Famos robotic® V9

V9.10.0/18 from July 3, 2025

Skript. Scripts could no longer be executed because a function could not be registered.

V9.10.0/17 from July 2, 2025

Simulation. New "Path Repetitions" function available in the Path Manager. Additional repetitions can be specified for each path. The simulation then executes the paths accordingly.

Postprocessors. The "Path Repetitions" function is supported by the postprocessors for ABB, KUKA, COMAU, UR, Motoman, Mitsubishi, and Kawasaki.

SDK. New functions for setting and querying path repetitions "Path_SetRepetitions" and "Path_GetRepetitions" in the Delphi and C++ API.

Script. New functions for setting and querying path repetitions "fa_Path_SetRepetitions" and "fa_Path_GetRepetitions".

GUI. In the dialogs for selecting coordinate systems, such as Bases and Tools, the coordinate system trees are now automatically fully expanded.

FANUC robots. New robot FANUC-P250-IB-15P-Right.

Selection. The reachability test [F3] now only checks active and visible trajectories.

ABB robots. Factory settings for the axis limits of the 5400 and 580 models have been corrected.

ABB System Files. Import of joint limits for coupled axes frim the moc.cfg has been improved.

Application. The icon for the change status of the current project was no longer set to green after saving.

V9.10.0/15 from June 5, 2025

ABB robots. The flange coordinate systems of the IRB-930 robots were misaligned. The config values cf1 and cfx were not written. This has been corrected.

GUI. The status bar now always displays the names of the current controller, kinematics, and device. Clicking the status field opens the device selection dialog.

SDK. The command line parameter /MM can be used to start the application on a specific monitor. This leaves the primary monitor free for the development system. For example, the parameter /MM2 starts the application on monitor 2.

KUKA import. The $machine.dat file can now be read to import axis limits and robot world transformations. A dialog opens to select the found values for import.

V9.10.0/12 from May 21, 2025

ABB robots. New OmniCore robots IRB-930-12-105-300, IRB-930-12-105-450, IRB-930-22-105-300, IRB-930-22-105-450.

FANUC robots. New RJ3iC robot FANUC-M10iD-16S.

SDK. Messages, warnings or errors, added to the application log, by a plug-in, could cause an error when clicking. The plug-ins do not need to be rebuilt to resolve the issue.

V9.10.0/10 from May 16, 2025

ABB Import. The import function now processes UTF8 files from the Omnicore controller.

Undo/Redo. The "Undo" function no longer worked when deleting a path created with the "New Path" command while the "New Path" command had not yet been completed. This was possible via the "Path Manager". This is not longer possible.

Fanuc postprocessor. Error message for duplicate or invalid motion group index improved. Now includes a solution hint.

V9.10.0/9 from May 5, 2025

KUKA robots. New KUKA robots KR-8-R1640-2, KR-6-R1840-2.

Process objects. The tracer is now located in the "Analysis" menu, along with the workspace analysis.

Application. The scaling for large fonts was incorrectly configured, so that at 150% scaling some controls were no longer displayed correctly.

V9.10.0/5 from April 17, 2025

Geometry. An overlap can now be optionally created in the "Geometry - Create Approach & Depart targets" function.

Selection. The function “Select trajectory points that use this coordinate system” is now available in the context menu of tools, bases and CAD models.

FANUC postprocessor. In combination with the Synced-Parameter, negative delays are now also supported for digital output signals.

Measuring. When measuring distances, positions, or angles, the measurement points now remain visible until the results dialog is closed.

ABB postprocessor. Adapted to the OmniCore controller. Modx files are now created with UTF8 encoding without a BOM.

Application. Multiple files can now be transferred via the command line, e.g., with "Send to." AProject, CAD models, robot programs, etc.

Installation. Revised installation for better integration into the DESMA product portfolio. The program configuration is now saved in different folders. All compatible settings are automatically adopted from an older version.

Geometry. In the function "Geometry - Create Approach & Depart targets" function, the TCP Speed ??and TCP Zone parameters can now be specified for the new targets.

Graphics. When a new project is created, information about the current graphics hardware is now displayed in the application log. The name of the graphics card and OpenGL version are displayed.

Application. The function "Help - E-Mail to Support" now includes essential system information in the email, reducing time lost due to follow-up queries.

GUI. The pop-up menu with the most recently used functions is now displayed with the correct icons.

Axis values. The identifier "HomePos" has been replaced with the more meaningful identifier "Initial Position".

Granite CAD-Kernel. New Granite version 12.0.5.0 fixes errors when importing Parasolid x_t files.

License Assistant. Fixed form display issues. Improved High-DPI support.

Script. New functions "fa_Target_CalcOriVectorsAngle", "fa_Target_CalcOriVectorAngle". Simplifies the calculation between Target Orientation and vectors from targets or other sources.

V9.9.2/6 from January 1, 2025

ABB robots. New OmniCore robots IRB-4400-60-196, IRB-4400-L10-253, IRB-6740-240-320, IRB-6740-260-300, IRB-6740-310-280.

Staubli postprocessor. For the CS8 and CS9, the maximum number of characters for trajectory names has been adjusted to 128.

V9.9.2/5 from November 29, 2024

b+m import. Code 39 and code 98 are now both entered as instructions in the instruction list.

Staubli robots. New robots TX2-200-L, TX2-200, TX2-Stericlean-40, TX2-Stericlean-60-L, TX2-Stericlean-60, TX2-Stericlean-90-L, TX2-Stericlean-90-XL, TX2-Stericlean-90, TX2-Touch-60-L, TX2-Touch-60, TX2-Touch-90-L, TX2-Touch-90-XL, TX2-Touch-90.

Staubli robots. The axis speeds have been corrected on some TX2 models. TX2-40, TX2-60, TX2-60-L,TX2-90, TX2-90-L, TX2-90-XL, TX2-140, TX2-160, TX2-160-L.

V9.9.2/3 from November 19, 2024

Geometry functions. Fixed a bug in “Meander parallel between two paths”. The first interpolation step was not executed under special circumstances.

Mitsubishi robots. New robots RV-35F, RV-50F, RV-70F.

Parameter. New option for freely linkable, Boolean parameters “During simulation. Switch the signal if the target is reached”. This allows a process object to be switched when a path point is reached, even if the linked command is to be inserted before the target in the program.

Path manager. New option “Replace names and keep numbering” in the function “Rename multiple".

SDK. New, simplified, functions for reading and setting axis angles for targets with “ABS-Joint” interpolation.

Position editor. The control element for selecting increment sets no longer reacts to the keyboard. This prevents conflicts with the selection of trajectory points. However, the keyboard can be used if [Shift] is held down.

Script. New functions fa_Frame_GetMatRelToWorld, fa_Frame_SetMatRelToWorld;

V9.9.2/1 from October 18, 2024

SDK. New functions for accessing the geometric properties of 3D objects.

SDK. Behavior of the TCustomPlugin::GetOptions function corrected.

V9.9.1/25 from October 10, 2024

Simulation. Some simulation-relevant options only became effective after the simulation was restarted with HomePos reset. If program options are changed, this is now done automatically.

Kuka robot. In the KR-120-R2700-2 model, the missing motor for A1 was installed and the geometry of A6 was enhanced.

Staubli robots. New robot TS2-60-HB-CE-200.

CodeMeter. New CodeMeter Version 8.20.

V9.9.1/24 from August 19, 2024

Fanuc robots. New robot FANUC-LR-10iA-10.

Position editor. In addition to the orientation change in degrees, the orientation change is now also displayed in degrees/mm. New values can also be set.

Position editor. You can now create 4 sets of increment values for rotating and translating. From S to XL. The selection is made via a slider to the left of the increment values displayed. Thanks to V.F.

V9.9.1/23 from August 12, 2024

CodeMeter. New CodeMeter Version 8.10b.

V9.9.1/22 from July 29, 2024

Automatic update check. Due to the move of the Famos robotic website to a new server, the Famos auto-update function no longer worked. This is fixed.

SDK. The OnSimPause event was only triggered when the pause function in the SIM page tab was used. The pause function in the toolbar did not trigger the event.

SDK. The function TCustomPlugIn::Target_SetFocused in the C++ version of the SDK did not work. Thanks to A.D.

V9.9.1/19 from July 7, 2024

Workspace analysis. The "Attachments" option is now active by default. This ensures that tools, grippers and additional CAD models attached to the robot axes are taken into account when calculating the workspace.

V9.9.1/17 from June 25, 2024

License errors. Improved reporting of maintenance time errors.

Geometry functions. The "Equidistant path" function does not work correctly for circular interpolations in corner points. The type of interpolation had to be corrected manually.

PlugIns. The status of tab controls created by PlugIns is now correctly restored when the application is restarted. This affects visibility and position in the list.

Localisation. Translation error in the tab control "Sim" fixed.

V9.9.1/16 from June 6, 2024

Kuka robots. New robot KR-180-R3200-2-PA.

Picking. The options for the picking mode "Range on Edge" were not always fully displayed.

Virtual Camera. A virtual camera could not be connected to a 3D view if it was already connected and it could not be disconnected from an already connected 3D view.

Staubli robots. New robots TS2-60-HB-FL-400, TS2-80-HB-FL-400, TS2-100-HB-FL-400.

V9.9.1/12 from Mai 6, 2024

Fanuc robots. New robot FANUC-CRX-25iA.

Kuka robots. New robot KR-LBR_iisy_3_R760.

Motoman postprocessor. Improved the names of the options for tools and UFrames.

Motoman Import. The SyMovJ, SyMovL and SyMovC commands are no longer skipped and are now read and treated like normal MovX commands.

CodeMeter. Neue CodeMeter Version 8.00a.

Kuka robots. New robot KR-120-R2700-2.

V9.9.1/11 from April 2, 2024

Fanuc robots. New robot FANUC-CRX-5iA.

Simulation. Improved behavior when moving along Joint and ABS-Joint targets with zone values greater than zero. The tcp speed is no longer reduced as much.

Fanuc robots. New robot FANUC-M10iD-12.

V9.9.1/9 from February 13, 2024

SDK. Data type errors have been corrected in the Delphi API and C++ API. Affected are functions that use the following codes "pfc_Device_SyncSpecialKinNode,pfc_Tool_GetData,pfc_Target_GetData,pfc_Target_GetDataEx,pfc_Device_CNV_GetTrkWindowIDByIndex,pfc_Device_CNV_GetTrkWindowIDByName,pfc_Frame_SetRefCoorSys". Plugins must be recompiled in order to continue to be used.

V9.9.1/7 from February 9, 2024

CAD. The command line program "faConvert" reported an incorrect Granite version. The program is available via the SendTo menu and is used to convert CAD data.

Kuka robots. New robot KR-300-R2700.

Granite CAD-Kernel. New Granite One(TM) Kernel V12.0.5.0. Fixes an error when importing annotations in Granite models. Fixes a bug when importing x_t files.

Installation. The installation has been improved.

Parameter. Paramatereditor für TCP-Offset für große Schriftarten optimiert.

Parameter. Paramatereditor für Beschleunigung für große Schriftarten optimiert.

V9.9.1/3 from January 26, 2024

3D-Bodies. The texture generator for text now updates the preview with every value change without having to confirm the input with Return.

b+m robots. New robot T2_X5_L_D70_PZA.

ABB robots. New robots IRB-6660-100-330, IRB-6660-130-310.

External axes. During programming, a warning is now issued if the maximum speed of an external axis is not sufficient to execute the required movement. "Speed Limit" is displayed in the parameter editor. The postprocessors generate a corresponding warning in the log.

Licensing. The LicenseWizard is now called LicenseAssitant. Support for the e-mail procedure for licensing has been improved.

CodeMeter. New CodeMeter Version 7.60d. This version fixes a security problem and should be installed urgently. More infrmation directly from the manufacturer https://www.wibu.com/support/user/user-software.html .

Application. Support for high-resolution displays (High-DPI) improved.

New path. If the interpolation mode "ABS-Joint" is activated, the ipo mode will automatically switch to "Linear" when CAD models are clicked.

V9.9.0/6 from July 7, 2023

Application. Famos robotic has become the property of DESMA Schumaschinen GmbH (www.desma.de). Support is available at support@famos-robotic.com and famos@desma.de. Phone support at +494202990787.

Licensing. The License-Wizard has been renewed and now accesses the servers of DESMA Schuhmaschinen GmbH. Previous versions of the LicenseWizard can no longer be used.

V9.8.12/5 from June 30, 2023

KUKA robots. New robot KR-180-R2900-Prime.

Script. New functions fa_Bounds_GetWorldProgramOOBB, fa_CAD_IntersectWithRay, fa_CAD_GetDistanceToPoint, fa_mat_Set_OrientationVectors, fa_mat_Get_OrientationVectors, fa_mat_Set_OrientationMat, fa_mat_Get_OrientationMat, fa_vec3_FromString.

Selection. New option "Center focused path point in view" for the range selection function. The option can be set in "File Options Program".

KUKA robots. New robot KR-210-R3100-2.

Script. New functions fa_Program_CalcOOBBForSelectedTargetsRelTo, fa_Program_Add3DBody_Box, fa_BasicBody_SetColor.

Fanuc robots. New robot FANUC-R2000iC-190s.

Motoman robots. New robot YRC-GP50.

KUKA postprocessor. An increment can now be specified for the indexing of the targets.

V9.8.12/1 from March 29, 2023

b+m Import. The b+m programs (.prg) were confused with ABB programs (.prg) during import.

Bezugssysteme. Im Dialog "Geräte - Bezugssysteme verwalten" steht jetzt eine Funktion zur Verfügung um alle Tools oder Bases vom aktuellen Roboter auf alle oder einzelne andere Roboter zu übertragen. Einzelne Bases oder Tools können in deren Eigenschaftsdialogen übertragen werden.

Reference systems. When switching between devices, the displayed hierarchy depth of the coordinate system structures is now preserved. As far as possible. Complex coodinate system hierarchies can be compared better this way.

V9.8.11/26 from March 22, 2023

ABB postprocessor. A comment is now inserted at the end of each subroutine to indicate the end of the subroutine. This also simplifies the insertion of new instructions.

b+m postprocessor. New options "Write TCP Speed as AirCut Speed" and "Write TCP Speed as Brush Speed". These options improve support for T1-S3 systems.

Projects. The CAD tree in the CAD tab could disappear when saving a project was canceled.

Robotergruppen. Robot groups. Multiple selection is now better supported. If numeric IDs are used for continous synchronization, they are now automatically numbered. The numbering starts with the ID of the first selected target. This speeds up the processing of many targets considerably.

KUKA robots. New robot KR-4-R600.

Script. fa_PathGroup_GetPathAt did not return valid paths.

Script. New functions PathGroup_GetFirstPath, PathGroup_GetNextPath.

Path manager. The "Create new group from selected paths" function now also works if the selection containes pathes, that are invisible or have no targets.

Path manager. When using a particularly large number of path in a group, display errors could occur. The last group appeared twice and then disappeared after moving the mouse.

b+m postprocessor. Support for the program names of the T1-S3 systems. It is enough to enter the program number. The name will be adjusted automatically.

Script. New functions fa_Parameter_GetSpeedOverride,fa_Parameter_SetSpeedOverride,fa_Parameter_GetSpeedOverrideLimit,fa_Parameter_SetSpeedOverrideLimit.

Parameter. An error could occur when trying to transfer the properties of a parameter to other devices. The error occurred only if the transfer of the properties was triggered while the parameter was added to the project. The transfer is now only possible after the addition of a parameter has been completed with OK.

b+m postprocessor. File name restrictions for X6 controller adjusted. New option to set the maximum speed for positioners.

V9.8.11/12 from January 13, 2023

Installation. The installation of Visual Studio runtime components has been improved.

V9.8.11/11 from December 19, 2022

Process objects. The performance of the "Tracer" has been improved for programs with long runtimes.

Motoman robots. New robots YRC-GP70-L, YRC-GP20-HL and YRC-GP35-L.

b+m robots. New robot T1-S3_LL_K70_296.

Doosan robots. New robot Doosan-A0509s. The robot can be found in the library under "Other devices". A controller is currently not available.

