Resolver Update​

In the last update we shared with you some challenges we have been working through. We are happy to announce that we made drastic improvements to the Auto-Tuning of smoothing values on Import. We are also happy to release a downloadable Reachability Report which details the ability of individual robots to reach assigned targets.

Today's update:

• Auto-tuning on Import
• Reachability Report
• PS Connector 0.11.0-beta released

---

Auto-Tuning on Import​

Smoothing Auto-tuning in minutes!
In our previous release, we acknowledged performance limitations with the auto-tuning of smoothing parameters during import. Since then, our team has been hard at work—and we're excited to share the results.

With this release, we're introducing significant improvements to API efficiency and two powerful new import modes: FAST and OPTIMAL.

FAST Mode​

Need speed? FAST mode quickly imports paths using default conversion values tailored to your selected robot OEM. If scraping collisions are detected, it smartly adjusts to a FINE smoothing level. This mode is ideal for rapid validation when your priority is speed—just note that in high-collision scenarios, some smoothing may be less than ideal.

OPTIMAL Mode​

Looking for precision? OPTIMAL mode performs an in-depth analysis to find the highest possible smoothing value for each via—based on your allowed values—delivered through our Resolver engine. We've reengineered the API interactions behind the scenes, significantly reducing optimization time while delivering the highest-quality path smoothing available. While the time required still scales with the number of smoothing options per via, the results speak for themselves: ultra-smooth, OEM-optimized paths.

🎁 Solution delivered for Roland and Rico

---

Reachability Report​

Quickly check check reachability of all targets and download report Manually jumping robots to each target only provides limited reachability information and is also so boring. Now you can save a ton of engineering time by letting Resolver do the reachability check for you. Resolver will check if robots are able to reach their assigned targets by generating actual motion paths. In minutes it will put the information in a nice table that can be downloaded in CSV format for you to use elsewhere in your planning and engineering processes.

The different states displayed on the table are:

• Pending (hourglass): the Engine is calculating reachability.
• Not Reachable (red): the target is not reachable.
• In Collision (yellow): the target is reachable but only through a collision.
• Reachable (green): the target is reachable without collision.

🎁 Solution delivered for David

---

PS Connector​

Improvements to Auto-tune
Download the newest version from Optimized Path Planning Beta folder from the RTR FileShare.

PS 0.11.0-beta

• Auto-tune improvements and addition of two modes (fast & optimal mode)
• Updated installer to allow installation without admin privileges if current user has sufficient rights (thank you Pawel for the suggestion!)
• Added support for SCARA robots
• Additional warnings for stationary tools, large joint limits. etc.
• Bug fixes for external axes, error messages, safety objects, and more.

---

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.

---

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!

---

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.

---

Resolver Update​

In this latest release, we have added a feature that empowers you with data to make better decisions. Resolver now generates several solutions with less number of interlocks and corresponding cycle times to let you pick the one that best fits your project needs.

Today's update:

• Interlock Reduction

---

Interlock Reduction​

New post-processing step to reduce interlock zones!
We're excited to introduce automatic interlock post-processing in Resolver. Once you accept the results and stop a run (not current results), the Engine will intelligently consolidate interlock zones—without altering robot motion paths.

The output will include all possible interlock reduction options, along with a cycle_times.yaml file (see image below) detailing estimated cycle times for each result. You can then select which results file to import back to your simulation.

As always, we value your feedback—let us know how this feature works for you!

---

Resolver Update​

We continue making great progress on delivering the capabilities you have asked for. In this latest release, we drastically improved the handling of complex kinematics for robots, guns and rails. We are happy to announce we can now fully support X-type guns with kinematic loops as well as covering many previously unsupported scenarios.

Today's update:

• PS Connector 0.9.0-beta released
• Short Survey
• User Documentation

---

PS Connector​

Added full support for X-type guns and PS 2307
Download the newest version from Optimized Path Planning Beta folder from the RTR FileShare.

PS 0.9.0-beta

• Add full support for X-type guns with kinematic loops of 4 joints
• Add support for Process Simulate 2307
• Improve handling of complex kinematics for robots, guns and rails
• Add support for duplicate robot/device/component names in OLP commands in importer
• Add support for more gun types in the importer
• Add support for more geometry types such as swept volumes during export
• Export robots without operations as static objects in their current pose. Removes need for dummy operations and enables air welding studies with a fixed material handling pose.
• Several fixes to exporter and importer

---

Short Survey​

It takes less than 3 minuntes
Please complete this short survey to help us align our roadmap to your most important needs. Thank you in advance!

