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Recent Releases of robotcomponents

robotcomponents - Robot Components v3.2.1

  • Added the IRB5720 robot presets.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman 11 months ago

robotcomponents - Robot Components v3.2.0

  • Added the current configuration data and all configuration datas as variable output parameters to the path generator component. Added the configuration data of all calculated robot joint positions as property to the path generator class.
  • Added the configuration data of the latest calculated robot joint position as a variable output parameter to the inverse kinematics component and as a property to the inverse kinematics class.
  • Added an estimated program time as variable output parameter to the path generator component and as property to the path generator class.
  • Renamed the methods called Substract to Subtract in the robot joint position and external joint position class. Old methods are made obsolete.
  • Disabled the warning messages that were raised when configuration control was disabled in the path generator component.
  • Improved the warning messages of the upload program and run program components.
  • Added the method Normalize to the robot joint position class.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman about 1 year ago

robotcomponents - Robot Components v3.1.3

  • Enhanced the Set Joint Configuration Control action in the path generator. Joint one is now excluded from adding or subtracting complete rotations.
  • Updated the configuration data parameter checks for cf1, cf4, and cf6. For example, if the joint angle is 90 degrees, Quadrant 0 (0-90) and 1 (90-180) are now considered valid inputs, whereas previously only Quadrant 0 was valid.
  • Added checks to the Upload RAPID Module component before upload. It now checks whether the module's first and last lines are correct.
  • Refined the mesh of the IRB 7600-325/3.10 robot preset.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman about 1 year ago

robotcomponents - Robot Components v3.1.2

  • Improved the method to get the closest Robot Joint Position to the previous Robot Joint Position in the inverse kinematics solver. This improved the behavior of the Set Linear Configuration Control and Set Joint Configuration Control actions in the Path Generator.
  • Added warning messages to the Path Generator, notifying users that if Configuration Control is disabled, the Path Generator will use an approximation. Robot Studio is required for accurate simulations.
  • Incorporated the cf1, cf4, and cf6 parameters of the Configuration Data into the inverse kinematics solver.
  • Loosened the check for wrist singularities in the OPW kinematics solver.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 1 year ago

robotcomponents - Robot Components v3.1.1

  • Added a check for multiple check variable name components in one document.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 1 year ago

robotcomponents - Robot Components v3.1.0

  • Added the Check Variable Names component. With this component, the check for duplicate variable names in the Grasshopper document can be disabled.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 1 year ago

robotcomponents - Robot Components v3.0.3

  • Added the IRB5710 robot presets.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 1 year ago

robotcomponents - Robot Components v3.0.2

  • Changed the default variable type of the configuration data from VAR to CONST.

- C#
Published by arjendeetman over 1 year ago

robotcomponents - Robot Components v3.0.1

  • Fixed a bug in the Inverse Kinematics and Path generator component. Components could raise an error after multiple run counts.
  • Fixed a bug in the generic OPW kinematics solver. The solution was not correct if the lateral offset b was unequal to zero.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman almost 2 years ago

robotcomponents - Robot Components v3.0.0

Disclaimer

This release contains breaking changes in both the API and Grasshopper plugin. Old files may not function anymore and need to be updated. We tried to keep the changes to existing Grasshopper files to a minimum. Breaking changes are, but are not limited to: - Parameters that were internalized with v2 might not load correctly with v3. - Dropped the support for Rhino 6. Use Rhino 7 or higher.

A detailed overview of all the changes:

  • Replaced the ToRAPIDDeclaration(RAPIDGenerator rapidGenerator) and ToRAPIDInstruction(RAPIDGenerator rapidGenerator)for one method ToRAPIDGenerator(RAPIDGenerator rapidGenerator).
  • Refactored the path generator, RAPID generator, forward kinematics and inverse kinematics class. The actions, joint positions and movements needed for calculations are passed through the methods and not via the constructors and properties anymore.
  • Cleanup of several classes. As a consequence, several methods and properties are removed, mainly from the Robot Tool and Work Object class.
  • Added the CRB15000-10/1.52 (GoFa 10) and CRB15000-12/1.27 (GoFa 12) robot presets. API only since the inverse kinematics solver has not been implemented yet.
  • Changed the access level of most of the utility and helper methods of the GH project to internal use only.
  • Changed the Action abstract class to an IAction interface.
  • Changed the External Axis abstract class to an IExternalAxis interface.
  • Updated the ABB PC SDK to version 2024.1.
  • Removed the obsolete classes, methods and properties from the API.
  • Removed the separate robot preset components.
  • Replaced the Windows forms for Eto forms.
  • Added the offset wrist kinematics parameter A3 as a property to the robot class.
  • Added a check for shoulder singularities to the inverse kinematics solver.
  • Added the Get Axis Planes from Kinematics Parameters component.
  • Added the Get Kinematics Parameters component.
  • Added the Path Acceleration Limitation component.
  • Added the Acceleration Set component.
  • Added the Velocity Set component.