FANUC robots. New robot FANUC-M710ic-50s.

Process objects. The "Tracer" can now not only record a track for any coordinate system but also for the respective active TCP. TCP offsets are also taken into account.

Process objects. The configuration dialog now shows the time that the object was active. The distance covered during this time is also displayed. The values can be used to better estimate downtimes or material consumption for different processes. The values are displayed for all process objects. To record the path of a TCP, a "tracer" can be used. The visible trace can be deactivated.

Workspace Analysis. The voxel size can now be reduced to 10mm edge length. The previous lower limit was 25mm. Small edge lengths can lead to a jerky display.

Script. New functions fa_mat_Mirror, fa_path_Mirror, fa_Path_CalcGeometricCenterRelTo, fa_Path_DuplicateEx, fa_Path_Mirror, fa_Program_CalcCenterOfSelectedTargetsRelTo, fa_Device_GetClass, SameValue.

Motoman. The position of the zero point for the YRC models has been corrected.

Instructions. In the instruction "IF THEN GOTO" the setting of the signal type was not evaluated. However, the type was derived from the signal name if it matched the robot syntax.

3D-Bodies. The aspect ratios can now be locked.

3D-Bodies. Textures can now be generated from text for the 3D bodies. To do this, use the "Abc" button, next to the button for selecting a texture file. Text, font, color and the height in pixels can be set. This now makes it very easy to generate nameplates for robots or other components.

Process objects. New "Linear axis" object in the "Actuators" category.

Process objects. The "Rotation axis" and "Linear axis" process objects now have an additional option to specify paths for the axis parameters. Additionally, behavior options can be selected. Automatic stop, automatic direction reversal and automatic reset of the axis with restart from the initial position.

KUKA import. If X was the first text character in the name of a subroutine and after that only digits and the letters A to F were used, then this subroutine was not imported. The name was considered invalid because it corresponds to a number in hexadecimal notation.

V9.8.10/18 from July 26, 2022

FANUC robots. New robot FANUC-CRX-20IA-L.

Graphics. Support for computers with Intel graphics improved. Core i5-6500TE (UHD-530), Core i5-9500E (UHD-630), Core i5-11500T (UHD-750) systems were tested. These systems can be used for smaller projects.

b+m import. Added support for positioners.

b+m postprocessor. The commands for controlling positioners are now supported.

b+m Code-Viewer. The Code-Viewer has been technically revised and additionally supports the new and modified X6 commands.

ABB postprocessor. FTP transfer did not work for newly created projects. If the transfer does not work after an update, please activate the option in the postprocessor.

Devices. In "Configure control & kinematics", one can define the maximmum axis acceleration, now.

Script. New functions fa_Program_GetFirstTarget, fa_Program_GetNextTarget, fa_Program_GetPrevTarget, fa_Program_GetLastTarget, fa_ray3_DistanceToPoint.

Parameter. The function "Distribute values to area" has the new option "Distribute to points depending on path time".

Script. The script editor has been revised. It is now more robust and faster.

KUKA robots. New robot KR-8-2010-2, KR-8-2010-2-ARC.

ABB robots. New paint robots IRB-5500-22-Floor-Config-A-ProcessCover and IRB-5500-22-Floor-Config-B-ProcessCover.

Script. New function to access the process object "Rotation axis". fa_ProcessObjects_GetRotAxisByName, fa_RotAxis_GetRotationSpeed, fa_RotAxis_SetRotationSpeed, fa_RotAxis_GetRotationAxisIndex, fa_RotAxis_GetRotationAxisRelToWord.

Fanuc postprocessor. Maximum length for path names and file names has been increased to 36 characters.

V9.8.10/2 from May 3, 2022

Process objects. New object "Rotation axis" in the new category "Actuators". The axis can be inserted in the context menu of the coordinate systems under "New". The axis can be used as an asynchronous axis, which is assigned a velocity and an acceleration. The rotation axis is used by the function "Geometry - Surfaces - Feed for profile curve of a rotation surface".

Process objects. New option for the "Rotation axis". The rotation speed can now be used as the start speed. The acceleration phase can thus be skipped if it does not play a role.

Fanuc robot. New robot FANUC-R-2000IA-165F.

Geometry. New function "Feedrate for profile curve of a rotation surface" in the Geometry - Surfaces menu. The function calculates the feed rate so that a specified surface speed is achieved on a rotating part.

KUKA robots. New KRC4/KRC5 robot KR-20-R3100-IONTEC.

External axes. The function for automatic calculation of axis values on a positioner, the Magic Wand, now also works for axes that do not rotate around the Z axis.

Simulation. New option "At end of program, stop all other devices". The options dialog is called up in the Sim tab via the context menu of the device.

Script. New function "fa_Device_GetClass".

FANUC Roboter. New robot FANUC-SR-6iA.

Script. New functions fa_Helix_Calc_ProfileCurveFeedRate, fa_Helix_Calc_ProfileCurveRotAxisSpeeds, fa_Helix_Calc_RotAxisSpeed, fa_Device_SetMaxJointSpeed, fa_Device_GetMaxJointSpeed.

Copy & Paste. COMAU orientations were not always correctly copied from the Windows clipboard.

COMAU PDL2 postprocessor. New option "Write load data for tools". If own tools are used and not those from the control, the load data can be set in the program.

Script. New functions fa_Path_GetPathSchemeIndex, fa_Path_SetPathSchemeIndex, fa_ProcessObjects_GetTracerByName, fa_Tracer_RecordTrace, fa_Tracer_ConvertToPath, ProcessObject_SetEnabled, ProcessObject_GetEnabled, ProcessObject_SetActiveOnSimStart, ProcessObject_GetActiveOnSimStart.

COMAU PDL2 postprocessor. New options to use the speed and zone, with WITH, as an inline instruction within the move command.

Graphic. Performance improvement when processing many targets.

ABB robots. New robots IRB-4400--60-M2004 and IRB-4400-L-10-M2004.

Parameter. The list of parameter editors in the Parameters tab now reacts to the mouse wheel. To do this, the cursor must be in an input field, for example.

Pathmanager. If a group is moved, all groups are collapsed. Display of selected collapsed groups improved

Pathmanager. Status changes for Visibility, Active and Simualtion were not updated immediately.

Parameter visualization. Boolean parameters and digital I/O signals are now marked with monochrome symbols. White corresponds to TRUE, black corresponds to FALSE. The symbols are displayed at all targets where the value changes relative to the predecessor.

COMAU postprocessor. New option for variables "Use ToolFrame function to access indexed tools and UFrames" in the system. Tools and bases must contain an index at the end of the name. Remote tool, TCP offset and virtual external axes cannot be used. If the option is enabled and the name does not contain an index, the assignment to $TOOL and $UFRAME is used.

COMAU postprocessor. New options for program generation. Calling the main sequence is now optional. An additional initialization function can be created. All subprograms are exported now.

CAD. New export option for CAD models "Export in freely selectable coordinates". Any label can be clicked and used as a reference.

CAD. New export option for CAD models "Export to reference coordinates". If a CAD model has been connected to a tool, base or device flange, then the model can now be exported relative to this coordinate system. Thus, the zero point of the exported model can be changed very easily.

ABB robots. New paint robot IRB-5510-12-A.

COMAU PDL2 postprocessor. Tool changes in a fly movement are now reported as errors. 37130 "$TOOL changed during fly".

Postprocessor-Log. In the case of multiple selection of messages for targets or trajectories, all affected targets in the project are now selected. If messages from different robots are selected, the selection applies only to the last selected robot. This robot then also becomes the active robot.

Installation. In the German installation the link to activate the user management was not created. The user administration can be activated with the link: "Famos V9 x64 (activate user administration)".

Devices. New option in "Configure control & kinematics". A minimum arc length can now be specified. The postprocessors check the value during program generation and warn of a violation of the limit value.

COMAU robots. A4-Limits of SM5-NJ-130-205 have been corrected to +/- 200°.

Projects. When saving a project, if a file name was used that contained a dot, then everything after the last one was treated as an extension and swapped for the extension that matched the file type selection. The extension is now no longer swapped, but always appended. Unless the extension is already correct.

COMAU postprocessor. New option "eMotion Trajectory control". If the option is activated the EMT commands are used. This applies to speed and trajectory modes.

Doosan robots. New robot Doosan-H2515. The robot can be found in the library under "Other devices". A controller is currently not available.

FANUC robots. New robot FANUC-M-10iD-10L.

Script. New functions fa_Parameter_SetWaitTime, fa_Parameter_GetWaitTime, fa_Device_SetTCPLocked, fa_Device_GetTCPLocked, fa_CAD_SetInstanceVisible, fa_CAD_GetInstanceVisible, fa_CAD_GetGroupIDByName, fa_CAD_SetGroupVisible, fa_Device_FollowFrame, fa_Device_StopFollowingFrame, fa_Device_FollowDeviceFlange, fa_Collisions_Check, fa_Collisions_Enabled, fa_Collisions_Enable, fa_Sim_Reset, fa_Sim_Start, fa_Sim_Stop, fa_Sim_Pause, fa_EA_GetDigitalSignal, fa_EA_SetDigitalSignal, fa_EA_ToggleDigitalSignal, fa_num_ChangeScale, fa_IntToABC,fa_ABCToInt.

Process objects. If the recording of the track has been activated for a "Tracer", then this can now be exported as a PIS file and thus also be used to generate a trajectory.

V9.8.9/44 from October 28, 2021

Motoman robots. New robots YRC-GP180-120, YRC-GP120-RL.

FANUC robots. New robots FANUC-M-20iD-12L, FANUC-M-20ID-25, FANUC-M-20iD-35.

Geometry. The function "Segment path" created the first target twice.

Operating system. The support for the operating system Windows 8 and older will be discontinued in the future. Famos robotic V9.9.0 will be the first version without support for older windows versions.

Script. New functions String_Replace, String_Remove, String_Trim, String_TrimLeft, String_TrimRight, String_Compare.

FANUC robots. New robots FANUC-M-2000iA-1700L, FANUC-M-2000iA-2300.

FANUC robots. New robot FANUC-CR-35iA.

Comau robots. New robot SM5-NJ-130-205.

COMAU PDL2 postprocessor. First version of COMAU PDL2 postprocessor available as BETA version. The following commands are currently supported $TOOL,$UFRAME,$BASE,$TOOL_RMT,MOVE,MOVEFLY,JOINT,LINEAR,CIRCULAR,$FLY_TYPE,$FLY_DIST, $FLY_PER,$LIN_SPD,$JNT_OVR,$ROT_SPD,$ARM_OVR,DELAY,$DOUT,$AOUT,$FMO,OPEN HAND, OPEN HAND,IMPORT,GOTO,LABEL,IF THEN GOTO. The import of PDL2 programs is not yet possible.

Parameter. The EA parameters Digital output, Digital signal group and Analog output, can now be linked to a script, which is executed when the signal is set. The script is assigned in the parameter properties. There, transfer parameters to the script can be defined, also.

Administration. For the very first installation of Famos robotic the user administration is now deactivated. In the Famos program group in the start menu, the link "Famos V9 x64 (activate user administration)" can be used to activate the user administration.

Geometry. New function "Intersect segments with path". The function intersects all selected path segments with a selected path and creates new targets at the intersections. If a path was cut that was created with one of the surface functions, then the intersection points can be selected for further processing with the "Select segments" function.

Geometry. "Meander line by line between 2 path". If 1 was entered as the number of intermediate targets, this could lead to an error in the calculation of the TCP speed.

V9.8.9/16 from July 15, 2021

ABB robots. New robots IRB-1660ID-6-155, IRB-1660ID-4-155.

FANUC robots. New robots FANUC-M-900IB-280L, FANUC-R-2000iC-220U.

Grafik. Es konnte zu Darstellungsfehlern bei ansichtsparallelen Flächen kommen wenn die Koordinatensystemdarstellung abgeschaltet wurde.

Selection. If a single trajectory contained more than 20000 targets in extremely small distance to each other an error could occur, which led to a program crash.

KUKA robots. New KRC4 robots KR210-R2700-2, KR150-R2700-2.

Comau robots. New robots SM5-NS-16-165-HAND, SM5-NS-16-165-ARC, SM5-NS-12-185-HAND, SM5-NS-12-185-ARC.

Geometry. New function "Extend segments to bounding path". The selected segments of a path are extended or shortened to another path. The bounding path and the selected path segments can be on different planes.

Geometry. New function "Duplicate target". All selected path points are duplicated and inserted at the same geometric position. Duplicating can affect the trajectory interpolation.

V9.8.9/2 from June 16, 2021

KUKA robots. New robot KR-20-R1810-2.

Script. New function fa_mat_Slerp. Performs a spherical linear interpolation for the orientation and a linear interpolation for the position between two poses. Different parameters can be used for orientation and position.

Mitsubishi Melfa postprocessor. First version of the Mitsubishi Melfa Basic postprocessor as beta version released. The following commands are supported Tool, Base, P_WKCOORD, M_Tool, Mvs, Mov, Mvr, EMvs, EMov, EMvr, Dly, JOverd, Overd, Spd, Accel, CNT, GoTo, Label, M_Out, M_Outb, M_OutW, M_Out32, Wait M_In, Wait M_Out. Structur Data Flags are written. The import of Melfa Basic programs is not yet possible.

ABB robots. Due to a misconfiguration, the calculation of dynamic limits was incorrect on some ABB palletizing robots. IRB-460-110, IRB-660-180, IRB-660-250, IRB-760-450.

Script. If a script makes changes in different devices, then these changes are now automatically undone in all affected devices. All that is required is to execute the "Undo" function on one of the affected devices.

Simulation. The "Simulate to Target" function simulated to the wrong target if it was triggered via the toolbar and at the same time the F9 mode for tracking the currently simulated path point was activated.

ABB robots. Alignment of flange geometry corrected on IRB-6700-300-270 and IRB-6700-245-300 models.

ABB robots. New robot "YUMI" IRB-14000. The ABB gripper, "IRB-14000_GRIPPER", can be connected to the arms as a flange-mounted device. The grippers must be added as external axis "Flange mounted device" and then be connected to the respective robot arm.

Geometry. New function "Reconnect targets by distance" in the Geometry menu. The function connects the targets of the current path on a short path. Starting point is the first target of the path.

Fanuc robots. New robots FANUC-M-10iA-10M, FANUC-M-10iA-10MS.

Devices. New option in "Configure Control & Kinematics" for defining the maximum permissible orientation change between two path points. The previous value was internally set to and could not be changed. The default value for the maximum orientation change is now 170 degrees. This limit is also effective for old projects.

Fanuc postprocessor. New option to treat exceeding the maximum orientation change as an error.

Input of positions and orientations. In the context menu of the input fields functions are now available to set the values to zero. If a position input field is connected to an orientation input field, both can be set to zero together.

Axis values. New function "Fix TCP". The option allows to reposition the current device while the TCP is fixed on the current target. Axis angle and target can be changed.

Fanuc postprocessor. The postprocessor now supports Robot-commands GOTO, LABEL, IF Conveyor.Pos GOTO and IF Signal GOTO.

ABB postprocessor. The postprocessor now supports Robot-commands GOTO, LABEL, IF Conveyor.Pos GOTO and IF Signal GOTO.

Hilfe. Help. The window position and the window size of the help system are restored correctly, now.

ABB import. Standard Speeddata variables, e.g. v450, for painting robots added. The module with the declarations of the variables must now no longer be available during import. If declarations are not found, an attempt is made to derive suitable values from the variable name. You will receive a corresponding message in the log if this happens.

Instruction list. Some simple instructions, Robot-commands, can now be inserted, which are also evaluated by the simulation. Currently available are program jumps depending on a signal state or a conveyor position.

Devices. Color of several robots corrected. E.g. the IRB-1300, the new Staubli TX2 robots and the Fanuc CRX models

ABB robots. New robots IRB-1300-7-140, IRB-1300-10-115, IRB-1300-11-90.

Measure. Measure an arc through 3 points. The center, normal, radius, center angle and arc length are calculated. The circular plane can be copied as a coordinate system and then inserted into tools, for example.

