V3.3.0

New

Addition of IDartDatabase.run(queryString: string): Promise<boolean> API

• Allows the execution of SQL statements

• Read Only

Addition of Torque Monitoring data.

• externalJointTorque

Updated APIs to support the addition and deletion of break points in sub task files.

• addBreakPointSubProgram: Add a Break Point

• deleteBreakPointSubProgram: Delete a Break Point

• resetBreakPointSubProgram: Reset Break Points

Addition of Controller Network Information APIs.

• controllerNetworkInfo

Setting Restricted Robot Models in module Manifest.json.

• disallowedRobotModels

{
    "main": "index.bundle.js",
    "usesPermissions": [],
    "supportedLanguages": [],
    "requiredPackageNames": [],
    "type": "DEVICE_SETTING",
    "screens": [
        {
            "name": "Main Screen",
            "id": "MainScreen",
            "disallowedRobotModels": ["A0509", "A0509F", "A0912", "A0912F", "E0509"],
            "messageFilters": [
                {
                    "action": "dart.message.action.MAIN",
                    "category": "dart.message.category.SCREEN"
                    
                }
            ]
        }
    ]
}

New

Create new project - Now you can make new module project in here! If you set properties and create project, blank project will be created.

• Supported SDK: SDK1, SDK2, SDK3

Changes

From now on, Dart-service 2.1.2 and earlier are no longer supported in this extension. If you want to build project, you should use Dart-Service 3.0.0 or later.

Improvement

Now extension will be executed even if module project does not exist in workspace. - In this case, you can use Create new project feature only.

Improvement

Administrator Password Addition

• A password for administrator use has been added when switching from worker to administrator in the footer.

• It can be set in Settings Module > Password > Administrator Password.

• The default administrator password is migrated from the safety password of the previous version.

Homing Pop-up Improvement

• The homing pop-up that appears after Servo On operation has been improved to automatically disappear once homing is completed.

Mode Switching Enhancement

• When changing from robot mode and auto to manual, the system now automatically switches to administrator mode along with manual mode.

Controller Network Information Update

• Improved notification for changes to controller network information on Windows or Mac Dart platforms to indicate connection information update, instead of displaying a connection error.

The Jog+ module has been modified to be non-deletable.

Fixed the issue where the module package or shortcut was deleted after data synchronization is completed.

Improved frequent connection issues occurring on low-spec PCs through performance optimization.

[Issue] When connecting A Series and AS(FTS) Series in mix and match scenarios, checksum mismatch occurred due to different cockpit data.
[Fix] When changing from A FTS models to A Non-FTS models, cockpit buttons 1 and 2 are set to direct teaching options. When changing from A Non-FTS models to A FTS models, cockpit buttons 1 and 2 are set to the FTS cockpit default options: Z-axis fixed and XY-axis fixed.

The simulator environment has been modified to set the flange board version to the new flange.

• Manual: https://manual.doosanrobotics.com/en/user/3.3.0/1.-M-H-Series/flange-i-o#id-(3.3.0-en_US)FlangeI/O-SchematicDiagram

• Robots equipped with the new flange now support a range of power options (+24V / +12V / 0V) and the ability to choose between Analog and RS485 communication. These options can be configured through the Settings Module.

Footer Module Icon Order Change

• The default order of footer module icons has been changed to: Home > Robot Parameter > Task Editor > Jog + > Status > Logs > Settings > Remote Control > Store.

• This applies only to new installations; existing users retain their current settings.

Header/Footer UI Performance Improvement

Upon the first boot of the robot, the flange voltage is now set to 24V.

Terminology Adjustment

• The term 'Cube' has been revised to 'Cuboid'.

Fixed the issue causing crashes when a forceful control retrieval request was made before a response to a control retrieval request.

Change

Module Deactivation Dialog Fix

• Fixed the issue where a module deactivation dialog pops up when deleting modules offline.

Tool Weight Decimal Place Correction

• Corrected the decimal places of Tool Weight from 3 to 2.

Fixed the issue where the preload module installation occasionally fails during controller connection or reconnection.

Fixed the problem where mouse selection was not working on the TP.

Fixed the bug that the lock icon was displayed on the ‘Apply' button of the Tool item review dialog even when 'Settings > Safety Password > Password Lock' was off.

Fixed the targetExternalForceMonitoring crash.

Fixed the issue where the e-stop pop-up does not appear during real on/off.

Fixed the problem where the rejection message does not appear when control rights requests are denied.

Fixed the issue where modified user coordinate system information was not updated during program execution.

Home V2.0.2

Improvement

Fixed the issue related to the icon touch style error.

Settings v3.0.5

New

Added a functionality to display a robot compatibility warning dialog when there are compatibility issues with the robot software versions.

Robot Parameter v3.0.9

Improvement

Make 'Change Supervisor and Manual Mode' from popup.

• When entering the Auto Mode inaccessible/editable screen, a 'Change to Supervisor Manual Mode' pop-up should appear.

New Flange I/O Default Value

• Set the default supply voltage value to 24V.

Change/Fix bug

Safety Zone

• Allow '0' as a Collision Sensitivity value. Apply to the following 2 zones

  • Collision Sensitivity Reduction Zone

  • Custom Zone

Home Position

• The Save button should be disabled when the Servo is turned off, and the Popup should not be displayed when moving to another item.

Safety Stop Modes

• The old version Robot Parameter file should be imported in the new version with data maintained.

  • If the new version does not support STO, it will automatically set to SS1.