Please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman almost 2 years ago

robotcomponents - Robot Components v2.2.2

  • Fixes a bug in the generic OPW kinematics solver.

If you use Rhino 7 or higher, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman about 2 years ago

robotcomponents - Robot Components v2.2.1

  • Fixes a serialization issue in the Load Data, Robot Tool and Robot parameter.

If you use Rhino 7 or higher, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman about 2 years ago

robotcomponents - Robot Components v2.2.0

  • Added the MoveC instruction to the Move component.
  • Added the Circle Path Mode component.
  • Added the Pulse Digital Output component.
  • Added the Load Data component. Changed the Robot Tool component according to it.
  • Added the Configuration Data component. Changed the Robot Target component according to it.
  • Added methods to parse a RAPID data string to a declaration instance.
  • Added the IDeclaration interface to the load, tool and work object data classes.
  • Added cast to Vector to the External Rotational Axis parameter.
  • Added cast to Point and Vector to the Robot Tool parameter.
  • Added cast from RAPID data string to all declaration parameters.
  • Added cast from point to the Robot Target and Target parameter.
  • Added the In Position input parameter to the Wait for Time component.
  • Added the TimeFlag property to the WaitDI class.
  • Added the Delay and Sync property to the SetDigitalOutput class
  • Renamed the DigitalOutput class to SetDigitalOutput. The old class is made obsolete.
  • Renamed the AnalogOutput class to SetAnalogOutput. The old class is made obsolete.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 2 years ago

robotcomponents - Robot Components v2.2.0

  • Added the MoveC instruction to the Move component.
  • Added the Circle Path Mode component.
  • Added the Pulse Digital Output component.
  • Added the Load Data component. Changed the Robot Tool component according to it.
  • Added the Configuration Data component. Changed the Robot Target component according to it.
  • Added methods to parse a RAPID data string to a declaration instance.
  • Added the IDeclaration interface to the load, tool and work object data classes.
  • Added cast to Vector to the External Rotational Axis parameter.
  • Added cast to Point and Vector to the Robot Tool parameter.
  • Added cast from RAPID data string to all declaration parameters.
  • Added cast from point to the Robot Target and Target parameter.
  • Added the In Position input parameter to the Wait for Time component.
  • Added the TimeFlag property to the WaitDI class.
  • Added the Delay and Sync property to the SetDigitalOutput class
  • Renamed the DigitalOutput class to SetDigitalOutput. The old class is made obsolete.
  • Renamed the AnalogOutput class to SetAnalogOutput. The old class is made obsolete.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 2 years ago

robotcomponents - Robot Components v2.1.1

  • Improved the status and log messages of the controller utility components.
  • Improved the interpolation of linear move instructions.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 2 years ago

robotcomponents - Robot Components v2.1.0

  • Implemented the OPW kinematics solver as described in the paper 'An Analytical Solution of the Inverse Kinematics Problem of Industrial Serial Manipulators with an Ortho-parallel Basis and a Spherical Wrist' by Mathias Brandstötter, Arthur Angerer, and Michael Hofbaur.
  • Added the OPW kinematics parameters C1, C2, C3, C4, A1, A2 and B to the Robot class.
  • Added the WristOffset property to the Robot class.
  • Added a check for wrist singularities to the Path Generator.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 2 years ago

robotcomponents - Robot Comonents v2.0.5

  • Added a check for elbow singularities to the InverseKinematics class. This improves the pose of the robot in Grasshopper in case there is an elbow singularity.
  • Added the ElbowLength, LowerArmLength and UpperArmLength properties to the Robot class.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman over 2 years ago

robotcomponents - Robot Components v2.0.4

  • Fixed an issue with uploading modules to OmniCore controllers with RobotWare 7.
  • Changed the remote directory path from RAPID to Robot Components/temp.
  • Changed the axis limits of the ABB GoFa CRB15000 robot preset.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman almost 3 years ago

robotcomponents - Robot Components v2.0.3

  • Fixed an issue with uploading modules to controllers with RobotWare 7.

This version is a pre-release that is only published on GitHub.

- C#
Published by arjendeetman almost 3 years ago

robotcomponents - Robot Components v2.0.2

  • Changed the creation of panels in the Get Signals, Set Signals and Read Domain components of the Controller Utility category. If a panel is already connected to the input parameter, the existing panel will be filled with data instead of creating a new panel.

This version is a pre-release that is only published on GitHub.