Fanuc import. Position registers can be used to set the values for bases or tools in the program. These assignments are now recognized. Previously unknown reference systems are newly created with the values. Already existing ones will, optionally, be updated with the found values. This also works if the reference systems in the project are part of a coordinate system hierarchy.

Staubli robots. New CS9 robots TX2-140, TX2-160, TX2-160-L.

Fanuc postprocessor. Bases and tools can now be written with a freely selectable position register in UTOOL and UFRAME. The programs are now more independent of the system parameters.

Application. Revision history. New filter type "New device". The filter type can be combined with the topic filter to, e.g., display all entries that concern a specific manufacturer.

Coordinate systems. Individual tools and bases can now be easily distributed to other devices in their respective properties dialog.

Script. The fa_PathGroup_InsertPath function now correctly catches illegal index values.

b+m import. The parameter visualization displayed wrong colors when importing programs with circular movements because no brush was assigned to the via target. Import and visualization have been adjusted.

Fanuc robots. New robots FANUC-M900iB-330L, FANUC-M410iC-110, FANUC-M410iC-185,FANUC-M410iC-185-Pedestal,FANUC-M410iC-315,FANUC-M410iC-315-Pedestal, FANUC-M410iC-500.

Selection. New functions "Mark with pattern" in the menu "Edit-Mark". You can specify how many targets should be marked alternately and how many should not. Selection patterns can also be freely defined, e.g. to program perforations.

Script. New function "fa_Path_SplitAtTarget". Splits a trajectory in two at a given target or at all selected targets.

Selection. New functions "Mark every n-th path point" in the "Edit - Mark" menu. On a very long path, for example, you can mark every 100th path point and then use the "Geometry - Split path" function to divide the path into a number of paths, each consisting of 100 path points.

Devices. In the "Configure control & kinematics" dialog, axis limits and extended settings can be transferred to individual or all devices in the project.

Parameter. The properties of parameters can now be transferred to individual or all devices in the project.

Parameter. External axes. In the properties of the parameter it is now possible to deactivate the automatic axis value calculation during path generation. In addition, an offset value for the automatically determined axis value can be specified. This makes the automatic calculation of axis values more controllable, e.g. for three-axis gantry systems.

Parameter. External axes. In the properties of the parameter, the limits can now be taken from the device settings.

Fanuc robots. New robot FANUC-R2000iC-210F.

Devices. In the "Devices - Properties" dialog, a short comment can now be assigned in addition to the name and description. E.g. "Left of conveyor". The comment is displayed e.g. in the Sim tab and in the device selection list for transferring properties to other devices.

Devices. In the axis angle dialog the current HomePos can now be transferred to individual or also all devices in the project. A dialog allows the selection of the devices. The function is triggered via the new button to the right of the "Save as HomePos" button.

Motoman postprocessor. Number of decimal places for speed values corrected.

b+m controller. New controller b+m-X6. Since the controller is compatible with the X5, the X5 postprocessor is also used for the X6.

b+m import. "Use brush" commands were incorrectly assigned during import if the brush changes were programmed on path segments where the gun was off.

Script. New functions fa_Parameter_PickPlaceUpdateAllInitialObjectPositions and fa_Parameter_PickPlaceUpdateInitialObjectPosition.

Staubli CS8 postprocessor. Support for external libraries added. The libraries can be specified on a separate options page in the postprocessor.

Fanuc robots. New robots "FANUC-CRX-iA" and "FANUC-CRX-iAL".

Script. New funktions fa_Device_SetpToTarget, fa_Parameter_SetPickObjectValue, fa_Parameter_GetPickObjectValue, fa_Parameter_SetPlaceObjectValue, fa_Parameter_GetPlaceObjectValue;

Fanuc robots. New robots "FANUC-LR-Mate-200iC", "FANUC-LR-Mate-200iD-7L", "FANUC-LR-Mate-200iC-5C","FANUC-LR-Mate-200iC-5F","FANUC-LR-Mate-200iC-5H", "FANUC-LR-Mate-200iC-5H-HS", "FANUC-LR-Mate-200iC-5L", "FANUC-LR-Mate-200iC-5LC", "FANUC-LR-Mate-200iC-5L-Cable", "FANUC-LR-Mate-200iC-5WP", "FANUC-LR-Mate-200iD", "FANUC-LR-Mate-200iD-4S", "FANUC-LR-Mate-200iD-7L".

Application. The revision history can now be filtered by topic and entry type. In addition, you can search for a text. For example, it is possible to display all changes to a specific post-processor.

Path manager. New function "Create group from selected paths". All selected paths will be moved to a new group. The new group is inserted after the group to which the first selected path belongs.

V9.8.8/3 from December 31, 2020

Installation. The revision history can now be displayed in the download area of the web page. This makes it easier for you to check all changes made to Famos robotic. To stay up to date we also recommend our newsletter: http://news.famos-robotic.de/en/ .

Licensing. License Wizard updated.

CAD. Error during step import fixed. The error could occur when curves are assigned to an assembly and not to a model.

V9.8.8/1 from November 19, 2020

Fanuc postprocessor. The Fanuc postprocessor now generates an error message when workpiece guiding is combined with ABS joint or joint interpolation. The robot controller does not support this.

SDK. Numerous new functions added. Details in the SDK change log.

ABB robots. New robots "IRB-6700-245-300" and "IRB-6700-300-270".

SDK. Numerous new features made available in the Delphi version of the Famos API.

Motoman robots. New robot "YRC-GP88".

Script. The ValueDialog can now be used more flexibly. If no variables are passed for query, it can also be used to display an image or text, or an image with text. There is more space available for the text, too. The dialog size adapts automatically to larger images.

Script. New functions "fa_vec3_Scale", "fa_vec3_IsSame", "fa_mat_IsSame", "fa_Path_SetIndexInGroup", "fa_PathGroup_InsertPath", "fa_ParameterDef_LinkedParameter_AlwaysUseDefaultLinkText", "fa_ParameterDefList_AddParameterDefByClassName", "fa_ParameterDefList_DeleteParameterDef", "fa_ParameterDefList_GetParameterDefIDbyClassName", "fa_App_GetVersionString", "fa_App_CompareVersion".

Script. New function "fa_Target_AlignOrientationToFeedDirection".

V9.8.7/34 from September 23, 2020

CodeMeter. New CodeMeter Version 7.10a. This version fixes a security problem and should be installed urgently.You can also download the CodeMeter Runtime directly from the manufacturer https://www.wibu.com/support/user/user-software.html .

Script. New functions "mat_AlignOrientationToVector", "fa_App_FileOpenDialog", "fa_App_FileSaveDialog".

Workspace analysis. The voxel size can now be reduced to 25mm edge length. The previous lower limit was 50mm.

Workspace analysis. The analysis object "Workspace" was sometimes hidden when changing views, if it was linked to a moving coordinate system, e.g. a conveyor.

Help. In the menu "Help" a support request can now be sent. The standard e-mail program of the system is used for this purpose.

b+m postprocessor. If the commands UseGun or UseBrush were used, it could happen that the commands were added to the instruction list because they could not be assigned to a target. This has been corrected.

Position Editor. Error when moving in the direction of a vector with input of a distance.

Fanuc robots. New robots FANUC-M-20ID-25 and FANUC-M-20ID-12L.

CAD. STEP import error "kxCopyFailed" is now intercepted and the import is continued. Please check your model if your model is complete when the import is finished.

Kawasaki robots. New paint robot "KJ-264-FLOOR".

Kawasaki postprocessor. First version of the Kawasaki postprocessor as beta version available. The following AS commands are supported BASE, TOOL, WEIGHT, FTOOL, MOVEJ, MOVEL, C1MOVE, C2MOVE, FMOVEJ, FMOVEL, FC1MOVE, FC2MOVE, CVMOVEL, CVC1MOVE, CVC2MOVE, SPPED, ACCURACY, ACCEL, SIGNAL, WAIT SIG, BITS, TWAIT, OUTDA, BSPEED, CWAIT. Further commands can be generated using the freely linkable parameters. The import of AS programs is not yet possible.

Kawasaki. Selection and display of axis configurations corrected.

KUKA robotes. New models KR-6-1820, KR-12-1810 and KR-12-1810-2.

NC-Import. Absolute and relative programming with G90 and G91 are now supported.

Motoman robots. New robots YRC-MA-1440 and YRC-GP12-AR1440.

Fanuc postprocessor. The file extension (.pe/.ls) for the ASCII program files can now be freely selected, it is no longer determined by the controller version.

External axes. In the parameter definition of an external axis, you can now specify whether the device is simulated as coordinated or as uncoordinated device.

Transfer targets. If parameter lists do not match exactly, the parameters can now be transferred despite differences, after a warning.

Geometry. New function "Line by line between two paths".

Geometry. The "Select Segments on Meander path" function has been renamed to "Select Segments". The function has been changed and extended to work with new functions.

Virtual camera. Display error with very small focus distance.

V9.8.7/12 from June 16, 2020

Licensing. E-Mail activation in the License Wizard could not be performed.

ABB postprocessor. Using the FTP option "Create directory automatically" could lead to an error.

Automatic update check. The change history can now be displayed before the download. To do so, press the info-butt next to the version number.

V9.8.7/10 from June 4, 2020

ABB postprocessor. Automatic FTP transfer to IRC5P controllers failed in some cases.

Script. In case of a very high memory usage, errors could occur when executing Script.

Fanuc robots. New robot FANUC-R2000IC-270F.

Script. With the function "fa_ValueDialog_SetHelpFile" a help file can be passed to the dialog. If no path is specified, the file is searched for in the script file directory. If the file is found, a "Help Button" is displayed in the dialog. Any document can be used for which there is a linked application. html, txt or rtf for example should always go.

KUKA postprocessor. The number of decimal places can now be set in the register "Variables". Only significant digits are generated, at most with the set number of decimal places.

Measure. The measurement results are now displayed in the application log. So you can still read the values after closing the result display.

Colorize. Improved model coloring when using fixed process objects.

Renaming path. When renaming paths, there was no error message if illegal characters were entered.

CAD. If the triangulation for components is changed, the setting is now saved correctly.

CAD. If models are moved into a radio group the models are now correctly integrated into the group.

Coordinate systems. The "Delete" function in the context menu of the tools and bases was also active when deletion was not possible.

Position Editor. An error could occur when deleting a user coordinate system which was also selected as reference coordinate system.

Motoman Import. The wrong frames were assigned. Now the index is evaluated and the matching frame is searched in the project.

Fanuc robots. New robot FANUC-M20IA-12L.

KUKA robots. Modifications for the 4-axis palletizing robots. The designation of axis 4 has been changed to A6. Prost processor and program import have been adapted accordingly.

KUKA robots. New robots KR-30-R2100-INONTEC, KR-50-R2100-IONTEC, KR-50-R2500-IONTEC and KR-70-R2100-INOTEC.

KUKA robots. Limits of axis 6 of the four axis Titan-PA robots corrected.

ABB robots. New robot IRB-5500-27-6AX with positioning unit IRB-5500-27-POS. The positioning unit must be added as an external axis. Then it is linked to the robot as a traversing axis.

ABB robots. New robot IRB-5500-27-7AX.

Unified-Coating. Adding brushes to the reference table also works with multiple selection, now.

b+m postprocessor. New codes 89 "Selcet CS" and 90 "Select CS external" added. The name of the CS file is the last number part in the name of the brush table.

b+m postprocessor. Use Brush commands are now also written when the gun is off.

b+m import. New codes 89 "Selcet CS" and 90 "Select CS external" added.

b+m Code-Viewer. Added support for the codes 89 "Selcet CS" and 90 "Select CS external". The Code Viewer was ported to 64 bit.

b+m Import. Brush tables are now imported even if the option "Create new parameters automatically" is deactivated.

Script. New function "fa_mat_OrthoNormalize". The function normalizes the axes of the coordinate system and aligns them perpendicularly.

UR postprocessor. During program generation, non-orthonormal coordinate systems could occur, which caused an error.

b+m Import. If external axes are not correctly linked, this error is now intercepted and a message is displayed in the log.

Fanuc robots. New robot Fanuc-P1000iA-RH and Fanuc-P1000iA-LH.

Motoman postprocessor. User frame number can now be read from base name.

Geometry. New function "Geometry - Surfaces - Meander parallel between two curves". Creates a meandering path parallel to two planar curves.

ABB postprocessor. Waterjet-Parameter created TriggL insteadt of CutL-Command.

CAD. After duplicating a model, the associated coordinate system is now immediately displayed.

b+m postprocessor. Limit for "USE BRUSH" increased to 255.

CAD import. The STEP import failed if certain curve types were used in an assembly.

b+m post-processor. The command move linear gun on was not written.

ABB import. The optional \NoEOffs parameter in motion instructions was misinterpreted for inline targets.

b+m postprocessor. The command was written for each movement command if more than one applicator was used.

Path schematics. Number increased from 5 to 10. If the context menu in the column "Path schema" is opened in the path manager, a menu for selecting a schema opens directly.

KUKA robots. New robot KR6-2 for KRC4.

CAD. New triangulation option "Artificial edges" in the CAD editor.

Script. New functions for setting and reading the axis configuration of a target "fa_Target_GetConfigIndex", "fa_Target_GetConfigIndex", "fa_Target_GetConfigNative". Valid values are in the interval [1..8].

Geometry. New function "Geometry - Surfaces - Meander between two curves". Creates a meandering path between two planar curves that lie in parallel planes. This function can be used, for example, to create paths on the outer surface of a cylinder or a truncated cone.

Geometry. New function "Geometry - Surfaces - Meander between two paths". Creates a meandering path between two planar paths.

Geometry. New function "Geometry - Surfaces - Meander parallel between two curves". Creates a meandering path between two planar curves that lie in parallel planes.

Geometry. New function "Geometry - Surfaces - Mäander parallel zwischen zwei Bahnen". Creates a meandering path with segments parallel to two paths.

Geometry. New function "Geometry - Surfaces - Select segments of a meander path". This function can be used to select individual areas of a meander path.

Projects. A misleading message was displayed when trying to save a project while an operation was still active. The project should be saved to a different location. Now the message shows the name of the operation that is still active and needs to be terminated.

CAD. When importing assemblies, curves were lost if they were not assigned to a model within the assembly but to the assembly itself.

Universal robots. New robot UR16e.

V9.8.6/28 from November 26, 2019

CAD. If a project was loaded with the option "Open without CAD data" and this project was then saved, the assignment to the unloaded CAD models was lost.

Simulation. Line tracking. If a tracking window was deleted without a new one being assigned, the simulation ignored it and still waited.

CAD. An error was reported in some cases when scaling STL models. The scaling still worked.

Motoman Import. During import, paths were created, but no targets were added.

Script. New function to access path groups "fa_Program_GetPathGroupCount, fa_Program_GetPathGroupAt, fa_Program_GetPathGroupByName, fa_Program_AddPathGroup, fa_Program_DeletePathGroup, fa_PathGroup_SetAsDefault, fa_PathGroup_IsDefault, fa_PathGroup_GetName, fa_PathGroup_SetName, fa_PathGroup_SetIndex, fa_PathGroup_GetPathCount, fa_PathGroup_GetPathAt, fa_PathGroup_DeleteAllPath, fa_Path_SetIndexInGroup, fa_Path_GetIndexInGroup".

Fanuc Import. The import now supports protection blocks with 1: !=*Protect-Begin*; 1: !=*Protect-End*; All instructions between Begin and End remain untouched.

Motoman Robots. New control YRC with new robots YRC-GP7-AR900 and YRC-GP8-AR700.

Motoman Robots. New robots DX200-MH-12, DX200-MH-12F and DX200-MH-24.

Range display. The "Visibility" toolbar has a new button for activating the "Range display" function. The function can be configured in "File-Options-Graphics-Program".

Range display. New option "Range display for selection" in "File-Options-Graphics-Program". Depending on the selection, the display of paths and path points can be restricted to certain areas. An option is to display the number of path points before and after the selected path or only the current path points of the current path.

Graphic. The line width for the parameter visualization was increased to 10 pixels so that color changes are better visible. Whether this value is actually reached depends on the graphics card.

CAD. In rare cases, assemblies were incorrectly arranged after importing, saving, and reloading a project.

