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RobFlow 4.1.0

· 3 min read
RobCo Team
Product

Highlights​

Landmark alignment​

Nodes can now be part of a reference group.

During initial teaching the reference group is initialised by teaching a reference pose.

An additional reference pose can be set in the reference group and all cartesian movements within the group get shifted by the offset of the two reference poses.

This for example can be used to avoid having to re-teach all movements within a machine after the Robot has been moved.

Landmark alignment

Motion blending​

Movements can now be given a blending radius allowing the Robot to cut corners.

This can greatly improve cycle times and also reduces strain on motor components.

Motion blending

Movement performance​

Movement performance, accuracy and path consistency of the Robot was greatly improved.

Experimental(!) Gamepad support​

The Robot can now be jogged using any consumer gamepad (xbox, playstation etc.).

Simply connect the gamepad to your PC (not the CU!) and press “A” to enable it.

If the gamepad is connected successfully you will see an indicator in the navigation bar.

The gamepad can also be used to add waypoints to a currently selected movement Node by pressing “A”.

Experimental(!) Gamepad support

Controller Errors/Warnings are shown in Message Log​

Errors and warnings from the Robot are now shown in much greater detail in the message log in the navigation bar.

This makes troubleshooting much easier.

Minor features​

Joining of Flow branches​

Flow branches can now be joined into a single Node reducing code duplication and improving overview.

Joining of flow branches

Shortcuts​

The following keyboard shortcuts were added for more efficient user experience:

  • CTRL/CMD+d: Duplicates selected Nodes
  • CTRL/CMD+s: Saves the Flow
  • CTRL/CMD+i: Opens the Node library and focuses the filter input so you can immediately start typing

Embedded feedback form​

You can now directly provide feedback via a form available in the context menu in the navigation bar.

Move-To-Target Button​

Move-To-Target Buttons now automatically change to STOP Buttons during movement when clicked

Move-To-Target Button->Move-To-Target Button

Miscellaneous​

  • The behaviour of Stack/Grid/Palletizing Nodes with “trigger externally” enabled was changed so that the Node now resets after the last item and the “After completion” output is only triggered once. This makes them more easy to use in endless loops
  • Stack/Grid/Palletizing move towards Approach Point now with Point to Point strategy
  • The interaction with the navigation Widget for controlling the brakes was simplified to reduce the number of clicks
  • The delay Node now works for fractions smaller than 1 second
  • Flows now pause (and can be resumed) instead of stopping if an error occurs
  • Flow/Dashboard names are now added to the filename during export for better overview
  • Message log is now persisted across reboots if not deleted manually
  • Joint LEDs now reflect the current Robot state (Blue: braked, Red: error, White: operational)

Fixes​

  • Fixed input validation in some Nodes that was not working correctly and did not highlight mistakes
  • Fixed overlapping order some for overlays that caused content to be not visible
  • Standardised naming of Pose/Position/Point
  • Fixed loading of Flows and Dashboards that sometimes got stuck
  • Fixed loading of multiple Flows/Dashboards with the same UUID which caused conflicts