- C#
Published by arjendeetman almost 3 years ago

robotcomponents - Robot Components v2.0.1

  • Reorganized the Forward Kinematics class and added the RobotTransforms and ExternalAxisTransforms properties. These properties can be used to transform the axis planes and meshes of the mechanical units.

This version is a pre-release that is only published on GitHub.

- C#
Published by arjendeetman almost 3 years ago

robotcomponents - Robot Components v2.0.0

Disclaimer

This release contains breaking changes in both the API and Grasshopper plugin. Old files may not function anymore and need to be updated. We tried to keep the changes to existing Grasshopper files to a minimum. Breaking changes are, but are not limited to: - If the Robot Preset component is used the robot type needs to be selected again. The form will open directly when you open the old GH file. - All components from v1 of the Controller Utility category do not function anymore. The components are still on your canvas but all of them need to be replaced with a new component. - Parameters that were internalized with v1 might not load correctly with v2. - Dropped the support for Rhino 5. Use Rhino 6 or higher.

A detailed overview of all the changes:

  • Made changes to the project and namespace structure:
    • Changed all the namespaces from RobotComponents to RobotComponents.ABB.
    • Added the namespace and project RobotComponents.Presets for mechanical unit preset data.
    • Added the namespace and project RobotComponents.Controllers for all controller utility functions.
    • Added the namespace and project RobotComponents for generic functions.
    • Reorganized the namespaces that contain the Actions. The namespace is divided into the following namespaces: Actions.Declarations, Actions.Instructions, Actions.Dynamic and Actions.Interfaces.
  • Completely rewrote the components from the controller utility category. All old controller utility components are made obsolete and do not function anymore. The following changes were made in the new controller utility section:
    • All controller functionality is placed inside its own project RobotComponents.ABB.Controllers. Only this project has references to the API of the ABB controller. The Grasshopper components only refer to RobotComponents.ABB.Controllers namespace and not directly to the API of ABB.
    • Updated to the latest ABB PC SDK (2022.3).
    • Split the remote connection component into two different components: the run program and the upload component.
    • Split the get axis values component into two different components: the get robot joint positions and the get external joint positions component.
    • Split the get planes component into two different components: the get robot tool plane and the get external axis planes component.
    • Added the get log component.
    • Added the get task names component.
    • Added the get robot base frames component.
    • Added the get and set analog in- and output components.
    • Added the read configuration domain component.
    • Added the read RAPID domain component.
    • Added the get robot targets component.
    • Added the get joint targets component.
  • Changed the mesh output parameters and preview methods of the simulation components:
    • Added the posed meshes output parameter as a variable output parameter to the inverse kinematics and path generator component.
    • Changed the posed meshes output parameter of the forward kinematics component to a variable output parameter.
    • Added the preview path menu item to the path generator component to enable or disable the path preview independently from the other parameters of the component.
  • Added the tooldata and wobjdata to the main module in the RAPID generator. Removed the system module.
  • Added the scope property to all RAPID declaration classes.
  • Removed the obsolete classes, methods and properties from the API.

This version is a pre-release that is only published on GitHub.

- C#
Published by arjendeetman about 3 years ago

robotcomponents - Robot Components v1.5.1

  • Updated the robot meshes.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman about 3 years ago

robotcomponents - Robot Components v1.5.0

  • Fixed a visualization issue in the Forward Kinematics, Inverse Kinematics, Path Generator and Deconstruct Robot components. Not all meshes were displayed when lists and trees were used as input. The Inverse Kinematics component is made obsolete and replaced with a new component.
  • Improved the performance of the components that use the document manager that keeps track of all the variable names. Most of these components are replaced with new components. The old components are made obsolete.
  • Changed to order of the input parameters of the Move component. The order is changed to the order of the RAPID code line.
  • Added the Movement Time input parameter to the Move component.
  • Added the Mechanical Unit parameter.
  • Added the IRB1010 Robot preset.
  • Removed the Robot Tool from Quaternions component.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman about 3 years ago

robotcomponents - Robot Component v1.4.1

  • Gave the Robot Tool parameter a new guid. The existing guid was conflicting with another plugin.

If you use Rhino 7 or 8 WIP, please use the Package Manager to install Robot Components.

- C#
Published by arjendeetman almost 4 years ago

robotcomponents - Robot Components v1.4.0

  • Added the option to calculate the closest robot joint position to the previous robot joint position to the inverse kinematics component.
  • Added the overwrite procedure name input parameter to the RAPID generator component. Made the overwrite program module name, overwrite system module name, overwrite procedure name and set custom system code line input parameters variable input parameters.
  • Added the Time property to the Movement class. If a movement time is defined, this time will overwrite the defined speeddata value.
  • Added the InPosition property to the WaitTime class.
  • Added the TimeOut property to the WaitSyncTask, SyncMoveOn and SyncMoveOff class.
  • Added the MaxTime property to the WaitDI and WaitAI class.