Stäubli robots. New robots TS2-40-HB-FL-200, TS2-40-HB-FL-400, TS2-60-HB-FL-200, TS2-80-HB-FL-200 und TS2-100-HB-FL-200.

b+m. Postprocessor and import adapted. It is now ensured that the command UseBrush is written before the first MoveLinGunOn command. If the Gun is already switched on, UseBrush is written after the Move command.

Simlib. All device files are now available in a manipulation-safe format.

Last orders. The context menu with the last executed commands now shortens very long command names.

Parameter. The function "Reset initial position for all objects" of the PickObject parameter did not always work. The function is available in the context menu of the parameter.

ABB robots. New robot IRB-1410-4-144.

ABB postprocessor. The build number was not inserted into the mudul name.

FANUC postprocessor. The WinOLPC options can now be used independently of the controller type.

EasyRob Kernel. New EasyRob Kernel Version 7.6.0.6. Support for new kinematics.

External axes. The tracking frames displayed when external axes are used can no longer be used to link CAD models or user coordinate systems. This has led to errors in some projects when removing external axes. In existing projects, the links are retained, but should be changed to the flange, base or tool of the external device.

Position editor. The method "Move by Default of 2 Points with Fixed Distance" is now available as a third variant for moving points. It is the button with the delat symbol.

Fanuc Robots. The assignment of the native axis configuration to the configuration number was incorrect for standard robots. Painting robots and robots with special configuration determination, such as the M710iC-50E, were not affected.

Omron Robots. New robots TMS-700 and TMS-900. The robots are located in the Simlib under "Other Devices".

ABB Robots. New robots IRB-8700-800-350 and IRB-8700-550-420.

Simlib. Kinematics of ABB traversing axes of type IRBT6004 corrected. The zero position was wrong, the programs were all run on the wrong height. Affected projects only have to be reopened.

b+m Postprocessor. An error could occur in the postprocessor if the project contained an external axis parameter that was not associated with any device.

b+m Import. If the import at the beginning of a program encounters commands that are only expected after the first movement, then these commands are not interpreted but inserted directly into the instruction list. In the application log corresponding messages are displayed.

b+m Postprocessor. The maximum channel number for error checking for all digital signals is now 32.

b+m Import. The import now supports protection blocks. Robot source code that stands between these special comments 79 ~#Protect-Begin# 79 ~#Protect-End# is now used untouched as instruction block in Famos. This is particularly suitable for complex initialization functions that must be executed before the program is executed. For example, those that can't be executed in the main program but are not allowed to be interpreted by Famos.

Align to curve. Fixed a bug in the function "Geometry - Orientation - Align to curve".

ABB Import. The import is now more robust in handling spaces between signs and digits.

Script. New functions to create Tools, Bases and User-Frames. "fa_Program_AddToolFrame, fa_Program_AddBaseFrame, fa_Program_AddUserFrame".

Project information. The description of a project can now be imported from another project in the "File - Project Information" dialog.

V9.8.5/17 from August 5, 2019

Installation. The installation of Visual C++ 2015 runtime was not executed automatically and had to be started manually.

V9.8.5/17 from July 25, 2019

Position Editor. The function "Move by 2 points with distance" has been changed so that the distance is queried after defining the direction. The currently measured distance is specified as the default value in the dialog. The dialog is now displayed at the current mouse position. The distance can be, for example, halved (/2) or tripled (*3) with the available mathematical functions.

Position Editor. New option "Anchor mode" for orientation changes. When the mode is active, the orientations are changed around the axes of the selected reference coordinate system, preserving the position, anchoring it. The mode is activated with the anchor switch. It remains active until the switch is pressed again. The mode also works in "Jog Mode".

ABB postprocessor. The Name of Track motions were used as mechanical unit name in the declaration of work objects. This caused the workobject to move with the track motion axis even though the traversing axis was configured as coordinated.

Motoman robots. New robots DX200-MPX-3500-0, DX200-MPX-3500-1 and DX200-MPO-10-S.

Application. The EULA-Document is now included with the installation.

CAD. The CAD Manager has been revised. The performance is improved and the window is now maximized.

Graphic. The option "Fade to" for the alternative background color is now correctly evaluated. The alternative background color can now also be selected by clicking on the color field.

Granite CAD-Kernel. New Granite One(TM) Kernel V12 M000. With this version Creo 6.0.0.0 models can now be loaded.

V9.8.4/4 from May 21, 2019

Application. Last version, which is also available as 32Bit version. Subsequent versions will only be created as 64 bit versions.

Batch processing. The batch processing function can now also be used to convert V8 projects to V9 projects.

Projects. The import of V8-Projects is now more robust against defective V8-Projects.

Projects. When opening project archives, the project configuration and the project description were lost.

Graphic. The ScreenShot function now copies the image directly to the Windows clipboard. Press and hold [Shift] to save the screenshot to a file.

Graphic. In "File - Options - Graphics" you can now specify an alternative background color. This can be activated if screenshots are to be taken for printing.

Graphic. In the toolbar "Views", the background can now be changed between standard and alternative with a button. 06.05.2019

FANUC Postprocessor. The postprocessor now writes CNT and CR as zone type. The previous zone type CD can be activated in the postprocessor. CR requires the CONSTANT_PATH option and CD requires the ACCU_PATH option. New options to write the commands "UTOOL_NUM" and "UFRAME_NUM" into the program.

Motoman robots. New robot DX200-MS-80W-ii.

Bases and Tools. In the dialog "Reference systems" the order of the coordinate systems can now be changed with [Ctrl]+[Up/Down]. If a coordinate system is duplicated, it is now inserted behind the selected one and no longer at the end of the list.

ABB Postprocessor. If the program was split into different modules, the naming of the targets was incorrect if the project contained disabled paths.

b+m Postprocessor. New option "Write UseTCP for ABS joint movements". The TCP is not important for the robot here, but when importing the program, the position of the path point, which is created as a placeholder for ABS joint path points, is retained.

ABB Postprocessor. If the program is divided into different modules, the declarations of the targets are distributed to the modules.

Workspace analysis. The corner points can now be picked with the pickin mode "Positions". The display has been additionally improved.

Script. New functions for accessing different bounding boxes in the project. CAD, program, complete scene.

Application If you have used the program "FamosV9_StartupConfig", you have to renew your settings. The feature list has been greatly expanded, it is also more structured and sorted.

Fanuc robots. New robots FANUC-M20iB-35S and FANUC-R2000iC-165F.

Workspace analysis. When the simulation is finished, the limits of the actually used space are displayed in the application log.

Workspace analysis. Visibility is now controlled via the "Process objects visible" button in the "Visibility" toolbar. You can now make it visible at any time, independent of the simulation.

Script. New functions "fa_Parameter_SetTargetManipulationValue", "fa_Parameter_GetTargetManipulationValue".

ABB Postprocessor. The robot program can now be distributed to different modules. Create a decalation module for variables. Each path in one module. One module per group. The options can be freely combined. Large programs can thus be distributed to smaller modules, which can be better processed by the controller.

Script. New functions for setting and reading analog signals.

V9.8.3/36 from March 14, 2019

Register Sim. Most of the text translations were missing.

Projects. If "English" was set as the language, an error could occur after opening a project if errors or warnings occurred during loading.

Projects. After exchanging a kinematic for one from another device class, objects remained in the project that were no longer needed. These objects are now automatically removed when loading such projects.

Devices. With the function "Select device" now only kinematics of the same device class can be selected. A robot can therefore be exchanged for any other robot, but it can no longer be exchanged for an external axis. This will prevent conflicts that occur when a device does not support certain properties.

Copy and Paste. All position and orientation editors have a context menu for copying and pasting positions and orientations. This also works if you open the context menu outside the input fields, now.

Application. In some lists and logs scrolling with the keyboard did not work correctly.

V9.8.3/30 from March 1, 2019

Projects. Saving a project to a new folder could cause an error.

Projects. If errors or warnings occur while loading a project, their number is now displayed in the application log.

Postprocessors. Additional parameters can now be passed to the script, which any postprocessor can execute. The script already receives robot name, controller type, programming language and output directory as parameters.

Script. Script can now be executed with parameters in the "Start" menu of the script editor. This facilitates the development of Script that are to be called by postprocessors or plug-ins.

Mecademic robots. New robot Meca500-R3. The robot can be used in simulation. Postprocessor and import are in preparation.

b+m Import. Values for the external axes 7 and 9 were not correctly assigned during import and were set to zero instead.

ABB robots. New robots IRB-910SC-3-0_45, IRB-910SC-3-0_55, IRB-910SC-3-0_65.

Application. The application and the installer are now digitally signed.

Fanuc postprocessor. If the Unified-Caoting-Parameter was used, an error message was incorrectly displayed. The message is now displayed as a hint.

ABB postprocessor. Two new options for conveyors. Optionally, the configuration values for targets programmed on a conveyor can be written with as zero values. The axis parameter can also be set to zero.

Kuka robots. New robots KR-6-R700-2, KR-6-R900-2, KR-10-R900-2, KR-10-R1100-2.

CodeMeter. New CodeMeter Version 6.80.

V9.8.3/16 from February 8, 2019

CAD. The coordinate system function "Show references" is now also available in the context menu of the CAD page tab.

CAD import. After importing a model in one of the exchange file formats IGES/STEP/Parasolid/... the import log can be displayed under the message "CAD-Import completed". It is opened after a double click in the text editor.

CAD. The import of CAD models is now more robust in dealing with faulty CAD models.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M190. STEP and Parsolid import improved.

CAD-Import. The import of CAD models has been accelerated. Models with surfaces that contain an extremely large number of holes benefit in particular.

CAD-Import. Additional import messages. For example, if you want to import files that were created with a student version.

CAD. "File - New" could cause an error if plane cuts were created with a CAD model, previously.

3D-View. To align the view with a target, simply select the target and press [Shift] + [A default view]. The label no longer needs to be selected.

Projects. New function "File - Open read-only". If a project has been opened read-only, this is indicated by "[R]" in the title bar.

Parameter. The "Distribute Values to range" function from the parameter editors context menu, has a new option for determining the range from the parameter values of the selected path points.

Motoman robots. New robots DX200-MYS850-L and DX200-MYS850-LF.

Geometry. "Position - project onto CAD model". The option for moving in the direction of an orientation axis could not be activated.

KUKA robots. New robots KR-150-R3100-PRIME, KR-150-R2700-EXTRA-F, KR-150-R3300-PRIME-K, KR-150-R3300-PRIME-K-F, KR-150-R3700-ULTRA-K,KR-150-R3700-ULTRA-K-F.

Universal robots. New robots UR3e, UR5e, UR10e.

3D digitizer. The interfaces to the measuring arms Baces3D, MicroScribe and Faro are no longer available for technical reasons.

KUKA robot. Model of KR-16-R2010 corrected. The hand axes were slightly shifted.

Unified-Coating. The Fanuc postprocessor and the Fanuc import now support the Unified-Coating parameter.

Unified-Coating. For Fanuc it is now possible to simulate dynamic changes of the spray pattern. Because of the limited access to the brush data of the controlle, without physical parameters.

Script. New functions for accessing the parameter definition list. "fa_Device_GetParameterDefList", "fa_ParameterDefList_XXX".

Script. New functions for accessing selected coordinate systems "fa_Selection_XXX".

Coordinate systems. If several CAD models are selected at the same time, they can now be assigned to a new reference coordinate system with a single drag & drop operation.

CAD. The handling of CAD models has been improved and accelerated. This has a positive effect, for example, on the "Save as", "Dyeing" and "Picking" functions. In addition, the storage space requirement has been reduced.

CAD Import. Faulty models are now detected during loading. They are marked with a yellow exclamation mark in the CAD register. In addition, a message is written to the application log.

Application. (64-Bit) General stability improvement.

KUKA Import. When importing WAIT FOR instructions, symbolic signal identifiers are now also supported.

KUKA Import. If "Keep Unknown Instructions" was enabled, parameters were still created for WAIT FOR and WAIT commands.

Process Objects. Added limit validation in the property dialogs for the flaming and CO2-cleaning processes.

Tracks. New standard tracks Standard-track-TX, Standard-track-TXTZ.

Staubli robots. New robot TS-80-STD-FL-400.

Project archives. When creating archives, existing archive were also included in the new archive. This led to unnecessarily large archive files.

KUKA robots. New robots KR-3-R540, KR-16-R1610, KR-16-R2010, KR-8-1620-NANO, KR-6-R1820-ARC-HW-NANO, KR-8-R1420-ARC-HW-NANO, KR-8-R1620-ARC-HW-NANO, KR-8-R2100-ARC-HW-NANO.

Edit. When transferring targets to another device, errors occurred if the path names already had the maximum allowed length.

Dyeing. The initialization process for complex models with 10000 individual surfaces and more now takes significantly less time, accelerating the opening of projects.

Simulation. A waittime between two identical AbsJoint positions at the program start could prevent the simulation start.

CAD. If a link to a CAD model was inserted into the project during a distance measurement, an error could occur.

Projects. The release note when opening a project created with a newer version, is only displayed if at least the revision number has changed.

Logs. If file names are displayed in square brackets in the log, you can now open the folder of the file by holding down [Shift] and double-clicking. Single double-clicking still opens the file in the selected editor.

CAD. An error could occur when exchanging CAD models in very old projects.

Stäubli. Origin and axis 3 of TP-80 corrected.

Script. New commands for accessing the selected targets "fa_Selection_GetFirstTarget", "fa_Selection_GetLastTarget", "fa_Selection_GetNextTarget".

Robot groups. (64-Bit) The synchronization of movements failed for some projects in the 64 bit version.

Project information. New fields "Drawing index" and "Drawingname".

V9.8.2/2 from October 16, 2018

Parameter. Targets with TCP offset could not be teached because the offset was not calculated correctly.

Graphic. New option "Reverse zoom direction for mouse". Use "File-Options-Graphic" to change the setting.

Graphic. Press [F11] to activate the last graphics window.

Script. New functions to read and set the HomePos of devices.

Bases & Tools. When duplicating bases and tools, their comments were not duplicated.

Bases & Tools. After the import of bases and tools in the dialog "Devices - Manage Reference Systems", the coordinate systems had a different sequence.

Simulation. The start of a waiting time and the end of a waiting time are now entered in the Sim-log.

Simulation. Times for collision zones were displayed in milliseconds in the Sim-log instead of seconds.

Plugins. The CodeMeter licensing mechanism did not work correctly.

ABB robots. New robots. IRB-5500-22-A and IRB-5500-22-B.

Simulation. After deleting a conveyor, an error occurred when starting the simulation.

Robot groups. (64-Bit) The synchronization of movements failed for some projects in the 64 bit version.

CAD Import. An error could occur when importing special step models. The error then prevented the projects from being saved successfully.

Project list. If the function for the automatic scanning of folders for projects was used, V9 project files were not found.

Logs. Messages and warnings can now be filtered. The filters can be activated in the context menu of the logs.

KUKA robots. New robot "KR-10-R1420" with KUKA energy supply.

ABB Import. Optionally, bases and tools that already exist in the project can now be updated with the current values from the robot program. This works regardless of how the coordinate systems are linked.

Project. If projects contain a description, it will now be displayed automatically while loading and saving the project.

ABB postprocessor. Optionally, a routine for reading module information can now be generated. This provides the name of the project file, the robot name, the build number and the date and time of module creation. This information can be used to check the version of the module. The name of the routine consists of the prefix cami_ and the module name.

Picking. The "Arc center" mode did not work correctly for curves.

Plane intersections. Intersections with planes, executed with the API functions of the SDK did not return intersections to plug-ins.

ABB Import. If the declaration of the zone variable z0 is missing, it is imported with default values of the controller.

Script. New functions to add and remove Script from the menu.

Script. All "fa_Device_" functions now expect a DeviceID as parameter. Zero can be passed if the active device is meant.

b+m Import. Incorrect assignment of the path speed at switching points.

Kuka postprocessor. New options "Initialize bases at the beginning of the path" and "Initialize Tools at the beginning of the path". If no declarations are created, or the variables are overwritten by calculations, this option ensures that the values at the beginning of each path are set to the values from the Famos project.