---

User Documentation​

Continuously updated
You can now access Resolver Documentation at resolver.rtr.ai/docs. We will be continuously updating the documentation to match the rapid development of the product. Be on the lookout for videos and other best practices.

---

Happy New Year!​

We are excited for 2025, the year of Resolver. We will be officially launching Resolver on May 12th, 2025 at Automate in Detroit and will also be at Automatica in Munich on June 24th.

We have incredibly exciting new features and capabilities coming this year. We have adjusted our roadmap based on your valuable feedback.

Thank you for partnering with us as we continue to make Resolver fast, easy, flexible, and powerful.

Resolver Update​

Today's update:

• Short Survey
• New User Documentation
• Target Order Optimization
• Download Intermediate Results
• Custom Linear Rail Positions
• PS Connector 0.7.0-beta released

---

Short Survey​

It takes less than 3 minuntes
Please complete this short survey to help us align our roadmap to your most important needs. Thank you in advance!

---

New User Documentation​

Read all about it!
You can now access Resolver Documentation at resolver.rtr.ai/docs. We will be continuously updating the documentation to match the rapid development of the product. Be on the lookout for videos and other best practices.

---

Target Order Optimization​

Find the optimal sequence in minutes
If your application has the flexibility to allow process targets to be visited in any order, you can enable "Optimize Target Order" which will generate paths to visit all targets in the shortest cycle time. If you keep this option disabled, the paths will be generated to visit the targets in the specified order, top to bottom. Not sure if it will save time? Try it out and let us know the results!

---

Download Intermediate Results​

How is the run going so far? Now you can find out!
Our engineering team has been hard at work for the past months to enable you to download intermediate results during a run without stopping it.
After you have started a run, you will now be able to "Get Current Results" that can be imported back into your simulation software. If you want to end the run and get the latest results, select "Accept Results & Stop" from the drop down menu.

---

Custom Linear Rail Positions​

Adding flexibility to give you more control
For each robot on an external RTU or linear rail, you can now specify positions to be used by Resolver to find optimal motion paths and interlocks. You can also add a stroke buffer for the minimum and maximum values. Please note that if a robot has a location or configuration at a specific target, the external axis value will be used as one of the options and displayed in "Assigned Values".

---

PS Connector​

Version 0.7.0-beta
Download the newest version from Optimized Path Planning Beta folder from the RTR FileShare.

PS 0.7.0-beta

• Add error message during export if unsupported device kinematics are detected
• Add warning message about missing collision sets during export
• Add check of robot dynamics in export and notify user about unusual dynamics
• Fix issue where gun tips in nested hierarchy were missing in clearance rules
• Fix issue with certain part appearances not exporting correctly

---

Resolver Update​

We are thrilled to share with you a few updates on both the PS Connector and the cloud. After you download the latest PS Connector (0.6.0-beta) you will notice it is a fast an easy executable installer - No more copying and pasting files.We are extremely grateful for your continued feedback and use of our award-winning (IFR , Gold Merit) optimized path planning tool. Thank you!

Today's update:

• Support for 7th axis Linear Rails!
• Support for Stationary Tools!
• Smoothing Auto-Tuning in PS (RCS capable)!
• PS Connector 0.4.1-beta released

---

Short Survey​

It takes less than 3 minuntes
Thank you to all those of you who already responded to our incredibly short survey. It is instrumental in helping us define the roadmap for our tool. If you are one of the few that have not yet completed it, please click below

---

Smoothing Table in Exporter​

More knobs to turn!
In this release you will notice a smoothing table in the exporter that informs the Engine of the allowed smoothing radius values. The Engine will fine-tune smoothing at each generated via with the best choice from this table. On import, the generated values will still be converted to your robot controller's smoothing values or you can select auto-tuning just like you already do. These values were always present in the query and, as requested, they are now user-configurable.

---

Changes to Cloud​

Where did the Results page go?
Based on the feedback we received, we have streamlined the pages and you will now only see a Projects page on the sidebar. The new Projects page will list all studies that have been uploaded. You can find the results for each upload by clicking on the study name. In the image below, the study name was "RTRDemo_20241203" and there are two results, one from December 4th and one from December 5th.

