly for troubleshooting.
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When copying custom names, the new Step’s name will automatically include a sequence number based on the original custom name.
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The GPU usage while the software is running is reduced.
Step
The following improvements have been made to the Steps in Mech-Viz 2.0.0.
The Filter Vision Result parameter group in Supplementary Feature is restructured and filtering poses based on the target object information or pick point label are now supported. |
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The Remove Point Cloud of Target Workobject parameter group has been removed, and this feature is combined into Problem 1 under Solutions to common problems in the Collisions panel. |
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The default Motion type in Basic move settings is changed to Linear move. |
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The Relative Move Step is redesigned, and the original features can be found in different Movement modes. |
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Classifying according to the Names of target object and pick point or Pick point label are now supported in the Classify Step, and the classified pick points can be used according to the specified Pick point order or Exit port order for path planning. |
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The Update Pick Point Label parameter is added to update the label of the target object. |
The names of the following Steps have been changed in Mech-Viz 2.0.0.
| Previous Name | New Name |
|---|---|
Vision Look |
Visual Recognition |
Check Look |
Check Vision Result |
Is Vision Result Used Up |
Whether Pick Points Are Used Up |
Update Held Workobject |
Update Held Target Object |
The following Steps are deleted in Mech-Viz 2.0.0.
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Outer Index Move
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Path Procedure
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Vision Palletizing
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Get JPs
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Set Bin
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.
Resolved Issues
The following issues have been resolved in Mech-Viz 2.0.0:
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When picking with offset, the displayed position of the target object model was wrong.
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When picking a target object with multiple pick points, the target pick point highlighted in the 3D simulation area was wrong.
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There was no inspection for the soft limits of the initial JPs of the simulated robot.
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Collision detection between the end tool and scene objects might occasionally fail.
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When depalletizing multiple boxes at once with the Vision Move Step, the picking failed if Box Surface Coverage Lower Limit under the Suction Cup Offset parameter group was set to 100%.
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When the operating system language and the software language were inconsistent, issues such as missed collision detection might occur.
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Errors might occur when converting quaternions to Euler angles.
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The robot configurations of YASKAWA_HC30PL was wrong.
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When the array gripper was used, a 180°rotational symmetry took effect by default and could not be disabled.