• When importing the Robot Parameter file from the old version or upgrading the module version, if the current version does not support STO, then:

  • Display Change Safety Setting popup.

  • Auto set STO → SS1.

Servo On is activated after entering the Safety Password during the Sync operation in the Servo Off state.

Switch Mode

• When entering the Auto Mode inaccessible/editable screen, a Change to Supervisor Manual Mode pop-up should appear.

Robot Parameter file config

• When switching to another type of the same robot model then:

  • Mismatch data of the current file should not be displayed.

  • Run Module should function normally.

User Coordinates

• When an invalid value of User coordinates is input, the Save button will be disabled.

• When coordinates change, the value of the position should change according to the selected coordinate.

Tool Center Point

• The Auto Calculate button should always be enabled, irrespective of the Servo On/Off status.

• TCP Offset value should remain the same when Auto Calculate is performed after Get Pose in the same posture.

Robot Parameter Integration

• Data settings in Robot Parameter must be maintained when used in other modules.

Fixed an issue where changes to the safety zone were not being updated in real-time within the 3D simulator area.

Status V2.0.2

Change/Fix bug

Control Analog Input

• The progress bar will be displayed according to the entered value.

Control Analog Output

• The progress bar will be displayed according to the entered value.

Task Editor v3.1.14

Improvement

Signal Command.

• Add Signal command

  • Change display [Value] Item

  • Change term : Alias → Action

  • Change placeholder: “Select a alias“ → “Select an action“

• Set Signal command

  • Change display [Value] Item

  • Add item [Change Value]

  • Change term : Alias → Action

  • Change placeholder: “Select a alias“ → “Select an action“

  • Add item Address → can switch between multi and single signal.

• Get Signal command

  • Change term: Alias → Action

  • Change placeholder: “Select a alias“ → “Select an action “

Set Signal command

• Modbus TCP

  • Add [Change Value] item, can setting value after delay time

• Modbus RTU

  • Add [Change Value] item, can setting value after delay time

Wait command.

• Enhancement new UI of Wait command property.

• Support Signal Type is Modbus TCP, Modbus RTU

  • Can select connection have been define in Add Signal Command.

• Support Tool_In port in Wait Analog Input.

  • In case Old flange board : not display

  • In case New flange board

    • Refer Flange Analog Input on Status Module to see the number of the port for each model and the Alias name.

      • Robot model: M/H/P: Port 1~4

        • Robot model: A/E: Port 1~2

Popup command - User Input Command

• When program is pause, hide popup.

• When program is resume, show popup.

Add more DRL code snippet.

Main Command
Repeat Command

• Add [Wait at the end] item. Can set timeout after executing command.

Custom Code command.
Support color syntax for python code, DRL functions and constant.

Support Legacy Task File.
Can open Task File have been migration from Dart-Bridge module.

Change/Fix bug

Monitoring.

• Collision Sensitivity value allow '0'.

Signal Command

• Enhancement UI of Task play error popup

• Get Signal Command.

  • The Flange Analog Input Port Name changed in Robot Parameter I/O Alias ​​should be displayed in Get Signal Command.

• Set Signal command.

  • Support automatically displays the maximum value when the input value exceeds the max value.

  • Support automatically displays the maximum value when the input value exceeds the max value.

Debug

• In debug mode, tooltips about button information will be displayed when hovering over the button.

Monitoring Panel

• Add Force & Collision Sensitivity area

• Add Joint Torque area

Repeat Command

• Enhancement UI of Repeat Command property.

Custom Code Command

• DRL function wait_nudge is not supported for Robot Models that do not support Nudge

• Not check and display error in case line of code have been comment out.

• In Debug mode, when source code in Custom Code command is error then display error highlight on the line where the error occurred.

Weight Measure Command Property

• Only support System Variable, Global variable and Define with type is Variable.

Monitoring.

• When changing Voltage → Current, it should be displayed as 4mA in the Monitoring tab

• When changing Current → Voltage, it should be displayed as 0v in the Monitoring tab

• Port Type and Value values ​​should be displayed and changed in real time.

• When creating a New File, the monitoring value must be initialized (Total Time / Total Count / Cycle Time).

Weight Measure Command Property

• Only support System Variable, Global variable and Define with type is Variable.

Monitoring.

• When changing Voltage → Current, it should be displayed as 4mA in the Monitoring tab

• When changing Current → Voltage, it should be displayed as 0v in the Monitoring tab

• Port Type and Value values ​​should be displayed and changed in real time.

• When creating a New File, the monitoring value must be initialized (Total Time / Total Count / Cycle Time).

Monitoring.

Monitoring.

User Command.

• In case User command have been delete or not support in current model then disable.

Compliance Command

• In Property of Compliance command, Item RX/RY/RZ will be hidden on Robot Model is non FTS-A.

Force Command

• In Property of Compliance command, Item RX/RY/RZ will be hidden on Robot Model is non FTS-A.

Save Files popup.

• After rename file, status of Option icon is unselected.

Sub Task Command.

• In case sub task file have been deleted or changed name then display error message.

Custom Code command.

• In case have error when Task Play then display warning icon. When hover to warning icon then display warning message.

Move B Command

• When change Coordinates, the position in each Segment will change according to Coordinate selected.

Move SX Command

• When change Coordinates, the position in each Segment will change according to Coordinate selected.

General

Improvement

Optimizing banner sizes.

General

Improvement

Changed Dart-Services to open PDF files instead of links to developer sites for Q&A.

Update Docker images.