- C#
Published by arjendeetman about 4 years ago

robotcomponents - Robot Components v1.3.0

  • Added casting methods to the Action and Action Group parameters. These parameters can be cast from a Geometry Group parameter.
  • Added a check for null items in the deconstruct components. If the item is null the component outputs null items instead of throwing a NullReferenceException error.
  • Added an extra check for special characters in RAPID variable names. Components will raise a warning if special characters are used.
  • Added the current movement and all movements as optional output parameters to the path generator component.
  • Added properties and methods to the Action Group class.
  • Added the Wait for Analog Input component.
  • Added the Syncident goo class.
  • Changed the List type to an IList interface in all the constructors and methods of the core library to make it compatible with IronPython.
  • Fixed an issue in the duplicate method of the Robot Target class. No deep copy was made of the External Joint Position.
  • Fixed an issue in the duplicate method of the Movement class. The Target property was copied to the wrong field.
  • Fixed an issue in the generation of the RAPID code of the Zone Data. The Zone Data was handled as an instruction instead of a declaration in the RAPID generator.

- C#
Published by arjendeetman about 4 years ago

robotcomponents - Robot Components v1.2.0

  • Added transformation methods to the Robot parameter. In Grasshopper it will transform the Robot and the external axes that move the robot. Other external axes that are part of the robot will not be transformed.
  • Added casting methods to the External Axis, External Rotational Axis, and External Linear Axis parameter.
  • Added enumerations for predefined zonedatas and speeddatas, and constructors that use these enumerations.
  • Added the CRB15000 robot preset. API only, this robot needs a revision of the kinematics. After this revision, it will be available as a Grasshopper component.
  • Added the IRB1520ID-4/1.5 robot preset.
  • Fix in defining the position of a custom robot if an external axis moves the robot. This component has now the same behavior as the robot preset components.
  • Fix in using the robot presets via the API. If no external axes were defined in the GetRobot method the values were set as null instead of an empty list with external axes.
  • Fix in the duplicate method of the Robot class. It was not making a deep copy of all the fields.

- C#
Published by arjendeetman about 4 years ago

robotcomponents - Robot Component v1.1.0

  • Added functionality for multi-move programming:
    • Added the Task List component and parameter to define the multi-move programming tasks.
    • Added the Wait Sync Task component and parameter to define a wait synchronization point.
    • Added the Sync Move On component and parameter to define the start of a sequence with synchronized movements.
    • Added the Sync Move Off component and parameter to define the end of a sequence with synchronized movements.
  • Updated the RAPID generator:
    • Added automatic assignment of syncidents to synchronized movements.
    • Re-organized how the declarations are stored in the RAPID module
    • User-defined comments are placed on top
    • Declarations for multi-move programming are placed underneath the user-defined comments
    • All other declarations are placed underneath and sorted alphabetically.
  • Improved the check of the first movement type by including the movements of the action group.
  • Updated the mesh of the IRB6700-200/2.60 robot preset.

- C#
Published by arjendeetman about 4 years ago

robotcomponents - Robot Components v1.0.2

  • Fix in the code line, comment and move component. These components were generating a datatree on the first runtime while the output should be a list or an item.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v1.0.1

  • Fixed an issue with the deserialization of old Robot and External Joint Position instances.
  • Added the pick task functionality to the remote connection component.
  • Updated the IRB1300 robot preset mesh.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v1.0.0

  • Major release since incompatible changes were made in the Grasshopper interface. The components that were flagged as obsolete before the first Food4Rhino release (v0.11.000, 29 Jul 2020) are removed.
  • Added variable name input parameters to the Robot and External Joint Position components. Updated the deconstruct components according to it. The Joint Position components are replaced by new components, and the old components are flagged as obsolete.
  • Internal code improvement of the Move component. The component is replaced by a new component, and the old component is flagged as obsolete.
  • Remote upload of RAPID code only works if one task is defined in the controller. It was automatically picking the first task. Picking a task will be added in the future.
  • Complete rework of the object manager (that informs the user if there are duplicate variable names).