Script. Script can now activate "speed-dependent zones" and set the corresponding zone values. Access to the "External axes" parameters is now also possible.

Picking. In the option of "Pick positions", the distance of the snap points to a coordinate system origin can be set finer.

Projects. Loading times of large projects with many CAD models reduced.

Objekt selection. Performance improved.

Picking modes. In "Enter position directly" mode, an error could occur if the reference coordinate system was selected.

CAD models. When models are moved from one group to another. The group status is now also applied to visibility. If a visible model is moved to a group with the status invisible, model and label become invisible.

Section planes. Deleting working planes led to program errors.

Postprocessors. At very high memory utilization, opening the directory selection in the postprocessor dialog could lead to a program crash.

V9.8.1/9 from June 28, 2018

Copy & Paste. With some applications the exchange of positions and orientation did not work reliably via the Windows clipboard.

Simulation. During the simulation, errors could occur in conjunction with tracking windows.

Copy & Paste. Under special circumstances, activating the context menu of a position or orientation input field could lead to a program crash.

V9.8.0/1 from June 12, 2018

Picking mode. "Range on edge" completly renewed. The mode now detects contiguous, adjacent surfaces along an edge. Thanks to the new technology, the standards for the path points can also be defined simply and intuitively. The number of clicks during web generation on surface edges has been considerably reduced. The old function is still available under the name "Area on surface border". The "Range on curve" mode now only processes curves. The performance and quality of both methods could be increased.

Staubli robots. New CS9 robots. TX2-40, TX2-60, TX2-60L, TX2-90, TX2-90L, TX2-90XL.

CAD. If there are faulty CAD models in the project, they are listed in the application log when saving. If this happens, the project can be "saved" by opening it without CAD models, deleting the defective models and saving the project. The CAD models can then be re-imported. In this case we recommend to choose a different file format. IGES, instead of Step, e.g.

Application log. When copying to the clipboard, only the selected lines are copied by default. If you want to copy the complete log, you can also press the "Shift" key.

b+m Import. Under certain circumstances an empty path with the name of the program file was created during the import. This path is now removed automatically.

Unified-Coating. Due to an error it could happen that the files with the definitions of the spray volumes were damaged. If this has happened, please simply delete the defective files. The files are then automatically replaced by the original files the next time Famos is started. You will find the files in the folder "%APPDATA%\carat-robotic\FamosV9\Dye-Data".

Simulation. When using the "WaitTime" parameter, an error occurred and the simulation was aborted.

Automatic updates. The program now supports SSL/TLS secured connections.

Motoman robots. New robot DX200-MH-50-ii.

Script. New functions "fa_Path_GetFirstTarget", "fa_Path_GetLastTarget", "fa_Path_InsertTargetAt", "fa_PathItem_GetPath", "fa_Project_GetID", "fa_Parameter_SetTCPOffset", "fa_Parameter_GetTCPOffset", "fa_Target_GetNextTarget", "fa_Path_GetActive", fa_Path_GetVisible".

CAD Import. The SCAD import failed in some cases.

ABB postprocessor. The WaitConv statement is now written independently of the process used. If this option is activated, a suitable implementation of the WaitConv command must be available in the robot system.

ABB postprocessor. If .SYS is specified as the file extension for the module, a system module will now also be created.

CAD. ProE/Creo XPR files can now be imported.

Coordinate systems. In the picking mode"Positions", the positions of invisible coordinate systems were displayed.

Project. More meaningful messages when saving is aborted.

Position editor. In certain cases it could happen that wrong distances to the predecessors and successors were displayed. The error occurred only during active simulation and when working in a moving reference system.

KUKA postprocessor. A program number can now be specified, which can optionally be passed to the main routine as a parameter. If the passed number does not match that of the program, the program execution will be stopped.

Script. New functions "fa_Target_Duplicate", "fa_Path_CalcLength".

Coordinate systems. The label of the selected target was visible even if the parent coordinate system was collapsed. This led to irritations when creating user coordinate systems relative to the target, because they were not visible.

Simulation. During reorientation between several trajectory points at one position, jerking occurred.

ABB postprocessor. FTP messages are combined at the end of the postprocessor log.

ABB postprocessor. The transfer of old FTP transfer settings has been improved. If available, user name and password from old installations are now also used.

ABB system files. The MOC.CFG from the backup of an ABB robot from the S4 can now be imported. Select the file with "File - Open" or simply drag and drop the file onto the application window. At present, basic transformations and axis limits can be imported.

Position editor. It could happen that the axes were displayed in the wrong order in the axis angle display.

Script. New function for calculating the angle between two vectors "fa_vec3_angle". Auxiliary functions to extract components from a matrix.

Application. The input validation of quaternions is less strict and allows slightly larger deviations.

Simulation. If signals and process objects were used, changing the visibility of CAD models during simulation could cause an error that caused the simulation to stop. The simulation could then be continued.

V9.7.11/2 from March 19, 2018

Script. New functions to split paths into segments "fa_Path_SegmentateByLength", "fa_Path_SegmentateByCount".

KUKA robots. New robots from the KR-420, KR-500 and KR-1000 series.

Script. Error in the function "fa_Target_Fillet" fixed. It can now also be used for multiple selection.

Application. Improved support for large fonts.

Position editor. When large fonts are enabled, it could happen that axes 5 and 6 in the axis angle display were displayed in the wrong order. However, the respective axis values were correct.

ABB postprocessor. New option to disable the call of the TCPOffset function. If disabled, you have to handle the TCP-Offset calculation on your own! Import of robot programs will not work if this option is not active!

Parameter. Free-linkable parameters could not produce outputs where one of the commands should be enclosed in percent and quotation marks %" "%;

Path creation. The picking mode "range on curve" has been improved. If the mode is applied to edges, then the edges whose normal will have the least deviations are preferred.

Process objects. The spray jet did not always fade in and out correctly when a brush change was made at the same time.

ABB postprocessor. A new method is now used for FTP transfer to the robot controller. If FTP is used, the projects may no longer be used with older versions, otherwise the FTP settings will be lost. Old settings for S4FTP are transferred. If necessary, user name and password must be added. To do this, use the new "FTP Transfer Settings" function in the postprocessor. If the FTP transfer fails, this is now reported as an error in the log.

CAD. The picking mode "Positions" for CAD-Models produced errors in some projects.

Coordinate systems. The labels of 3D bodies could not be expanded and collapsed.

New path. The picking mode "Range on curve" now provides significantly better surface-edge normals.

Script. When "Save as" is executed, files whose name starts with the name of the script are also copied. Images and settings that belong to a script are automatically copied to the new location.

Dyeing. At waiting positions the coloring was stopped. Line-tracking applications were not affected.

Collision control. The function "Turn collision control for selected objects off" in the context menu of the collision log had no effect.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M160. Improved STEP interface.

Path creation. New option "Flip the normal direction of newly generated targets" was used for teached targets, too.

Script. New functions for access to "CustomData" variables in objects of the project. The variables are accessed via the functions "fa_CustomData_XXX". With CustomData variables, e.g. the parameters or options of a script are stored in an object of the current project. Possible objects are the project, devices, paths, targets, tools, bases, CAD references, and user coordinate systems. Sample script "Meander_Sample_V2.pas".

Script. New function "fa_Target_Chamfer" to chamfer an edge.

Script. In the "ValueDialog" mathematical expressions can now be used if numeric values are queried.

Script. New function to access the parameter TCP-Ori-Speed. "fa_Parameter_GetTCPOriSpeed", "fa_Parameter_SetTCPOriSpeed", "fa_Parameter_GetTCPOriSpeedDominatesTCPSpeed", "fa_Parameter_SetTCPOriSpeedDominatesTCPSpeed".

New path. The "Range on curve" picking mode did not always recognize closed curves correctly.

Application. Memory management error fixed. Effects only version 9.7.10/101.

ABB postprocessor. If a conveyor is used, the command "WaitWObj" can be replaced with the "WaitConv" command. The implementation of "WaitConv" must be available on the robot system.

ABB Import. The command "WaitConv ,,,\OUT:=;" is now supported. It will be converted to Tracking-Windows.

Path creation. New option "Flip the normal direction of newly generated targets". When activated, the orientation is automatically rotated by 180 degrees. If the orientation of the CAD model was correct, the Z-axis of the target then points into the part.

Postprocessors. In the "Advanced" tab, a script can now be specified, which will be executed before the postprocessor starts. A script may e.g. be used to always insert a specific instruction at the end of each path.

Script. The color of CAD models was not saved when set with fa_CAD_SetInstanceColor().

Programming coordinate system. The input field in the parameter editor is now displayed in yellow if the current target is defined in different contexts. That would be e.g. the case when the programming coordinate system is connected to the flange of the robot, but the working mode is set tool guiding.

KUKA postprocessor. Optionally, the call "caPathInit" is added at the beginning of each path and the call "caPathFinish" is added at the end of each path. Both routines are called withe the module name, the group name and the path name, as parameters.

ABB postprocessor. Optionally, the call "caPathInit" is added at the beginning of each path and the call "caPathFinish" is added at the end of each path. Both routines are called withe the module name, the group name and the path name, as parameters.

Script. The function "fa_num_EnsureRange" returned no result.

V9.7.10/91 from January 19, 2018

Automatic updates. Searching for updates failed with error: "HTTP/1.1 301 Moved Permanently".

CAD. New switch in the "Visibility" toolbar to hide / show all CAD models.

Script. If Script were removed from the menu list, this change was not saved.

Script. New functions for linked parameters. "fa_Parameter_GetLinkedDoubleValue", "fa_Parameter_SetLinkedDoubleValue","fa_Parameter_GetLinkedIntegerValue", "fa_Parameter_SetLinkedIntegerValue", "fa_Parameter_GetLinkedStringValue", "fa_Parameter_SetLinkedStringValue".

Copy protection. In copy protection messages, the program version is now displayed in addition to the program name. This is to simplify the support.

Script. New function "fa_Target_GetTangents". The function calculates the start tangent and the end tangent for the path segment of a target.

Script. New funktion "fa_vec3_Cross", "fa_vec3_Normalize", "fa_vec3_Dot", "fa_vec3_Add", "fa_vec3_Sub", "fa_vec3_Mul", "fa_vec3_Distance", "fa_vec3_Length", "fa_vec3_SetLength", "fa_vec3_Mul_Mat33", "fa_vec3_Mul_Mat44", "fa_vec4_Mul_Mat44".

Position editor. For position and orientation it is now possible to enter relative values. The mode can be activated in the context menu in the field Position and Orientation. In the Local Coordinate System mode, zero is displayed and relative values can be entered. The values are no longer displayed relative to the reference system of the focused frame.

Script. Access to the parameter "Bool-Value" is now possible. The following functions are available: fa_Parameter_SetLinkedBoolValue, fa_Parameter_GetLinkedBoolValue, fa_Parameter_GetLinkedBoolValueLinkMask, fa_Parameter_SetLinkedBoolValueLinkMask.

Parameter. Marking targets with the parameter values could fail for freely linkable parameters. The reason for this was, that different masks were used per target with the option "Do not allow individual changes per waypoint".

Motoman postprocessor. In cartesian positions, the RE value for the SDA-20D is added.

KUKA postprocessor. Regardless of their location, the headers for SRC files and DAT files were not included.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M150. Body transformation fixed. Intersection of two faces fixed in specific case.

Script. Reading a float value with "fa_ValueDialog_GetDoubleValue" from the Value-Dialog failed, if value unit name was added to the value.

Fanuc robote. For some robot models, like the FANUC-M710IC-45M, the turn value calculation was not correct.

Fanuc robots. New robots "FANUC-M710IC-45M" and "FANUC-R2000IC-125L".

Script. The sample script "3D_Text.pas" has been improved. The parameters can now be entered in a dialog and the text is linked to the currently selected coordinate system.

V9.7.9/40 from October 23, 2017

Coordinate Systems. New function "Show references" in the context menu of the labels. A dialog shows all the coordinate system associations. The visibility of the coordinate system and the labels can also be changed here.

Coordinate Systems. When the label of a coordinate system is selected, the connection from this coordinate system to the world coordinate system is drawn. The target label must be selected for targets.

Jog-Mode. Handling has been improved. The mode remains active until it is manually disabled. It can now be used very easily to create a new path or to touch-up positions. If you want to change the jog-TCP, the mode is simply switched off, the new jog-TCP is selected and then the jog-mode is deactivated again. The reference coordinate system can be changed at any time.

Tracking windows. The size of the tracking windows can now be set in the selection dialog of the parameter "Tracking-Window" per conveyor.

Staubli robots. New CS8 robots TS-80-W-200 and TS-80-W-400 wall mount.

Path manager. If a target is selected on a path in the graphic and then the already selected path in the path manager is clicked again, all targets of the path are selected. This corresponds to the [Ctrl]+[b] function.

Script. New functions for string lists (fa_StringList_). AddObject, SetObject, GetObject, InsertObject, IndexOfObject. With these methods IDs of different objects can be buffered.

CAD-Import. The models are now checked during import and possible errors are corrected by healing functions. Possible errors are badly trimmed faces or open edges.

Picking. The "Range on curve" picking mode has been extended. The tolerance used to detect connected curve parts can be modified now. Directly in the picking mode dialog.

Script. Three new examples allow the creation of cubes, spheres, cylinders, cones, and truncated cones as polygon models. The models are automatically imported and linked with the selected coordinate system. Positions can be picked on the models and they can be used for collision tests. You can access the Script via the Script editor "File - Open sample script". 3D_Cube_Sample.pas, 3D_Sphere_Sample.pas, and 3D_Cylinder_Cone_Sample.pas.

Postprocessors. If output files of the postprocessors are write-protected, a clear error message will be added to the log, now.

Bases & Tools. In the context menu of "Device - Reference Coordinate Systems", the function "Select all targets using this frame" is available, now. This allows to quickly determine the targets using a tool or base as a parameter.

Copy & Paste. If an AbsJoint target is copied and then inserted as a new target, its position is now displayed correctly when the robot has been moved relative to world.

Axis angles. Testing of configurations for a target has been improved. The focused target is automatically re-started, so the configurations which lead to a inaccessible target will not longer disturb the work flow.

Staubli CS8 robots. New robots TS-60-W-200 and TS-60-W-400.

Motoman robots. New robots DX200-MS-165 and DX200-MS-210.

Simulation library. It is now clear whether a device can be simulated or programmed.

Coordinate systems. If the labels are switched with F4, the current status is now also visible in the toolbar.

V9.7.8/3 from September 4, 2017

New path. An incorrect context menu was displayed if a CAD model was made invisible during the creation of a path.

Position-Editor. If the coordinate systems are invisible and a model has been selected in the register "CAD", no path points could be selected in the position editor as a reference coordinate system.

CAD. If a CAD model is only made invisible/visible in the tab "CAD" by setting the check mark, the model is no longer selected. Thus, selected targets remain selected.

b+m Import. Backups of programs from the back directory can now be imported as normal programs. System files and brushtables will be found and used.

Copy & Paste. Paths and targets are now inserted into the standard group, always, if no targets are selected.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M140. Several bugs fixed in STEP/IGES import.

CAD-Calibration. Calibration failed in robhold mode if the CAD model was attached to another CAD model instead of a tool.

Path segmentation. Segmentation failed if more than one path was selected.

Scripting. The font size of the editor can now be changed in the menu "Options". [Ctrl]+[+]/[-] can be used, too.

Multimonitor. With some configuration variants of more than two monitors, errors could occur during the restoration of window positions.

Automatic updates. After downloading the installation file, the installation will no longer start automatically. The startup is now triggered manually, so that the user account control does not terminate the setup if the update has not been supervised.

V9.7.7/1 from Juli 24, 2017

Fanuc Robots. New robots "FANUC-CR-4IA", "FANUC-CR-7IA" and "FANUC-CR-7IA-L".

3D-Bodies. The custom colors in the color selection dialog are now loaded and saved correctly.

Parameter. The function "Distribute values on range" will only take selected targets into account, now.

CAD. The labels of invisible models are now selected automatically when the model is made visible. It can then be moved immediately in the position editor.

