We’re excited to announce the latest software updates for MachineMotion v3.4.0. Below is a quick summary of what’s new, followed by the detailed release notes.
Support the new Conveyor Motor and its - configuration, jogging from Manual Mode, and programming via MachineLogic Code-Free and Python, as well as the TCP Socket API.
Introduced acceleration limits on all Fanuc cobot models.
🛠️ Full Release Notes
General
Support the new Conveyor Motor and its: configuration, jogging from Manual Mode, and programming via MachineLogic Code-Free and Python, as well as the TCP Socket API.
This motor offers the same motion capabilities as the step-servo motor, except homing.
It reports the state of its A and B sensor ports, but those sensor states do not affect motion behaviour. Those ports are intended to be used with box-detecting sensors for conveying systems. The state of these sensors can be seen in Manual Mode page, and read in MachineLogic Code Free and Python
Introduced acceleration limits on all Fanuc cobot models. These limits prevent drifting issues that happen at high speeds, caused by Fanuc stream motion. The values are meant to reflect the maximum of 1 rad/sec2 recommended by Fanuc. The applied limits are:
Joint limits: 1 rad/sec2
Cartesian limits: 500 mm/sec2
Please note that there is no guarantee that the applied cartesian limits will result in moves respecting the joint limits. You should be using the Fanuc cobot at slower speeds to ensure absence of drift. As a result to the new robot limits, the robot jogging experience in the Control Center's Manual Mode page might be slower.
Bug Fixes:
Fixed a bug where the robot’s TCP offset was not applied upon reconnection.
Fixed a bug in the App Launcher that was causing lagginess in the Palletizer MachineApp.
Fixed a bug with the troubleshooting page showing the live view of the connected cameras.
Python SDK: fixed a bug causing the async relative and absolute moves to not be async anymore.
TCP Socket API
Added 2 new endpoints:
getSensorA_{port},{index} will return the state state of the sensor plugged into the Port A of step-servo and conveyor motors.
getSensorB_{port},{index} will return the state state of the sensor plugged into the Port B of step-servo and conveyor motors.
MachineLogic - Code Free
Conveyor motors can be programmed in ML code free using instructions from the conveyor category in the command menu
Conveyor motors can be programmed in ML code free using instructions from the conveyor category in the command menu
Users can use the conveyor inputs in the wait for instruction, set variable from device, and the state machine transition.
Variables can be created to monitor the state of conveyor motor inputs.
MachineLogic - Python Programming
Conveyor motors can be programmed using the actuator class in MachineLogic-SDK
actuator.home() is not supported for the new conveyor motor
Users can read the state of conveyor motor inputs using the digitalInput class in MachineLogic-SDK