From this version, we follow the Semantic Versioning scheme.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v0.17.002

  • Fixed an issue with the position of the robot when constructing a custom robot. This issue only occurred when the robot position plane was unequal to the world coordinate plane.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v0.17.001

  • Added casting methods to the Target, Joint Target, Robot Target and Move parameter.
    • Targets, Robot Targets and Movements can be casted from Planes.
    • Targets, Joint Targets and Movements can be casted from Robot Joint Positions.
  • Fixed the indent of the custom RAPID code line and comment in case they were used as declarations.
  • Changed the methods of the ITarget and IJointPosition interfaces.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v0.17.000

  • Changed the output of the RAPID Generator component to a list with code lines instead of one field with text. This improves the performance if the RAPID code is visualized with a panel. Changed the Remote Connection component according to this change.
  • Name of all declarations (robottarget, jointtarget, zonedata, speeddata) can be empty. No declarations will be defined in the RAPID program module if the name is empty.
  • Name of Action Group can be empty. No comments at the start and the end of the group with actions will be inserted in the RAPID program module if the group name is empty.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v0.16.000

  • Added the Group Actions component.
  • Added the Ungroup Actions component.

- C#
Published by arjendeetman over 4 years ago

robotcomponents - Robot Components v0.15.000

  • Added the Robot Tool Calibration component (EXPERIMENTAL)
  • Added the tool Mass, Center of Gravity and Moment of Inertia as variable input parameters to the Robot Tool from Planes component.
  • Added the tool Mass, Center of Gravity and Moment of Inertia as output parameters to the deconstruct Robot Tool component.
  • Added default input values to the upload, run and stop input parameters of the Remote Connection component.

- C#
Published by arjendeetman almost 5 years ago

robotcomponents - Robot Components v0.14.000

  • Added the Set Joint Configuration Control component and the Set Linear Configuration Control component. These components replace the Set Auto Axis Configuration component.
  • Solved the issue that the Speed Data component, the Zone Data component, the Robot Target component and the Joint Target component are not correctly renaming the variable names of these declarations in case these components generate a datatree.
  • Made the Set Auto Axis Configuration component obsolete.
  • Made the Name Generator component obsolete.
  • Added the interfaces IDeclaration, IInstruction and IDynamic.

- C#
Published by arjendeetman about 5 years ago

robotcomponents - Robot Components v0.13.000

  • Added the Robot presets of the IRB1100 and IRB1300 series.
  • Added a warning message to the Move component. A warning message will be shown if a robot target is combined with a MoveAbsJ instruction since for that combination the robot target is transformed to a joint target.
  • Added a new Robot Preset component. With this component the preset can be selected from a window with a dropdown menu. The window will appear when the component is placed on the canvas. The window can also be opened with a right-click menu item.
  • Added the Set Analog Output component and parameter.
  • Added the axis logic number and moves robot parameters to the External Rotational Axis and External Linear Axis component. These input parameters are added as variable input parameters and can added and removed via the right-click menu items.
  • Changed the input parameter of the Work Object component form an External Rotational Axis parameter to an External Axis parameter. A work object can be moved by all external axis types.
  • Changed the output parameters of the Path Generator component. Only the path curve is a fixed output parameter. All other parameters are variable output parameters that can be added and removed via the right-click menu items. Additionally, the lists with the robot and external joint positions of the whole path are added as variable output parameters.

- C#
Published by arjendeetman about 5 years ago

robotcomponents - Robot Components v0.12.000

  • This release mainly consists of a clean-up of the base classes for a first release of the API documentation:
    • Revised the XML comments of the base classes.
    • Revised the constructors, methods and properties of the base classes.
  • Added serialization and (de)serialization methods to some of base and goo classes. This makes it possible to internalize the data of the parameters.
  • Changed the assignment of the external axis logic numbers. If an axis logic number is defined, this axis logic number will be used. Otherwise the order of the external axes in the list will define the axis logic numbers. The assignment of an user defined axis logic number is only accessible through the API.
  • Added the ReferenceType enumeration. and added it as property to all declarations. Changing a reference type is only possible through the API.
  • Improved the warning messages of the Path Generator component. It is checking the axis limits of all movement types.
  • Changed the CodeType property of the Code Line and Comment base class to an enum.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.11.005

  • Bug fix in the RAPID code of the tooldata. The quaternion was incorrect when an attachment plane was defined that was unequal to the xy-plane.
  • Bug fix in the Plane to Quaternion component. The quaternion was incorrect when a reference plane was defined that was unequal to the xy-plane.
  • Added the functionality that spaces will be replaced with underscores and that new lines will be removed in the variable names of the RAPID declarations.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.11.004

  • Modified the RAPID generator. It only adds the robot tools and work objects to the system code if they are used.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.11.003

  • Bug fix in the RAPID code of the tooldata. The position (x, y, z) was incorrect when an attachment plane was defined that was unequal to the xy-plane.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.11.002

  • Solved a bug in the document manager. The document object manager will be removed when the document is closed.
  • Improved the functionality of the Auto Axis Config instruction in the path generator. The method for calculating the closest robot joint position is improved.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.11.001