Tips. The tips are now available in the Help menu, too.

Projects. (32-Bit) If the 32-bit version loads a 64-bit project, it will now checked whether the project data can be mapped to the 32-bit system and if not a corresponding message is displayed. The project must then be loaded with the 64-bit version.

Parameter. Process objects have not been activated correctly by digital outputs and the parameter "Paint-Gun".

Localisation. Some missing translations in "Robot properties" and parameter editor "External axis" added.

CAD. When the orientation of surfaces was corrected, it was not possible to create a path on these surfaces.

V9.7.6/1 from June 23, 2017

KUKA Postprocessor. If the option "Generate dat file only if necessary" was deactivated, no data files were generated.

ABB Postprocessor. Invalid MoveC commands were generated when inline targets were used. The zone variable was then written 2 times or 2 commas appeared in succession.

Project archives. CAD models contained in an archive were not loaded. The unpacked project could be opened normally.

Scripting. The sample Script Helix_Sample.pas and Spiral_Sample.pas have been extended and demonstrate how to use the ValueDialog, now.

Staubli CS8 Postprocessor. The postprocessor generates programs for Scara robots with system software V7.x, too.

Simulation. The peak values of the individual axes achieved during a simulation are now displayed in the axis angle dialog. Simply move the mouse on the input field with the current axis angle.

V9.7.5/160 from May 29, 2017

Workspace analysis. New process object to analyse the workspace of a device. To create the analysis object, open the context menu of the label of the active device and choose "New - Analysis - Workspace". Double-click the new label to open the configuration dialog. Set the maximum size of the monitored room here. If you start the simulation, the space in which the device moves is marked as 3D-Volume. This Volume can be exported as point cloud for use in CAD-Systems.

Scripting. New scripting support. The new menu "Script" offers functions to create, edit and execute Script. Scripting language is Pascal.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M130. STEP import improved.

PlugIns. (64-Bit) With the Delphi version of the Famos SDK, 64-bit plug-ins can be created, now. 32-bit plug-ins can be created from the same code, too.

Plugins. (64-Bit) The Custom CSV Export plugin is now included in the 64 bit version.

Simulation. (64-Bit) In rare cases the simulation was stopped unexpectedly.

Parameter. An initialization value for the delay time of digital output signals, can now be set now.

Parameter. Support for large fonts in the register "Parameter" for all Windows platforms improved.

Parameter. Parameter editor for "TriggX" revised. Improved keyboard handling and translations.

Parameter. Wrong unit name used for z-translation in TCP-Offset parameter.

KUKA Postprocessor. New option on the Options tab. "Create DAT file only if it contains data". If you do not create declarations for variables, then no DAT file is generated.

ABB Postprocessor. For the "TriggX" parameter, commas were set incorrectly when a single trigger was used.

ABB import. The "TriggX" parameter has been created several times if the default name of the parameter has been changed.

Tracer. The track of a tracer can now be saved as a point list. To do this, the "Track for Export" option must be activated in the Properties dialog. After the simulation run, the track can be saved with "Export track". The point can be used in a CAD system to make the robot's path visible.

Automatic updates. Incorrectly encoded text files in ANSI and UTF8 format could lead to an error.

V9.7.4/22 from March 31, 2017

Licensing. Famos informes better about the installed software maintenance, now. The maintenance information is not only displayed under "Help - License Information", but also in the application log.

Recent files. New function "Verify recent files" removes all non existing files from the list.

Geometry. The function "Reverse point order" has set the interpolation of the first target incorrect.

Robots. At the joints of the Universal-Kinematics, which are available for practically all controllers, CAD models and 3D bodies can be attached, now.

CAD. The user was able to link the CAD geometries of individual axes to other coordinate systems, which is not allowed and leads to errors when loading projects.

V9.7.4/2 from March 24, 2017

Simulation. The zone radii are now automatically reduced to acceptable values for the simulation if they violate the half-distance rule.

ABB PaintWare. The trigger points on the path segment are now retained when programs are mirrored and transferred to other robots. For the determination of the trigger positions on a segment, only the distance to the target on the segment is used, now. The ABB event data is calculated automatically. The project files are downward compatible and upwards compatible.

CAD. There could be errors in the automatic assignment of the programming coordinate system if a path was created on a duplicated model.

Project archives. Before you create a project archive, you are now prompted to save only when the project is in the "Changed" state.

ABB Import. When importing some post parameters, such as the CollZone parameter, incorrect values were assigned to the last target.

Parameter. (64-Bit) The selection of a new programming coordinate system failed sometimes. The selection list remained empty.

Axle angles. Go to "HomePosition" works when the device is disabled, now.

Fanuc Postprocesser and Import. Targets, programmed in RTCP-Mode, are stored in the correct format now.

Fanuc robots. The description of the axis configuration of the M710/iC-E50 has been corrected.

Staubli Postprocessor. Version 6.8.2 controlers could not load the programs because of missing sections. Earlier versions had automatically added the Sections.

Geometry. Reverse target order. The function failed if axis-specific interpolation types were used.

Tools and Bases. The creation relative to an existing frame could be undone, but the redo failed.

V9.7.3/4 from February 24, 2017

Simulation. In the "Sim" tab, the program time (total - start) is now displayed in addition to the total time and start time. This display is particularly interesting for systems with conveyors.

Plugins. The Event OnSymCycleComplete was not triggert.

Automatic updates. If no maintenance information was found because Famos was never started on a computer, the automatic update is not executed. This ensures that no software is downloaded, which can not be executed, because it has been released after the end of the maintenance period.

b+m postprocessor. Additional messages for forbidden command sequences. 50021: Move_Linear after Use_Tcp, and 50020: Wait times after Synchron_Off.

Open projects. The function is more robust when dealing with corrupted files.

Save. Saving projects has been speeded up.

Save. Saving projects to a shared folder has been revised. Stability and speed have been improved.

CAD. When inserting a CAD model with an assembly using the clipboard, an error could occur if the assembly was already contained in the target project and one of it's submodels was modified.

Kuka postprocessor. The option "Set CIRC_TYPE" was renamed to "Set CIRC_TYPE to #PATH" and is deactivated by default, now.

Kuka postprocessor. If the option "Include init block" is activated but no file is found, BAS(#initmove,0) will be written as the minimum initialization . If no initialization block is selected to be inserted, the variables $ORI_TYPE=#VAR and $CIRC_TYPE=# BASE are now set.

Graphic. The lighting model has been improved. In plan view, surfaces are now easier to see.

V9.7.2/28 from December 16, 2016

Insert new target on path. (64-Bit) NAN's. In circles, calculation of orientation could fail. NAN values for orientations were displayed.

V9.7.2/20 from November 24, 2016

ABB postprocessor. (64-Bit) When processing tracking windows, an error could occur if a tracking window was still used by a target and it was deleted together with the conveyor.

Kuka robots. New robots KR-120-R2900-EXTRA-F,KR-120-R3200-PA,KR-120-R3200-PA-ARCTIC,KR-120-R3500-PRESS,KR-120-R3500-PRIME-K,KR-120-R3500-PRIME-K-F,KR-120-R3900-ULTRA-K,KR-120-R3900-ULTRA-K-F,KR-120-R2700-EXTRA-HA,KR-120-R1800-NANO.

New Path. (64-Bit) NAN's. When the picking mode "Range on Curve" was used, the calculation of the orientation could fail. NAN values for the orientations were displayed.

New Path. If a CAD model was pasted from the Windows clipboard into a new project that had not yet been saved, an error could occur during the creation of a path.

Intersections. On computers running Windows 8 or later, the window was black during computation of intersections of models with planes.

Fanuc robots. New robot FANUC-M710iC-70.

External axes. On some computers, creating the parameter editor for external axes, caused an error.

Coordinate systems. With [F4] the coordinate system lables can be toggled.

Postprocessors. The build number was not incremented, if the function "Create program for all devices" was used.

Projects. (64-Bit) The 64Bit version has rejected the opening of read-only projects.

Projects. Write-protected projects could not be saved with "Save As".

Unified-Coating. When changing the Brush, there was each time a jerk. The jerk will occur only the first time a brush is used.

b+m. Brush changes are now carried out after reaching a target. Postprocessor and import have been adapted accordingly. If Brush #6 is set for a target, #6 is used for the following segment.

CAD. In rare cases, parts of a model are missing after importing a STEP file.

New Path. The picking mode "Range on surface edge" produces incorrect normals, in some cases. Some surface topologies, produced "Returns" in the path. This caused undesirable trajectory points, which had to be removed manually.

Save as. The function failed if one tried to save the project in a new folder, and the project contained references to missing model files.

ABB import. With the special comment !~#Protect#, the next instruction can be protected. With the special comments !~#Protect#Begin and !~#Protect#End, an instruction block can be protected. The protected instructions are inserted into the instruction list of the path and are not evaluated by Famos. Use these functions carefully. When changing the order of targets, they could inadvertently be fed into such a block.

Simulation. The basic functions of the simulation can now be controlled via its own toolbar.

External axes. New ABB tracks IRBT-6004-Standard Revision 13.2 from 1700mm to 19700mm length.

Easy-Rob Kernel. There are now more, clear and explicit error messages, regarding installation problems and licensing errors. The Easy-Rob license helper can now be accessed in the Famos help menu.

Devices. Replacing a device could cause an error.

External axes. New ABB tracks IRBT-4003F-M2004 from 1700mm to 7700mm length.

Automatic updates. It is now clearly shown whether the update search is performed for the 32-bit version or the 64-bit version.

License Wizard. The ticket number and the number of the CM-Stick can now be entered in combination. This makes it possible to check whether the correct stick is inserted or not.

Installation. If the operating system language was "Simplified Chinese", errors occurred while copying some files of the help system during the installation. Nevertheless, the installation was completed and Famos could be used normally.

Simulation library. New Option "Use local library" in "File-Options-Simulation". This option is active by default. This avoids conflicts when different software versions are installed.

Graphic. (64-Bit) It was not possible to create screen shots and preview images.

V9.7.1/61 from October 13, 2016

Easy-Rob Kernel. (64-Bit) The use of the license kernel can now be separately controlled for the 64-bit and 32-bit versions.

Conveyor. (64-Bit) Using tracking windows caused a runtime error.

V9.7.1/60 from October 11, 2016

First 64-Bit version of Famos robotic. (64-Bit) The projects are interchangeable between the 64-bit version and the 32-bit version. The 32-bit version, however, can not open projects that are larger than the 32-bit environment allows.

MicroScribe-3D. (64-Bit) The interface to the MicroScribe-3D digitizer is no longer supported in the 64-bit version.

Baces. (64-Bit) The interface to the Baces digitizer is no longer supported in the 64-bit version.

Faro. (64-Bit) The interface to Faro digitizer is not yet supported in the current 64-bit version. The interface will be available at a later date.

SDK. (64-Bit) The Famos robotic SDK is not yet available for the 64-bit version. The SDK will be available at a later date.

Geometry. (64-Bit) The function "Segment path" forces an exception.

CAD. When importing a new CAD model, the original file name is added to the model notices. The notes can be viewed in the CAD-Manager when the CAD-Editor is called for the model.

ABB robots. New robots IRB-1600-120-6-M2004, IRB-1600-120-10-M2004, IRB-1600-145-6-M2004, IRB-1600-145-10-M2004. Do not use the models IRB-1600-XXX-5-M2004, IRB-1600-XXX-7-M2004 any longer, please.

Geometry. The function "Move positions parametric" failed to calculate some formulas.

External axes. For the parameter "External Axis" a list of fixed values can now be defined. From this list, you can then choose when entering the axis values. This prevents incorrect inputs if only certain axis values are allowed. To define the list, enable the corresponding option in the parameter properties. The values are simply entered separated by a semicolon.

Kuka postprocessor. If the robot holds the workpiece and virtual external axes were used in combination with the TCP-Offset an incorrect transformation has been used in the robot program.

CAD. The status of the CAD-Groups in the tab "CAD" now remains if new models are added. The state is restored even after opening a project again.

External axes. For the parameter "External Axis" you can now specify that only integer values are used.

Unified-Coating. Visualization corrected for the parameter. When the brush changes, the wrong path segment was colored.

Project archive. While opening an project archive (rpa) the exception "Pure virtual function call" occured.

Kuka postprocessor. New Option "Set $CIRC_TYPE". When enabled the Posprozesser sets the system variable $CIRC_TYPE to #PATH. The current value is previously backed up and restored at the end of each path.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M110. Few case specific IGES and STEP import fixes.

CodeMeter. New CodeMeter Version 6.30b.

ABB postprocessor. New option "Write configuration monitoring commands". If the option is disabled, the postprocessor will not write any command related to configuration monitoring ConfL and ConfJ.

ABB postprocessor. The placeholder %b can be used in the Rapid module name to integrate the build number in the file name. The placeholder is removed from the internal module name. This way, different versions of the module can be stored on disc without changing the original name in the robot controller.

News. The readability of the change history has been improved. The window and the font were enlarged.

Kuka robots. New robots KUKA-LBR-iiwa-7-R800 and KUKA-LBR-iiwa-14-R820. You can find the robots in the folder "Generic", because their controller is not a KRC controller and not supported by Famos.

CAD. Importing V8 projects with duplicate assemblies that have the same name as models within the assembly failed. The affected models were not loaded.

V9.5.1/6 from August 16, 2016

b+m postprocessor. If the Gun state changed at a circular move, the code is 19 written in the program, now.

b+m import. The code 19 is now evaluated.

Path manager. The context menu of the path manager is now available for admins only.

ABB Import. If the option "Sync positions and orientations only" was active, an error occurred when the number of targets in the robot program was not equal to the number of targets in the project.

ABB Import. If the number of targets is not equal when synchronizing positions and orientations, the difference is now reported path by path with the number of path targets.

Pathes. In the function "Rename multiple", the placeholder %c can be used to use the current path name in the maskfor the new path name.

Stäubli robots. New CS8 robots TS-40-STD-FL, TS-60-STD-FL and TS-80-STD-FL.

Project archive. While opening an project archive (rpa) the exception "Pure virtual function call" occured.

CAD. During the import of some STEP-models an exception occured in module 'gGeometry90.dll'.

ABB-Import. New Option "Import all path into group". The group name can be specified directly in the Options dialog. If the group already exists, all contained path will be deleted.

b+m postprocessor. The Zonenraudius will now always be written as an integer value.

CAD. Intermittent Error in the "Cut model with model" function corrected. The function generates no intersection curve in some cases.

V9.5.0/284 from July 8, 2016

Projects. Starting with Version 9.5, a new technique for loading and saving of CAD data is used. Older versions can NOT open the new projects. Opening of the new projects is greatly accelerated by the new FMS technology (Fast Model-Stream).

CAD. Intersecting models with models works now with models, modeled in differenz unit systems, too.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M100. Various improvements in assembly import.

V9.4.9/40 from June 17, 2016

Projects. Newer, incompatible project folder, are now recognized. Working in such folders is now prevented.

Graphic. Textures are displayed correctly again.

Undo/Redo. Some operations could damage the undo buffer. A correct undo for those operations was not possible.

b+m postprocessor. Automatic program validation for IF instructions improved.

Paint applications. It is not possible to add brush tables, that are not compatible to the current robot, any longer.

V9.4.9/17 from June 9, 2016

ABB robots. New robot IRB-5400-22-Process-TA.

FX Actor Interface. The Actor-Interface AddOn V9.4.9 supports EMotionFX V4, now. Installing the new AddOn is required after installing this version Famos, because the previous Version is not longer supported.

Transfer targets to another device. Transferring the parameter values is an option, now.

Simulation. The Register "Sim" has a new column "Start". It shows the time of the first self-movement of the device. If the robot has to wait at startup on a condition, a WaitDI or tracking condition, you can read the waiting time at startup.

Simulation. When specifying the simulation time, the decimal is now processed correctly.

V9.4.8/3 from May 23, 2016

Transfer targets to another device. The function handles now Tools, Bases and Tracking-Windows correct. If these objects are missed in the target system, they are created automatically. If you use external axes ensure that the bases already exist in the target system and are correctly linked to the external axis.

