Skip to main content

CW11 Update

· 4 min read

Resolver Update​

We're excited to introduce an upgrade to Resolver's PS Connector—now with enhanced smoothing value selection for motion generation. At the same time, we recognize, based on your invaluable feedback, that there are areas where we need to improve. Below we share with you what the challenges are and what we are doing.

Today's update:

  • Challenges we are working on
  • Robot vendor-specific smoothing
  • PS Connector 0.10.0-beta released

Challenges we are working on​

The performance of some features are not up to our standard
As we continue to innovate and quickly bring new capabilities to help you reduce engineering time, some of the capabilities and features are not delivering the value you have come to expect. As a result, we wanted to let you know we are working to make drastic improvements in the following areas:

Auto-tunning on Import
Issue: Auto-tuning on import with RCS can take minutes to several hours to complete.

What we are doing: We are making the import code faster, introducing fast and optimal tuning options, and allowing the user to set the simulation time interval. We expect these features to be ready shortly.

What this means for you:

  • If simulating without RCS, please use auto-tuning. It will take a few minutes.
  • If using RCS, know that auto-tuning could take several hours. In the short term, importing without auto-tuning and manually touching up collisions is also an option.

Self-collisions of robots
Issue: We have reports of self-collisions of robots and attachments. The reason for this issue is that no collision rules have been defined. Examples include 1) collisions between a weld gun and the robot and 2) collisions between the weld gun and RTU. Please read the Collision Rules section of the docs for more information.

What we are doing: We are exploring different options to simplify the workflow and validate expected collision sets.

What this means for you:

  • Ensure collision sets are defined between robot links and any attachment to the robot.

Optimize Tool Configuration in Rx, Ry, or Rz
Issue: The Optimize Rz functionality is producing sub-optimal results for spot weld applications when targets have robot to part collisions. This happens frequently because the engine is not currently aware that the gun tips can be ignored. Work has already been done to encode ignore collision rules at the targets for the gun tips, but some engine work remains.

What we are doing: We will be disabling this feature in the coming days until the gun tips are properly defined and dealt with in the engine during TCP orientation optimization.

What it means for you:

  • If you have an opportunity to optimize the tool rotation, try running both with and without the Optimize Rx, Ry or Rz.

Resolver Documentation

Robot Vendor-Specific Smoothing​

Previously, users could only specify 5 (mm) smoothing values. Now, we've expanded support to include all Robot-specific smoothing options by default, giving you greater flexibility and control. Simply deselect any options you don't need!

Please note: The FINE option cannot be unchecked because it is required for interlocking at newly generated via locations.

This improvement was driven by your feedback—and we're thrilled to turn another user request into reality. Please let us know what you think!

cycle_times.yaml

Resolver Documentation

PS Connector​

New controller-specific smoothing values
Download the newest version from Optimized Path Planning Beta folder from the RTR FileShare.

PS 0.10.0-beta

  • Added robot vendor specific smoothing values to exporter.
  • Add logging of diagnostics data for export and import.
  • Additional warnings for stationary tools, large joint limits. etc.
  • Bug fixes in interlocks, target locations, smoothing conversion.

Download PS Connector