---

PS Connector​

Version 0.6.0-beta
Download the newest version from Optimized Path Planning Beta folder from the RTR FileShare.

0.6.0-beta

• New Windows Installer automatically copies DLL files to an RTR subdirectory and reminds users to close Process Simulate.
• Added Smoothing Table to the Exporter dialog
• Add smoothing value conversion for Kawasaki robots during import
• Improve detection of dynamic cables and notify user during export about filtered out devices
• Fix few exporting issues
• Fix few importing issues

---

Optimized Path Planning Update​

Yes! Support for 7th axis linear rails, stationary tools, and a surprise feature, scroll down! Please download the latest PS Connector (0.4.1-beta) to get access to these features and more. Thank you for continuing to use our award-winning (IFR, Gold Merit) optimized path planning tool.

Today's update:

• Support for 7th axis Linear Rails!
• Support for Stationary Tools!
• Smoothing Auto-Tuning in PS (RCS capable)!
• PS Connector 0.4.1-beta released

---

7th Axis Linear Rails 🎉​

RTU. Linear rail. Track. Whatever you call it, we support it
Our Process Simulate Connector now supports robots on 7th axis linear rails! With this feature, rail positions for any newly created via points are automatically optimized to minimize cycle time, factoring in the rail's dynamics. With this feature, the rail's dynamics are factored in to automatically define new via points with cycle time optimized rail positions.

As always, our engine works to deliver the best paths possible for maximum efficiency. Looking ahead, we’re developing an option that will allow users to specify fixed rail positions as constraints, ensuring the engine only generates solutions within those parameters. While this may lead to slightly less optimized paths, it's a valuable option that many customers have requested for more predictable, human-friendly results.

---

Stationary Tools 💪​

Tools not attached to the robot? No problem!
Additionally, the PS Connector now also supports stationary tools with an external TCP to the robot. You will now be able to do optimized motion planning of robots working with stationary weld guns and other tools.

In the future, we will add more features to this capability including optimizing the closing and opening of tools such as weld guns.

---

Surprise: Smoothing Auto-Tuning in PS 🔍​

Want the best smoothing values with RCS? You're covered!
A new option to auto-tune smoothing values when importing results is now available! With this feature the PS Connector will move the robots through all paths in the results prior to import and automatically adjust smoothing values to be maximized (best cycle time) and collision-free. Simply enable collision sets and ensure a connection to RCS is available - the rest is handled for you!

PS Connector​

Version 0.4.1-beta
Download the new version from Optimized Path Planning Beta folder from the RTR FileShare.

0.4.1-beta

• Added support for 7th axis Linear Rails
• Add support for stationary tools with external TCP
• Added "auto-tune" of smoothing (zone) values on import
• 45% average reduction of exporting time
• Added notifications for errors and unsupported features
• Fixed several bugs

---

Short Survey​

It takes less than 3 minuntes
Thank you to all those of you who already responded to our incredibly short survey. It is instrumental in helping us define the roadmap for our tool. If you are one of the few that have not yet completed it, please click below

Optimized Path Planning Update​

Hello!  We are happy to announce  a new PS connector and updates to our award-winning (IFR , Gold Merit) optimized path planning tool. Thank you for continuing to help us develop this product for you.

Today's update:

• Short Survey
• PS Connector 0.3.0-beta released
• Cloud interface improvements

---

Short Survey​

It takes less than 3 minuntes
Thank you to all those of you who already responded to our incredibly short survey. It is instrumental in helping us define the roadmap for our tool. If you are one of the few that have not yet completed it, please click below

---

PS Connector​

Version 0.3.0-beta
Download the new version from Optimized Path Planning Beta folder from the RTR FileShare.

0.3.0-beta

• Added support for Process Simulate 2402
• Added Yaskawa smoothing value converter
• Fix issue with the export of nested components
• Fix issue where some tools were not attached to the tool frame
• Fix issue with exporting errors and missing objects

---

Cloud interface improvements​

Cycle Time Estimate chart persists 💪
As requested by most of you, and a lot of work by our amazing Platform team, the chart data will now persist when navigating away from the page. We have also added a maximum time limit for each run.

Changes:

• Chart data for each run now persists when navigating away from the page
• For each run, specify the "Elapsed Time" or maximum amount of time the optimization will run before automatically ending
• Various workflow improvements