Unified-Coating. The Unified coating parameters can now also be used to control the process objects flaming and dry ice cleaning. It supports multiple applicators.

Process objects. The configuration of the process objects flaming and dry ice cleaning has been simplified.

b+m robots. After the simulation, the correct axis angle were not set when clicking on a target. The turns are now correctly saved and applyed. Install the update for the b+m AddOn, please.

Postprocessors. Options like "Copy to folder" or "FTP transfer" to the control, have to be confirmed for all robots before the program generation starts. The query only takes place if a corresponding option is active. This way you can create a robot program as a test, without causing it to be transferred to the control or otherwise cause a critical operation.

Instructions. If commands like "if Conv.Pos then goto" were inserted in the instruction list, the symbol of the path is changed, now.

Parameter TCP-Speed. The time option is hidden for b+m robots, now.

Parameter TCP-Zone. The Zone optimization in the context menü of the parameter editor respects the lower limit now. That means that the resulting zone values after the optimization can be larger than possible. Leave the minimum value at zero to avoid this.

Parameter TCP-Zone. The speed-dependent zone option is hidden for b+m robots, now.

b+m postprocessor. The Translation ERROR warning: 50004 was incorrectly displayed whenever a path contains only one target after the last tracking target.

Fanuc robots. Flange coordinate systems of some models corrected.

V9.4.7/2 from May 10, 2016

b+m Import. New import option "Allow import of Programs with Frames other than Frame000 and conveyor after confirmation". If the option is disabled, programs using another frame as Frame000 will be not imported if the project contains an conveyor.

Fanuc postprocessor. Program generation failed with an error message. Only paint robots were not effected.

CAD-Dialogs. The dialog forms restore its positions correct, now.

Fanuc postprocessor. The "WaitDI" and "WaitDO" parameters are now supported. Signal names mast include the channel number at the end. For example "gripper#20".

Fanuc import. Die Befehle "wait di[n]" und "wait do[n]" werden jetzt unterstützt.

V9.4.6/18 from April 29, 2016

Automatic Updates. Before the installation of a new version starts, old setup files will be removed automatically, now.

CAD-Import. The import of neutral exchange formats produces error messages, but works correctly.

Plane intersections. Cutting workplanes with CAD models has been significantly accelerated.

Stäubli import. It is now possible to import version 7 dtx-files.

V9.4.5/2 from April 14, 2016

New path. The use of the pick modes "Section on curve" and "Range on surface edge" led to a program error.

Dyeing. Refining the models for the coloring was accelerated, which can lead to significantly reduced loading times when this feature was used.

V9.4.4/47 from April 13, 2016

Unified-Coating. It is now possible to import b+m Brush tables, *.dbk and *.cs, directly. To import the files open then brush-table editor "Parameter - Edit brush tables" and select the command "Import from file" from the context menu of the brush table list. Select the desired file type, then the appropriate file.

Stäubli robots. New robot RX-160-HD.

CAD. Plane intersections with models that are designed in non-metric units were calculated incorrectly.

CAD. If models are duplicated or pasted repeatedly, they get unique names now.

Unified-Coating. Impoved visibility during configuration.

Path creation. If targets were created using "Pick position" the CAD model was not automatically used as the programming coordinate system. The same was true for targets generated on STL or IGP models.

b+m. To read b+m programs easier, a special viewer is now included, the "Famos b+m Code Viewer". In the b+m postprocessor the viewer can be activated to display the programs.

Unified-Coating. The process objects to simulate the CO2 cleaning and flaming were improved. A valid working space can be defined now. If the distance between the tool and part is smaller than the defined minimum distance, the part is colored white at these locations.

CAD-Export. Export to FCA-Files is much faster, now.

Process objects. The coloring of small areas on very large surfaces has been accelerated. Coloring of massive numbers of small faces, is also accelerated.

Fanuc robots. Corrected limits of axis 1 for M10iA/8L.

Conveyor. The tracking windows on conveyors are now displayed in a constant size.

V9.4.2/5 from March 15, 2016

b+m Import. The commands MOVE_GLOBAl and SMOVE_GLOBAl are now supported.

b+m postprocessor. The options "Keep MOVE_HOME" and " Keep MOVE GLOBAL" are available, now. When activated, the targets that were imported as MOVE_HOME or MOVE_GLOBAL, will be saved as again as imported. The options should be used only if you are sure that the targets in question have not changed.

b+m. Configuration information are shown for b+m robots, now.

CAD. Picking of positions failed for some models.

Unified-Coating. The parameter visualization uses the color of the active brush for display on the path, now.

V9.4.0/22 from March 2, 2016

b+m postprocessor. The error checking of the postprocessor has been improved and uses, if possible, the same error messages as the robot controller.

Fanuc robots. New robots. FANUC-M-2000iA-900L, FANUC-R-2000iB-165F, FANUC-M10IA-8L and FANUC-M20IA-20M.

Mutimonitoring. Errors may occur if the secondary monitor was placed to the left of the main monitor and the mouse wheel was used.

Axis angles. In the Axis-angles dialog you can now specify the HomePos for all kinematics of the same type at once. Simply keep the [Shift] key pressed and then press the button "Save as HomePos".

Fanuc robots. New robot FANUC-M710iC-50E.

ABB Import. Import supports PDispOn and PDispOff. PDispOn can be used to correct programs. The reference position for PDispOn must have been approached in the same routine. The multiple use of a contour with different displacements is not supported.

ABB robots. New robots IRB-1200-5-90, IRB-1200-7-70, IRB-52-120, IRB-52-145 and IRB-940.

CAD. In some particularly large IGP models, the loading times were very long.

CAD. CAD-Groups can now be transferred to other projects in different folders, too. Simply select the group and choose "Copy group to clipboard" from the context menu. Then choose "Paste from Clipboard" in the destination project. Pasting works in a second instance of Famos, too.

License-Wizard. The ticket number can now be fully inserted with the input functions of each input fields. Previously this was only possible with the appropriate button.

Online-Help. At the first call the online help the desired topic was not displayed.

b+m Import. If one selected "Cancel" in the import options dialog, the program was still imported.

Brush-Data. If new brushes were added to a table, the brush values were all zero. The default values are now valid values.

Copy & Paste. The exchange of coordinate systems in robot language via the clipboard has been improved.

V9.3.1/3 from December 16, 2015

CAD. Duplicating a CAD-Group is now possible. This feature can be uesed to duplicate Skids, Gripper and Tools, for example. A new group of the same name will be created, which will contain the duplicated components. Groups that contain the components of devices/robots can not be duplicated. Select a group in the tab sheet CAD, and then select the context menu function "Duplicate".

CAD. CAD-Groups can now be transferred to other projects. Simply select the group and choose "Copy group to clipboard" from the context menu. Then choose "Paste from Clipboard" in the destination project. The prcondition is that both projects are stored in the same folder and thus have access to the same CAD-Database. Pasting works in a second instance of Famos, too.

b+m Import. New Option "Set postprocessor module name". The option works only if the b+m postprocessor is used.

Brush Tables. Opening the refence tables could result in an exception.

KUKA robots. The models KR 16-2 KR-PR-16-2 and KR-16-2-F were misconfigured. A coupling in the axles 2 and 3 was activated.

Fanuc Import. If the line "DEFAULT GROUP = 1, *, *, *, *," had an extra space after the semicolon, the program import failed.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M070. General stability improvements.

Parameter. The Fanuc import now recognizes the "Unified-Coating" parameter and transmits Gun On/Off and preset values. This way, you can convert a Fanuc paint program to other robots with support for the Unified-Coating System very easy.

Brush tables. Own limits can now be set for the Brush values. The limit values can be set under "Parameter - Brush Tables -Edit min/max values".

V9.3.0/73 from November 20, 2015

Axis limits. In "Robot - Configure Controller & Kinematic" the axis limits can now be transferred to all other devices of the same type in the project.

Installation. Compatibility with Windows 8 and 10 improved. All program shortcuts are now beginning with "Famos robotic". Alls links that belong to Famos, can now be found very quickly in the App list of Windows by simnply typing "Famos".

Parameter. The "Unified-Coating" parameter is now displayed in in the category "Process" of the parameter selection dialog.

Parameter. In the parameter selection dialog, the more important parameter type is displayed in the table first, now.

Dyeing. The performance has been improved.

b+m Import. The conveyor speed is now correctly interpreted in mm/min and converted.

b+m Import. Already existing bases tools can now be updated during import.

Status line. The with of the field for the path name was widened.

Taskbar. if the option "Show fill path in main window caption" is off, the taskbar button will show the Projektname instead of the application name. The full path will be displayed in the status area. A double click on the path will open the project folder with the explorer.

CAD-Import. The import of models, which are directly associated with an assembly has been optimized. Such models could affect the speed of the pick functions.

Collision zones. The Sim-Log shows the current processing status of the the collision zones, now.

Open projects. Project shortcuts can now be dragged onto application window to open the project. If the Shift is held down the project will be loaded without CAD-Data.

V9.2.7/188 from November 4, 2015

Dyeing. The calculation of the coverage ratio has been improved. The value now describes the coverage, which is achieved in one second. The value is given in %. 100% is optimal coverage.

Simulation. The processing of the WaitTime parameter may take longer than specified.

Painting and other coating processes. The new parameter "Unified-coating-parameters" is now available as a standard interface for all coating applications. In the first version, it supports b+m Paint applications and the process objects Spray-Gun and Rotary-Atomizers. The parameter allows you to select a brush table, a brushes and an applicator and it activates the currently active applicator. The parameter includes an adequate management of brush tables. The Brushes can not only store the real Brush values, according to the respective system, but also simulation values for visualization. These combined data can be stored in lookup tables, wich allow at any time an automatic alignment.

Process objects. A complete redesign gives much more control about the visualisation. Both objects, Spray-Gun and Rotary-Atomizers, are fully compatible with the "Unified-Coating-Parameter". It is possible to visualize brush changes dynamically.

b+m Import. In addition to the codes 70 and 85 itself , the tables are loaded now. If the command 71 is used the TCP speed is read from the brush table.

Open project. Famos open now links with project files if they are passed via the command line or via Drag'n Drop.

Open projects without CAD. If you open a project by double-clicking a project file or a project link, keeping [Shift] pressed, the project will be opend without CAD models. The same is true when dropping a project file or link on thee application window. In addition, you can add a link to the SendTo menu that contains the following parameters famosv9.exe "%1" /NoCAD.

Path manager. The column configuration has not been saved and restored.

Line-Tracking. Now it is not only possible to connect any number of robots to a conveyor, each robot can now put its own Part-Detect on the conveyor. So far only one Part-Detect for each conveyor was possible. Old projects can still be used. This is supported for all robots with Line-Tracking support. ABB, Fanuc, Dürr, b+m.

TCP-Offset. The parameter editor was displayed incorrectly when when you insert the parameter and no target was selected.

Last commands. Calling the context menu could lead to errors after execution of some function in dialogs.

Automatic updates. The link to the download page for Famos was adapted to the new product's website.

b+m Import. The following codes are supported: 6,7,11,14,15,16,17,19,20,21,22,23,24,25,30,31,32,33,34,35,36,37,38,40,41,42,44,46,47,69,71,72,73,79,80,83,120,122,123,146,147.

b+m import. The instruction sequence 15, 72, 73 will now be translated into commands "if Conveyor.Pos then goto" and "label". The commands are available in the instruction list where they can be created and edited. The commands are also simulated.

b+m postprocessor. The commands "if Conveyor.Pos then goto", "label" and "goto" are supported.

b+m Import. The linked parameters are supported, now.

b+m Import. New option "Create new parameter automatically". This option is enabled by default. When disabled, the commands are not evaluated, for which no parameters in the project are available. Instead, they are treated as unknown instructions and added to the instruction list.

b+m Import. During import the system files "Frame.dat", "Tool.dat" and "Home.dat" are read, if present. They must be either in the same directory as the program or in the subfolder "system". If the files are missing, the objects will be used, which are already defined in the project. Or the import creates new objects, with default values. If the "Home.dat" file is not available, the instruction Move-Home will be added as text to the instruction list.

b+m. Copy and paste of a b+m tool, using the Windows clipboard, was not possible, because for tools a different orientation presentation is used for b+m tools. To insert a tool from a text editor, select the tool in Famos first. Then copy the tool in the text editor. Now it can be pasted in Famos.

CAD-Import. Some FCM models from the V8 could not be imported correctly.

CAD-Export. When exporting to STL format, it could happen that the geometry was exported incomplete.

KUKA robots. New robots. The following KR-16 models are available for the KRC4 now. KR-16, KR-16-2, KR-16-2-CR, KR-16-2-F, KR-16-2-KS, KR-16-2-KS-F, KR-16-3S, KR-16-ARC-HW, KR-16-L6, KR-16-L6-2-KS, KR-16-L8-ARC-HW.

V9.2.6/3 from August 7, 2015

b+m Postprocessor. Line tracking is now supported.

Labels. The label of the current target will now be displayed even if its reference coordinate system is collapsed.

External devices. Deleting a device could lead to errors in a linked device.

Controller & kinematic. New register "Advanced". The new register offers settings for the motion planner.

Controller & kinematic. The Option "Speed reduction for zero zone" in "Controller & kinematic - Advanced" was not saved.

Saving projects. When saving a project to a different destination folder, additional memory was consumed.

CAD. New function "Replace model" in the context menu of the register CAD. The function allows to replace the selected model against an existing one or against a new imported one.

CAD. New function "Zoom in view" in the context menu of the register CAD. Centers and zooms the selected model.

CAD. New export formats for models. Available are STL, IGP and DXF, now.

CAD. After adding a model, it will be zoomed and centered in the view.

Position editor. Changing the increment for rotating and shifting could lead in certain cases to undesired position changes of selected targets.

V9.2.5/3 from June 30, 2015

b+m postprocessor. First version available with support for baisc move commands and parameters.

Position editor. Position and orientation can now be changed with the mouse wheel. Move your mouse over one of the arrows and roll the mouse wheel to move ore rotate a target or any other coordinate system.

ABB robots. ABB IRB-1600. Defaults adapted for axes range limits. The previous values were only valid, when axis 1 was limited to +/- 100 °. If you use the robots already in a project, you can reset the device to factory settings to take effect by the change.

Path manager. The context menu of the header in the register page Path" is now available for Administrators only.

Installation. Accidentally wrong configuration files were installed. This cause problems for new installations, incorrect windows positions or that licenses were sought in the network.

Entering orientations. When switching the orientation representation from quaternions to Euler angles, an error could occur if the fourth field of the quaternion had the input focus.

Copy and Paste. The exchange of b+m frames via the windows clipboard is now possible. The values for XYZ ABC must always be copied together.

V9.2.4/1 from June 1, 2015

CAD. Color and transparency can be defined for each model in the CAD-Editor, now.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M040. Fixes related to some case specific STEP and PARASOLID (x_t) file import.

SDK. Updated SDK for Famos robotic® V9. For details, refer to the SDK documentation, the sources and the revision history of the SDK.

PlugIn's. The position of toolbars from PlugIns was not restored properly.

CAD. It is now possible to hide the faces of a model, too.

Applicvation. The recently executed commands from the position editor are now available in the "Edit" menu and the context menu of the graphics window.

V9.2.3/5 from May 18, 2015

CAD. Import of old FCM-files failed.

CAD. If the option "Picking" of a model for the path generation is disabled, the model can be still selected with the mouse, now.

Administration. Login for standard user with password failed.

Licensing. The LicenseWizard offers options for PC-specific licenses (CmActLicense), now.

V9.2.2/29 from April 29, 2015

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M030. Error when importing STEP files corrected.

I/O-Simulation. Stepwise simulation does not work when using I/O's

CAD. A message appears when attempting to load a CAD database that was created by a newer version Famos

Coordinate system filter. The obsolete model groups were removed.

CAD-Editor. English translation completed.

CAD-Import. The use of IGP files could cause glitches.

Process objects. The fading in and out of process objects is working again.

Installation. The applications S4FTP and RJFTP were not installed.

Automatic Updates. The maintenance period is now tested and the update tool will not downloaded a version for which no license is available.