  • Added value list components / parameters to the code generation category
  • Added the Auto Axis Config instruction to the the path generator
  • Added the SyncID property to the movement class (for multi move programming)

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.11.000

  • Renamed the namespaces that contain the classes of the Grasshopper plugin (components, parameters, goos etc.).
    • Renamed RobotComponentsABB to RobotComponents.Gh
    • Renamed RobotComponentsGoos to RobotComponents.Gh.Goos

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.10.002

  • Changed the .NET target framework from version 4.6.2 to 4.8
  • Updated the controller utility section to ABB PC SDK version 2020.1
  • Changed the exposure of the definition components

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.10.001

  • Solved a bug in generating the RAPID code for a MoveJ instruction.
  • Added the suffix _jt to the joint target name if it is generated from a robot target.
  • Made one dictionary for checking duplicate target names in the RAPID generator. It was using separate dictionaries for the joint and robot targets.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.10.000

  • Added the Robot Joint Position component and parameter.
  • Added the External Joint Position component and parameter.
  • Added the Joint Target component and parameter.
  • Changed Target component to Robot Target component.
  • Added the Robot Target parameter.
  • Changed the casting methods of the Target parameter. It can cast both Joint and Robot Targets.
  • Rewrote the Path Generator base class. Now it should be easier to understand how the code works.
  • Modified the Move component and Movement base class. Move instructions can be combined with Robot and Joint Targets.
  • Reworked the Inverse Kinematics component: uses Joint Position parameters instead of lists with axis values. The IK is also the checking the target type. Works with both Robot and Joint Targets. The IK component is visualizing the pose of the robot. It is not necessary anymore to visualize the result with the Forward Kinematics component.
  • Reworked the Forward Kinematics component: uses Joint Position parameters instead of lists with axis values.
  • Reworked the Path Generator component: uses Joint Position parameters instead of lists with axis values.
  • Reworked the Get Axis Values Generator component: uses Robot Joint Position parameters instead of lists with axis values.
  • Made the Absolute Joint Movement component and parameter obsolete. Instead, combine a Joint Target with a Move instruction.
  • Removed all unnecessary preview interfaces from the goo and parameter classes.
  • Removed the name BaseClasses from all the namespace naming’s.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.09.001

  • Solved a bug in the object manager. The external axis components kept calling and recalculating itself. This was making the Grasshopper solution slow when external axes were used.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.09.000

  • This release mainly contains changes in the interface and text fields.
    • Placed the Code Generation components in the subcategories declaration, instruction and dynamic.
    • Refined all the descriptions of the components.
    • Renamed Timer to Wait Time.
    • Renamed Robot Info to Robot.
    • Removed the Tool Plane output parameter from the Deconstruct Robot component.
    • Removed the Robot Tool Code output parameter from the Robot Tool components.
    • Removed the String output parameter from the Plane to Quarternion component.
    • Reworked some of the icons.
  • Added an input parameter to the Code and Comment component. With this input parameter the user can define if the custom Code or Comment is a declaration or an instruction.
  • Improved the document object manager.
  • Updated the links to the reworked documentation website.

- C#
Published by arjendeetman over 5 years ago

robotcomponents - Robot Components v0.08.001

  • Updated the links to the documentation.
  • Improved the string representation of the objects.

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.08.000

  • Added Zone Data component and parameter. The user can now construct a custom zonedata. Number values will be casted to the nearest predefined zonedata. Text values such as z0 and z5 can also be casted to predefined zonedatas. Since the input parameter type of the movement components are changed they are replaced with new ones. The old components are made obsolete and have the same functionality as before, however, they should be replaced with the new components.
  • Improved casting of numbers and text to a predefined speeddata. A speeddata will be casted to the nearest predefined speeddata. This does not change any functionality. The user will still be warned when an invalid number value is used. Text values such as v5 and v10 can also be casted to predefined speeddatas.
  • Moved Robot Info presets to the bases classes. This makes them independent from Grasshopper. Mesh serialization and deserialization is done with the System library instead of the Grasshopper library. Methods for this are added to HelperMethods of the base classes.
  • Added Robot Info presets: IRB6620, IRB6640, IRB6650, IRB6650S, IRB7600 and IRB7600 series.
  • Modified the path generator component. The path generator component visualizes the posed robot and external axis meshes. It is not necesarry anymore to use the forward kinematics component to visualize the robot poses calculated by the path generator. Added the posed external axis planes as output to the path generator component.
  • Inverse kinematics solutions are checked for if the calculated axis values are in range. The inverse kinematics, rapid generator and path generator components are raising warnings when axis values of absolute joint movements are not in range. For other movement types (MoveL and MoveJ) it is not checking if the targets are in range of the robot.
  • Added Get Object Manager component (for debugging and development purposes). Advanced user with coding experience can access here, for example, all the work objects and robot tools that are stored in the document object manager.
  • Improved the remote RAPID code upload to the controller. The order of how the modules were uploaded was raising an error/warning message on the real controller. The code could still be executed.
  • Solved an issue in the path generator. The path generator was raising an error when linear movements were used between fixed and movable work objects.
  • Added reference plane input tot the Plane to Quaternion component.
  • Removed the Target Visualizer component since all targets and movements can be casted to a plane. The Plane Visualizer can be used to display the orientation.
  • Removed the Robot Tool from Euler Data component.
  • Small fixes (e.g. text correction and error/warning messages improvements).

