Various new functions and updates provided

Improvements

PROFISAFE CONFIGURATION

• A new Safety installation screen for configuring the robot to use PROFIsafe to communicate with a safety PLC. A source address and destination address can be specified. These addresses are used by the robot and the safety PLC to identify each other. There is also an option to enable PROFIsafe PLC control of the robot's Operational Mode.

PROFINET NETWORK CHANGES

• When PROFINET/PROFISafe is enabled, the PROFINET controller (PLC) will control the configuration of the robot's network settings. This means that the network settings cannot be changed in PolyScope while PROFINET is enabled.

SAFETY CHECKSUM

• After loading an old installation, the Safety Checksum will still be shown using the previous four-character format. The new checksum format is only used for new installations or after applying changes to the safety configuration of an old installation.

CONTROLLER

• The Robot Moving safety output is not set active (the signal is active low) when the robot is off. In earlier versions, the "Robot Moving" safety output was set to active when the robot was not running (powered off).

Bug fixes

POLYSCOPE GUI Fixes

• Fixed issue where changing the position of a linked waypoint would update the position of all linked waypoints to the same absolute position not taking the feature selection of their parent "Move" node into account
• Fixed issue where the "The program has not been saved. Do you want to save your changes?" or "Unsaved Installation Changes" dialog was not shown before restarting PolyScope when the program or installation had unsaved changes and the Restart button was pressed in the URCaps Settings screen (after installing/uninstalling a URCap)
• Fixed issue where PolyScope would freeze if the Operational Mode was changed while dragging the speed slider in Manual High-Speed mode.
• Fixed issue where a compilation error in some situations could occur with a large program if the Play button was pressed two times quickly.

CONTROLLER

• Reduced the memory overhead of secondary programs, fixing some cases of "No Controller" errors. Particularly those related to URCaps retrying to send a secondary program.
• Changed semantics for Robot Moving safety output so it isn't active when the robot is off or when the robot is in IDLE and not moving.
• Fixed drift in Conveyor tracking/Path offsetting when a program has "wait" after blended waypoints.
• Corrected wrong handling of rotations during conveyor tracking/path offsetting.
• Fixed issue with braking from conveyor tracking/path offsetting when pausing or stopping in case speed scale is <100%
• Fixed issue where during interpreter mode the skipbuffer method in some conditions can cause an "Unknown error: ValueStack::pop"
• Fixed issue the where race condition occurs while multiple threads are used in XMLRPC client
• Fixed a memory leak, usually causing a no controller. The problem could be recognized from the following text in the controller log: "Global variables update lost. Queue full."

URSIM

• Fixed issue where the PolyScope help was only available for one robot type.
• Analog Outputs now work in URSim.

EMBEDDED

• Changed monitoring and reporting from IO supply on SCB to provide better information on how to resolve issues.
• Fixed issue where the tool would report a missing F/T sensor, even though the sensor worked as required