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V3.2.0 Beta

Hello. This is Dr.Dart Manager.
Please note that all Dart-Suite products updated from Dart-Suite V3.0.0 to V3.2.0BETA.

The convenience and stability have been improved compared to the Dart-Suite V3.0.0 version. Please look forward to the official version of Dart-Suite V3.2.0 that will be released soon.

Note.

  • Connection may not be possible during Dart-IDE, Dart-Store, Dart-APIs, and Dart-Developers server maintenance and updates.

  • Dart-Suite V3.2.0BETA version of Dart-API (SDK2BETA) is a temporary version, so some Dart-API changes may occur to fix bugs that occurred in this version. We will continue development without changing the interface as much as possible, but some module functions developed in beta version may not be compatible when the official version is released.

New Features

The main features of Dart-Suite V3.2.0beta are as follows.

<Dart-Platform & Module>

1.Improved User Command functions in Task Editor Module

  1. Fixed a bug where more than 4 User Commands were not exposed in the Task Editor Module

  2. Added a new interface so that the return value of the def function of the user command can be returned as a global variable or system variable in the User Command Property window.

  3. Fixed bug where global variables could not be shared within User Command DRL

    • Change Guide: Change allows only one User Command SubProgram DRL to exist. Please combine subProgram def functions that were previously classified by componentId into one DRL or String.

2.Support factory reset

3.Support Integration software update

<Dart-IDE>

1.UI/UX convenience improvement

2.Faster module build speed

All windows have been changed to be able to be hidden or shown, and the freedom to change window size has been increased. You can work by dividing the code and UI Preview windows in half.

All windows have been changed to be able to be hidden or shown, and the freedom to change window size has been increased. You can work by dividing the code and UI Preview windows in half.

3.Improved UI Preview function

4.[Advanced] Support for React-redux UI Preview

Added the ability to customize the size of the screen.

Added React-redux UI screen preview feature for advanced users.

<Dart-Services>

1.Improved installation and execution usability

2.Added robot model selection function

Dart-Services installation has become simpler and the UI has become more intuitive.

When simulating a robot controller with Dart-Services, you can now select a robot model.

Release Note

  • Version: Dart-Suite V3.2.0 BETA

  • Released at:

1. Dart-SDK

  • Version: V3.2.0 BETA

Click here to expand...

New

Categories

Features

1

General

  • [User Command] Add User Command function

    • ‘gen_command_call’ API: Added gen_command_call API for User Command with return value

    • ‘Get / Watch Global / System Variables from Task Editor’ API: Add API to get current Global and System variables from Task Editor

  • [File] Provide method to handle save & load files

  • [Network] Add Network online status

  • Support clipboard feature

  • Add Monitoring remote control status

  • Add Constants for normal input / output values

2

H/W Related functions

  • Support new flange hardware that will be applied on next arm version

  • Add NSF robot model (A0509F, A0912F)

  • Provide 3 Pos Enable Status

Changes

Categories

Features

1

General

  • [User Command] Remove the componentId in 'req_to_save_commands_def_as_sub_program” API.

    • Changed the DRL of User Command, which is a SubProgram, to call only one for each User Command module package.

2. Dart-IDE

  • Version: V2.0.0 BETA

Click here to expand...

New

Categories

Features

1

Build/Run

  • [Build] Added SDK Version 2 build function

2

UX/UI

  • [UI Preview] Added screen control buttons.

  • [UI Preview] Added window size change function.

3

Project Setting

  • Added UI preview feature when using Redux library

    • Path: Dart-IDE > File > Project Setting > Third-party libraries

    • Function: Applied for the User module that uses Redux as a state management tool. If choose this option, the UI preview will display the state according to initialized value in the Redux Store

4

General

  • [Visual Scripting] Implement OnStart Node.

  • [Visual Scripting] Implement OnDestroy Node.

  • [Visual Scripting] Implement LoadDB Node.

  • [Visual Scripting] Implement SaveDB Node.

  • [Visual Scripting] Implement CreateTable Node.

  • [Visual Scripting] Implement dialog() API Node.

  • [Visual Scripting] Implement boardDialog() API Node.

  • [Visual Scripting] Implement toast() API Node.

  • [Visual Scripting] Implement snackbar() API node.

  • [Module Template] Add PROFINET template in Device Module.

  • [Module Template] Apply multi language for Modbus TCP.

  • [Module Template] Apply multi language for Modbus RTU.

  • [Module Template] Apply multi language for FOCAS.

  • [Module Template] Apply multi language for Digital IO.

  • [Module Template] Apply multi language for Ethernet IP.

Changes

Categories

Features

1

Build/Run

  • [Build] Improve module build performance.

  • [Build] Improved detection of DrlUtils instance deletion.

  • [Run] Enhancement popup when Install Module.

2

UX/UI

  • [Layout] Improve layout of IDE (EXPLORER, COMPONENT PALETTE, COMMAND LIST, CANVAS, PROPERTIES PANEL, BOTTOM BAR)

  • [Layout] Changed the screen layout so that the code and UI Preview window can be maximized for editing.