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.07.004

  • Solved a bug in generating the RAPID code from the movement action. The RAPID code was constructed wrong and causing an error.
  • Solved a bug in the get axis values component. It is now returning the axis values of all external axes instead of only the axis values of the first external axis. The component returns the external axis values in a datatree with a branch for each mechanical unit.
  • Split the calculate method of the IK base class in two separate methods: one method for calculating the internal axis values and one method for calculating the inverse kinematics. Changed the code generation of the movement action according to it. It is not necessary to always calculate the internal axis values. Removed the unnecessary calculations. This results in a performance improvement of the RAPID generator.
  • Changed the code / module input of the remote connection component from item to list. A list with multiple modules can directly be uploaded now.

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.07.003

  • Bug fix in FK and IK component. The components gave the same solution if multiple FK or IK components were used.
  • Added right-click menu items that direct to the web page with the component documentation.
  • Added more constructors to some of the base classes.

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.07.002

  • Added ABB predefined speeddata names as default names to the object manager. A warning will be raised when the user wants to use this speeddata name as custom speeddata.
  • Made the input of the robot tool meshes optional inputs for all the robot tool components.
  • Changed the in- and outputs of the Quarternion to Plane and Plane to Quarternion component.
  • Bug fix in the path generator. The path was not displayed correct when the robot tool was changed between two linear movements.
  • Added the inverse and forward kinematics as property to the robot info class.
  • Added new methods to all the action classes. It is now possible to generate RAPID code without the RAPIDGenerator. This makes it possible to built custom made RAPID generators through e.g. python or C# scripting inside Grasshopper.

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.07.001

  • Solved the bug that the warnings were not raised when duplicate Robot Tool names were used.
  • Added the component to create a Robot Tool from quarternion values.

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.07.000

  • Added Get Plane component to the Controller Utility section. This component gets the external axis planes and / or the robot TCP plane directly from the controller.
  • Modified the Remote Connection component. When the RAPID code was uploaded the tasks were deleted from the controller and replaced with a new task wherein the modules were uploaded. The modules are now uploaded to the first task. The current task will not be overwritten so the calibration data will not get lost. Added also the possible to only upload the program module or the system module by leaving one of the two code inputs empty.
  • Modified the RAPID Generator component. The module names of the program and system module can now be definied by the user. Created an input for adding custom code lines to the system module. Removed the save to file inputs from the input parameters. The modules can be saved to a file through the new right click menu items.
  • Added casting to methods to the ABB Signal Goo. Removed the signal state from the get digital in- and output components since the signal can now be casted to a bool, an integer and a number.
  • Added a warning message to the components that are OBSOLETE.

- C#
Published by arjendeetman almost 6 years ago

robotcomponents - Robot Components v0.06.000

  • Added the Absolute Joint Movement component.
  • Added the Quarternion to Plane component.
  • Added the External Rotational Axis component and parameter.
  • Added support for a movable work object. An external rotational axis can be attached to a work object.
  • Major performance improvement of the RAPID generator.
  • The Override Robot Tool component now generates a RAPID comment line with the message that he default tool is changed.
  • If the RAPID code is saved to a file it will not re-generate the code anymore by default. The last generated code will be saved.
  • Reorganized the Goo classes. The RobotComponents Goos have now their own .dll file. Also renamed the Goos from e.g. MovementGoo to GH_Movement. Now the naming of the Goos is matching with the Goos of Grasshopper.
  • Added general Action parameter.
  • Added general External Axis parameter.
  • Added the External Axes as output to the Deconstruct Robot Info component.
  • The Deconstruct Robot Info component is now displaying the Robot mesh at its location in the world coordinate space.