  • [Font] Change font size in IDE.

  • Delete problematic components and dialog containers.

  • Remove dock/undock function in all panel.

  • Put the User Component in a Box Component to limit the size of the User Component.

  • Improve event in Properties panel.

3

General

  • [Visual Scripting] Delete a Data Mapping component.

  • [Visual Scripting] State Node enhancement.

  • [Visual Scripting] Visual Scripting connector function enhancement

  • [DRL generator] DRL improves performance.

  • [DRL generator] Improve Variable list panel.

  • [User Component] Change User Component download logic.

  • Improved IDE status bar according to docker state.

  • Update IDE favicon.

  • Remove inline style CSS of module template.

  • Change class to function of module template.

  • Enhancement layout of IDE connect.

  • Open image file enhancement.

  • Reopen file when the page is refreshed.

  • Restrict modification of project settings files.

  • Enhancement hyperlink of User component.

  • Store link connection based on IP authority.

3. Dart-Platform

  • Version: V3.2.0 BETA

Click here to expand...

New

Categories

Features

1

General

  • Add EULA(“End User License Agreement” for dart-platform3 when it start very first.

  • Setting

    • Support factory reset

    • Support Integration software update

  • System UI

    • Show error toast popup when fail to install module

    • User permission

      • Block changing permission during auto measure

    • Add trouble shooting guide link to error popup

    • header > safety parameter review popup

Changes

Categories

Features

1

General

  • control authority issue

    • Fixed can’t get control authority from dart-studio

    • Fixed module synchronization error after get control authority

    • Fixed control authority request is not deny when other client have force control authority

  • protocol issue

    • Fixed modbus monitoring variable is not updated properly

    • Fixed serial write and monitoring data error

  • safety issue

    • Fixed SS2 safety stop is not showing when i/o sinal is input

    • Fixed protective stop is not releaed after remove i/o signal

  • header

    • Fixed checksum calculation error on header

  • footer

    • Fixed operation speed value min value error. It’s changed from 1 to 0.

    • Fixed can enter recovery module during servo on from A,E model

  • setting

    • Fixed time format is not applied

  • Cockpit

    • Fixed cockpit button is not working on A model

  • etc

    • Fixed fail to initialize system data intermittently after boot

    • Fixed inverter version monitoring data error IRobotManager.sysVersion.inverter

4. Dart-Services

  • Version: V2.0.0 BETA

Click here to expand...

New

Categories

Features

1

General

  • Apply new UI/UX of Dart-Serices.

  • Unify version name of Dart-Serices.

  • Add Robot model to Dart-Serices.

Changes

Categories

Features

1

General

  • Change the loading bar to Progress bar.

  • Add confirm popup when press the ‘Restart’ Button.

  • [Bug] Fixed installation bugs.

  • [Bug] Fixed a bug where you could not proceed to the next step during the installation process.

5. Dart-Module

  • Version: V1.4.0 BETA

Click here to expand...

New

Categories

Features

1

Robot Parameter Module

  • Add Flange IO Setting.

  • Add New Safety Review popup for Safety Setting screen.

  • Added viewer option activation function in Simulator view.

  • Added a trace function that users can customize.

  • Added new user command function

2

Status Module

-

3

Task Editor Module

  • Added Managing SDK support command

    • Show waring on property of unsupported SDK version command.

    • Checking unsupported SDK version command when running DRL.

  • Added Signals Command to Command Pannel.

  • Added viewer option activation function in simulation view.

4

Jog Module

  • Developed a trace function that users can customize.

  • Added viewer option activation function in Simulation view.

5

Log Module

  • Developed a trace function that users can customize.

  • Added viewer option activation function in Simulation view.

Changes

Categories

Features

1

Robot Parameter Module

  • Fixed home position setting bug for A and E series.

  • Enhancement Auto Measure function (Mount and Tool Weight screen)

    • Checking 3-Pos Enable Switch signal to show the correct Auto Measure popup.

    • Auto Measure pop-ups are treated as system popup.

    • No other operations can be performed during Auto Measure.

  • Enhancement UI/UX, Apply Responsive guides for all screens.

  • Update layout for Safety I/O, Tool Weight, Tool Shape, World Coordinates, Robot Limits screen.

  • Enhancement Lock Toggle button

    • Lock toggle button will be show/hide following User setting on Dart Platform Setting ▸ Safety Password.

  • Fixed user custom home position is not set properly

  • Fixed joint range value of M0617 Model is wrong

  • Fixed safety parameter error when add collaborative zone

2

Status Module

-

3

Task Editor Module

  • Enhancement System Variable Function

    • Add System Variable Table on Bridge page.

    • Show duplicated System Variable on Select Variable Popup on Monitoring tab.

    • Check duplicated System Variable when Import/Export Parameter File and show it on System Variable Popup.

  • Enhancement UI/UX: Apply Responsive guide for Tool bar.

  • Enhancement User Command:

    • Fixed an issue where global variables were not linked between each user command in the same module.

    • ‘gen_command_call’ API: Added gen_command_call API for User Command with return value.

    • Show returned variable on Task list when User command return a variable.

    • Changed to calling once per User Command module package.

  • Enhancement Set commands for various communication methods(In progress).

  • Developed a trace function that users can customize.

  • Enhancement Import/Export function.

    • Can Import task of different Robot Model.

  • Replace Syntax invalid error popup by toast.

  • Updated Handle Exception of popups.

4

Jog Module

  • Change jog button order to RZ, RY, RX

5

Log Module

-

6. Dart-Store

  • Version: V2.0.0 BETA

Click here to expand...

New

Categories

Features

1

General

  • [Unused Account] Added automatic account management function for unused accounts

  • [Unauthorized Access Warning] Display the warning message regarding unauthorized access to Dart-Store from Login page

  • [Handle Exceptional Cases] Display an error page if a user accesses the wrong URL or loses internet connection.

  • [Password] Remind users to change their password if it has been updated more than 6 months ago.

  • [Password] Display a pop-up reminder after login

Changes

Categories

Features

1

General

  • [Layout] Update layout of Register as Developer

  • [Layout] Update Delete Account UI layout

  • [Layout] Update favicon and title for website

  • [Layout] Update activate/deactivate module scenario

  • [Security] Update the security library

  • Improved the Active/Inactive Controller UI and functions.

  • Display Cannot Access screen when enter wrong URL

  • Added popup to notify if controller is already activated

  • Update unused account email templates

  • Update Privacy Policy

7. Known Issues

Click here to expand...

Task Editor Module issue

  • Issue: System Array Type changes to Variable Type after Task Play.

    • Alternative: When using a variable array of system, global, or define type, use ‘[]’.

    • Plan: Scheduled to be modified so that it can be used in 1, 2, and 3 formats.

User Command issue

  • Issue: User command main function text is cut off from the screen.

    • Plan: Displayed on the screen in the order of “module name, function name”.

    • In the case of Retrun type, it is displayed on the screen in the order of “Module name, Return variable name = Function name(..)”.

    • As-is:

    • To-be:

Coordinate issue

  • Issue: Issue with moving to the wrong coordinate system when executing the ‘movel()’ command with the ZYX coordinate system value obtained from Dart-API GetPose in the module.

    • Background: Development of coordinate system change from ZYZ coordinate system to ZYX is in progress.

    • Alternative: As an alternative, the ZYX coordinate values obtained with GetPos can be converted using the conversion expression below. For the ZYX coordinate system value obtained with GetPose, use the moveL_coord command instead of the moveL command.
      Conversion function: rpy2eul:

      CODE 
      //Coordinate system conversion function in Dart-Platform V3.2.0beta
def calcXyzToZyz(pos):
    newRotation = rpy2eul([pos[3],pos[4],pos[5]])
    newPos = [pos[0],pos[1],pos[2],newRotation[0],newRotation[1],newRotation[2]]
    return newPos

posZyx = [1,2,3,4,5,6] //ZYX pose received by pressing the get pose button in the module UI
newPos = calcXyzToZyz(posZyx) //ZYZ Pose for move
movel(newPos)
tp_log(str(newPos))

Update guide

Here's how to update Dart-Suite V3.0.0 to V3.2.0BETA .

In the next version, we plan to change the program to enable installation without deleting, and we plan to allow users to install multiple versions of Dart-Services and Dart-Platform by changing the folder name in the installation path.

  1. After deleting existing Dart-Services, download and install new Dart-Services.

  2. After deleting existing Dart-Platform, download and install new Dart-Platform.

  3. Updating my project from SDK1 to SDK2 in Dart-IDE:

  • Step 1. Access to the Dart-IDE.

  • Step 2. After opening the project, click File ▸ Project Setting.

 Step 3. Change Dr.Dart-SDK Version from 1 to 2.

  • Info. The version name of Dart-Suite consists of the following rules:

    • Major : A major change that is not compatible with lower (older) versions
      (currently Dart-Platform 3)

    • SDK(API) : SDK version (version of Dart-API).

    • Patch : When fixing bugs while being compatible with same SDK versions.

If Dart-IDE fails to build an existing project even after changing SDK from 1 to 2

Note.

If Dart-IDE fails to build an existing project even after changing SDK from 1 to 2, Please follow the guide below.

  • Step 1. Replace webpack.config.js file to esbuild.config.js file in your project.

    • Path: Project Folder ▸ com.your_project.name

  • Step 2. Replace package.json file to new one.

    • Path: Project Folder ▸ com.your_project.name

  • Step 3. Change the “name” and “version“ in package.json file.

    • Path: Project Folder ▸ com.your_project.name ▸package.json

    • from: default the package name and version.

      CODE 
      {
    "name": "com.example.mymodule",
    "version": "0.1.0",
    "main": "./src/index.tsx",
    "private": true,
    "license": "DOOSAN",

...

    • to: change the package name and version to the package name and version of your project.

      CODE 
      {
    "name": "{your package name}",
    "version": "{your project version}",
    "main": "./src/index.tsx",
    "private": true,
    "license": "DOOSAN",

...
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