- C#
Published by arjendeetman about 6 years ago

robotcomponents - Robot Components v0.05.001

  • Re-organized the names of the namespaces of the base classes. If you use the RobotComponents.dll in your project you have to check your references.
  • Improved the performance of the forward kinematics component when the user hides the mesh.
  • Small bug fix in the interface of the custom menu items of the target component.
  • Improved the performance of the path generator component.
  • Added new "casting to" properties to some of the parameters.
  • Speeddata parameter is now visible.

- C#
Published by arjendeetman about 6 years ago

robotcomponents - Robot Components v0.05.000

  • Split Robot Components in two parts. The base classes have now their own .dll file.
  • Added work object component, work object parameter and deconstruct work object component.
  • Made a new target component. The old component is marked as obsolete and will be removed in the future. The following functions are added to the new component:
    • Added the possibility to override all the six external axis values. The input is accessible via the right-click menu.
    • Added a reference plane input. If a reference plane is used the target planes will be re-oriented from this plane to the XY-plane. The input is accessible via the right-click menu.
  • Made a new movement component. The old component is marked as obsolete and will be removed in the future. The following functions are added to the new component:
    • Added the input for overriding the robot tool. If a robot tool is set this tool will be used for this movement. Otherwise the tool set from the override robot tool component tool will be used or the tool attached to the robot. The input is accessible via the right-click menu.
    • Added the input for overriding the work object. By default the work object is set to wobj0 (XY-plane). The input is accessible via the right-click menu.
    • Added input for a digital output. If a linear movement or a joint movement is combined with a digital output this will result in the instruction MoveLDO or MoveJDO. If a digital output is set for an absolute joint movement, the SetDO instruction will be set after this movement. The input is accessible via the right-click menu.
  • The movement component and parameter are visualizing the orientation of the target plane in the world coordinate system.
  • Fixed the bug with the object manager. Robot Components is now creating its own document ID based on the Grasshopper document GUID and the file path. The hash code of the file path is added to the Grasshopper document GUID.
  • Changed the input of the inverse kinematics component from a target to a movement. A target will now automatically be casted to a movement with the default work object wobj0.
  • Added the functionality that the forward kinematics component can hide the mesh.
  • All Robot Components parameters are now visible and accessible.
  • Added different casting to and casting from methods to the Robot Components parameters. For example:
    • A target can be casted to a plane. This results the target plane in the local coordinate system.
    • A movement can be casted to a plane. This results the target plane in the world coordinate system. Therefore, the target plane is re-oriented from the defined work object coordinate system to the world coordinate system.
    • A work object can be casted to a plane. This results the work object plane in the world coordinate system.
    • A movement can be casted from a target. This will result a movement with work object wobj0, the axis configuration zero, the pre-defined speeddata v5 and as movement type and absolute joint movement. This is typically used to make the inverse kinematics component work with robot movements.
  • All the robot info components will raise an error when more than one external linear axis is used as input. Robot Components supports systems up to one external linear axis.

- C#
Published by arjendeetman about 6 years ago

robotcomponents - Robot Components v0.04.020

  • Improved expire solution of the movement component and the movement type value list.
  • The path generator takes now into account the axis configuration of the targets.
  • Bug fix in asynchronous target creation.
  • Made reference to RobotComponents parameters if they are used as input.
  • Bug fix in storing and maintaining robot tools in the object manager.

- C#
Published by arjendeetman about 6 years ago

robotcomponents - Robot Components v0.04.019

  • Added MoveJ: The user can now select MoveAbsJ, MoveL and MoveJ as a movement type
  • Fixed bug in the Robot Info component: A custom Robot Info is now also working with an external linear axis
  • Perfomance update of the get and set digital in- and outputs components: Faster reading of the signal values
  • Major code clean up

- C#
Published by arjendeetman about 6 years ago

robotcomponents - Robot Components v0.04.018

  • Major update of example files
  • Target visualizer is now passing irrelevant data
  • Added Plane to Quarternion component (utility)
  • Added IRB120
  • Added IRB140
  • Added missing robots from the IRB1600 serie
  • Added IRB2600 serie
  • Added missing robots from the IRB4600 serie
  • Added IRB6650-3.2/125

- C#
Published by arjendeetman over 6 years ago

robotcomponents - Robot Components v0.04.017

  • Fixed bug that the rapid generator was always raising a warning.
  • Path curve is now displayed correct.
  • Update of external linear axis component
  • Added deconstruct linear axis component
  • The input mesh of the robot tool components is now joined automatically
  • Forward kinematics component now outputs the attachment plane of the external axes
  • Updated bounding box of the robot tool, robot info and external axes
  • Small bug fix in plane visualizer

- C#
Published by arjendeetman over 6 years ago

robotcomponents - Robot Components v0.04.016

  • Major update linear axis component
  • Added an update button to the Rapid generator component

- C#
Published by arjendeetman over 6 years ago