V9.2.1/3 from March 31, 2015

CAD export. CAD models can be exported via the context menu in the CAD register "Component-Export". The selected models can be exported relative to the world or relative to any other CAD model. Only visible models will be exported. Currently, the export in stl format is possible. Other formats will follow.

ABB robots. New robots IRB 2600ID-8/2.00 and IRB 2600ID-15/1.85.

Automatic updates. In the proxy configuration Unicode characters can be used, now. Because of this change, possibly entered proxy data must be re-entered.

Project information. Sortierung the project list by date and time returned wrong results.

CAD. The names of CAD files may now be longer than 60 characters.

ABB robots. New robots. IRB-6700-150-320, IRB-6700-155-285, IRB-6700-175-305, IRB-6700-200-260, IRB-6700-205-280, IRB-6700-235-265.

Device properties. The property dialog allows to add a descriptive text for each device, now. It can be stored in the head of the robot program.

Project information. The descriptive text from the project information can now be stored in the head of the robot program. Simply activate the relevant option in the Project Information dialog. The information is then automatically written by all post-processors in the robot program.

V9.2.0/62 from February 12, 2015

CAD. In the CAD-Register the device name is now displayed behind the device file name. Robots, external axes etc. are easy to identify, now.

CAD. Support for SCAD files for generating collision objects. SCAD files can be opened after the installation of the free software OpenSCAD. The Script can be viewed and edited in the CAD editor. OpenSCAD can be downloaded here http://www.openscad.org .

Position editor. The distances for the first segment and the last segment of a path could not be increased. Only the shortening of the segment was possible.

New ABB robots. IRB 6650S-90/3.9 and IRB 6650S-125/3.5.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M020. Fix for issue in export with long names having special characters in between. Fix to correct improper import of specific STEP file.

Simulation. Berechnung der Bahnzeiten bei Geschwindigkeitsänderungen verbesssert.

CAD. The memory management for CAD models has been optimized to be able to load larger models.

Attachments for devices. The attachments now retain their position when the device is replaced.

CodeMeter. New CodeMeter version 5.20d.

CAD-Manager. The 3D view in the CAD Manager can now be changed, like the view in the main window.

V9.2.0/1 Pre-release from December 12, 2014

CAD. The color control in the CAD-Register can be toggled on/off, now.

Preview image. After "Save As" the preview was not updated correctly.

CAD-Export. The model name is now proposed as the file name in the file dialog.

V9.1.0/5 Pre-release from December 2, 2014

CAD-Manager. The automatically rotating preview can be stopped with one click.

CAD-Manager. User interface optimzed.

Project archive. File size reduced.

V9.0.2/443 Pre-release from November 27, 2014

ABB postprocessor. SpeedData and ZoneData variables can now be configured separately.

Granite CAD-Kernel. New Granite One(TM) Kernel V9 M010. Compatible with PTC Creo 3.0.

Copy coordinate systems. Copying of coordinate systems in the clipboard failed if the active device was an external axis or the postprocessor/controller of the device was implemented in a plugin.

Backup files (. bak). The backup files that are created when saving a project, are no longer automatically deleted, now.

V9.0.2/356 Pre-release from November 11, 2014

CAD. The CAD-Register was further optimized. The tree view now knows two modes. A list view, that exactly shows the CAD models that you need, and a tree view that displays the entire assembly structure of all models.

Drag&Drop. The Windows Explorer, or any other application, is not longer blocked until the charging is completed.

Famos tips. A simple click on the Hint window now displays manual controls, to scroll through the tips and close the window.

Full screen view. The full screen view can be closed with [ESC], now.

New geometry function "Rotate orientation around vector". Rotates the orientation of the selected targets around an arbitrary vector.

Postprocessor-Log. The Postprocessor-Log now appears in the log area. The messages are now available until the next program generation.

Staubli robots. New robot TP-80.

V9.0.2/264 Pre-release from Oktober 14, 2014

Fanuc import. Import failed if an uncoordinated track motion was used.

ABB import. VelSet instructions immediately after a MoveC were evaluated incorrectly.

Path. New property for path "Simulate". Whether a path is simulated or not can be defined independently of the property "active", now.

Section curves. The intersection curve of two models can now be generated. Simply choose "cut model" in the context menu of the label.

Cutting planes. Cuts with planes can now be performed automatically several times. To do this, simply specifie a distance for the cut planes to cut the entire model.

nVidia Optimus. Users of laptops with two graphics cards always had to choose the high-performance graphics processor for Famos robotic, manually. This is done automatically now. For this purpose, the version of the nVidia driver must at least 302.

V9.0.2/202 Pre-release from September 16, 2014

CAD. Completly redesigned and with a new user interface. It supports now e.g. multiple selection and you can arrange your CAD files in user defined groups.

Graphic. Completly new graphic pipeline. The graphic uses now OpenGL 3.0 and offers a remarkable performance in all areas. The changing of attributes or to show/ hide models happens now practically instantaneous.

I/O Simulation. A new toolbar gives access to the graphical circuit layout editor, the signal list and the oscilloscope.

Flange coordinate system. The flange of each device is now always directly available. CAD models can be attached very easily to the flange, now.

Jog-Mode. New function to jog the active device in cartesian space. First, select a tool and than activate the Jog-Mode with the Joy-Stick button in the position editor. The robot can now be moved with the functions of the tripod. Just like in normal position changes. A reference coordinat system can be selected, too. The jog mode can be used also to create a new path. Activate the Jog-Mode, first and than create a new path.

Selection level. The new toolbar "Selection Level" is used to define which objects can be selected in the 3D view with the mouse. The choices are targets, CAD Groups, CAD Components/Assemblies and CAD Models.

Sensors. In the context menu of the coordinate system under "New" Sensors are now available. A "Proximity sensor" and a "Light barrier". Both will set a digital output signal when triggered. The signal name can be entered under "Properties" of the objects. The signal can then be connected in the wiring diagram with an input and that can then be used in a WaitDI parameter. The sensors are triggered by the 3D objects rectangular area and ball. In these objects, the option "Raises sensors" must be activated. After that, the sensors will react to the objects.

CAD-Import. Assemblies in standard exchange formats, like Step and IGS, may contain erroneous scaling information. These defective transformations are now detected and corrected.

V7 projects. In order to use V7 projects in Famos V9, they must first be opened with Famos V8 and saved as a V8 project. The V8 project can then be opened with Famos V9. A V8 version is included in the installation package and is also available for download.

V8.8.1/62 from 15 September 2014

ABB robots. New robot. IRB-5400-22-Process.

Fanuc robots. New robot. P250iB/15.

Universal Robots postprocessor. In the "Options" tab, the "set_tcp" command can be generated as a comment, now. The control of the TCP can/must take place in the main program.

Installtion. The installation executed "As admin" for a standard user account has been improved. A standard application configuration is now available for all accounts.

KUKA robots. New robot. KR-10-R1100.

Tool change. The visibility of CAD models depending on the used TCP or base now works reliably.

Position editor. Moving with distance information. An additional button is available for this function. Pressing [Shift] is no longer necessary.

V7 projects. Error while opening V7 projects wich contain structured light sources.

ABB-Import. When the option "Keep unknown instructions" was enabled, the WaitDI parameter was added to the project.

V8.8.0/23 from 21 May 2014

Batch processing. New command line parameter /AutoShowLog. If /AutoLog is set, the log is automatically displayed after completion of the process. Please also refer to the links in the "Send To" menu of Windows to start the batch processing.

Stäubli-CS8 Postprocessor. If the program file is write-protected or access is prevented by other means, an appropriate error message is displayed now.

V8.8.0/12 from 15 May 2014

Compability to Famos robotic V9 improved.

Saving. The backup copies of the project files (.bak), that are created when you save, will now be automatically deleted after a successful save.

New EasyRob Kernel V6. 306.

New track motion. Simkon-MBG-SRMC-750-3-SFRi-45-V2000

KUKA robots. New robots. KR-16-ARC-HW and KR-16-L8-ARC-HW.

Kuka postprocessor. New function for processing of the TCP offset parameter. In the configuration dialog of the postprocessor a helper function can be activated to calculate the offset. Within this function one can implement a wear compensation calculation. The function caTCPOffset is supported for program import, too.

Positioner. The automatic calculation of the axis position for a preferred position "magic wand" failed for axes with negative direction of rotation.

Simulation. The simulation has not been correctly completed when passive external axes were used in conjunction with the I/O simulation.

ABB postprocessor. If own variables for zones was activated, but the generation of declarations disabled, the zone variable z1 was always used.

Motoman robots. New robot XRC-PX2050-F20.

Fanuc robots. New robots. FANUC-R-2000iB-100H, FANUC-R-2000iB-100P, FANUC-R-2000iB-125L, FANUC-R-2000iB-150U, FANUC-R-2000iB-165CF, FANUC-R-2000iB-165EW, FANUC-R-2000IB-165F, FANUC-R-2000iB-165R, FANUC-R-2000iB-170CF, FANUC-R-2000iB-175L, FANUC-R-2000iB-185L, FANUC-R-2000iB-200EW, FANUC-R-2000iB-200R, FANUC-R-2000iB-210F, FANUC-R-2000iB-250F.

Staubli robots. New robots. RX270, TX-250-Paint.

Fanuc robots. New robots. FANUC-M900iA-200P,FANUC-M900iA-260L, FANUC-M900iA-400L.

V8.7.4/10 from 13 December 2013

I/O - System. As a preview to the V9, the coming I/O system is provided as a beta version in the V8. At present, it provides the parameters WaitDI, WaitDO and a parameter for the definition of collision zones. In the register "Sim" signals can be linked in the "Control cabinet". The parameters are actually not made for use in production. Use at your own risk.

ABB postprocessor. Support for the parameters WaitDI, WaitDO and collision zone added.

ABB import. Support for the parameters WaitDI, WaitDO and collision zone added.

Universal Robots postprocessor. Support for the parameters WaitDI and WaitDO added.

Linking coordinate systems. Coordinate systems can now be linked via commands in their context menu, too. For this purpose, select a a coordinate system, open the context menu and choose "Copy as link". Then select a target coordinate system and choose the command "Link with" from it's context menu. As with the drag&drop method, the [Shift] key can be used to keep the position in world.

Fanuc postprocessor. The postprocessor has aborted the program generation with an exception in some cases.

UR postprocessor. English online help completed.

Kuka KRC4 postprocessor. The postprocessor has not created declarations for Bases and tools when the program has been generated by path or group.

Tools. New tools, generated relative to the flange, are now created at the position of the selected tool. In addition, they are selected automatically, so they can be found more quickly.

Bases. New bases, generated relative to the robot, are now created at the position of the selected base. In addition, they are selected automatically, so they can be found more quickly.

V8.7.2/108 from 28 November 2013

Postprocessors. All postprocessors will now check the zone radius. If the value is too large, a warning will be shown in the log.

Motoman robots. New robots. DX100-MH-5F, DX100-MH-5LF, DX100-MH-5LS, DX100-MH-5S, DX100-MH-6D, DX100-MH-6D, DX100-MH-6S, DX100-MH-6S-10.

Fanuc robots. New robots. FANUC-M900iA-600, FANUC-M900iA-700.

Gravity. In the dialog "Configure and control kinematics" the gravity vector is displayed. The vector is needed by some controllers.

Parameter TCP-Zone. The TCP-Zone can be automatically optimized, now. In the context menu of the parameter editor for the TCP-Zone the command "Optimize zone radius" is available. Zones which are too large will be reduced. If a zone value is too large, the input field will be highlighted in yellow.

Postprocessors. All postprocessors will now check the orientation changes between the targets. Depending on the limits of the robot warnings will be added to the log.

Kuka - Simulation. Circular interpolation corrected. The simulation ignores the via target of an arc, now.

Position editor. At the bottom the orientation change of the focused target is displayed to its predecessor and successor, now. Is a change in orientation is close to 180°, the edit is highlighted in "Yellow". For some robots, like UR, the warning will come up for values > 90°. The value for the change in orientation can be set, too.

Universal Robots postprocessor. The register "Advanced" offers some diagnostic functions, now. These functions will help to monitor the execution of the program on the controller.

Graphic. Hide robots. This functions failed if the project contains only a single robot.

Axis angle display. Incremental change of the current axis angle in +/- direction is now treated the same. Normal value is +/- 5° with [Shift] +/- 10 °, with [Ctrl] +/- 2.5 °.

Universal Robots. The models UR5 and UR10 have been completely revised. The valid models are named UR-5-A-Ref and UR-10-A-Ref. Models with different names are invalid and may not be used.

List of recently opened files. The list was deleted when a project was opened by double clicking it in the Windows-Explorer.

Log windows. The log windows are now displayed below the graphics window, by default. There is more space in the side tabs available, now. The logs can be moved back to the bottom window area using drag'n drop.

UR-Script postprocessor. First version of the UR-Script postprocessor for robots from Universal Robots (http://www.universal-robots.com). The postprocessor supporst tool guided applications. TCP-Speed, PTP-Speed, TCP-Zone (blend radius) acceleration, digital signals, analog signals, TCP-Offset. Supported motions are movej, movel, movec.

Staubli CS8 postprocessor. New version of the "Preccon Extension". This version is compatible with the current version of the Isios calibration system.

ABB robots. New robots. IRB 7600-340-280, IRB-7600-325-310 and IRB-7600-500-255.

Staubli RX-130-BXL-6 models fixed.

V8.7.1/74 from 19 July 2013

Batch processing. It is now possible to pass a list of projects in a text file with the extension ".rls" to Famos. With special command line parameters, Famos can be triggered to automatically load the projects and run the postprocessor.

Path names. The use of special characters and umlauts is prevented, now.

Kuka postprocessor. If the option "Open with text editor" was activated, the ".dat" file was opened twice.

Application. List of recently opened files. The list was deleted, in rare cases, after the installtion of an update.

CodeMeter. New CodeMeter runtime V5.00b.

Application. Log-Windows. The column width of the logs will now be saved and restored.

Administration. Executing the function "File-Administration-Change user" an entry in the operation log will be added, now.

Easy-Rob Kernel. New Version. Computing the inverse of robots from UniversalRobots improved. The axis configuration can now be specified.

ABB postprocessor. If an IRC5 or IRC5P controller is used, the Rapid header will not be written any more.

Administration. In the menu "Administration" is the function "Switch User" is available, now. This function requires entry of the password, even if the user is not changed. Famos can, therefore, also be blocked with this feature.

Easy-Rob Kernel. New version. Speed changes when working on external axes could lead to a loss of synchronization, which results in small "jumps".

Export. There is now a configurable export, under "File - Save As" available. You will find details in the online manual.

Options. New application option "Open projects read only". If this option is enabled, the user can not save projects. This option is very useful for fairs and presentations.

Options. When an option category was hidden für users, the subordinate options were also hidden. Now a hidden category can contain visible sub options.

V8.7.0/4 from 4 June 2013

Automatic Updates. The search for updates was accelerated. It is now also possible to distribute updates locally on a network. Please contact our support if you want to use this option.

Application. The options dialog can now be accessed from the system menu. This Option works only for admins.

Project information. The information "Last edited by", "Version" and "Machine name" are overwritten when opening the project with the current user data the project.

Pick mode selection. The drop down list was replaced with a pop up menu.

Copy and Paste. It is possible now to exchange positions and orientations in UniversalRobots URScript format. Position and orientation must always be copied together in this case.

Universal-Robots. New robots. UR5, UR10.

Orientation representation. The orientation of a coordinate system can now be represented as an Euler vector. This representation is used by Universal-Robots.

ABB robots. New robots. IRB-460-110, IRB-660-180, IRB-660-250, IRB-760-450.

Kuka robots. New robots. KR-500-3 and KR-60.

CodeMeter. New CodeMeter Runtime V4.50c.

V8.6.0/8 from 12 December 2012

Coordinate system labels. New function "Label-Tree". Using [Space] or [Ctrl] + [Double], on a selected label, the coordinate systems can now be opened and closed. With this function, you can quickly display the coordinate systems that you need and hide others.

Coordinate system labels. New function "Label-AutoShow". This function can be activated in "File-Options-Graphic-Program". If activated, the labels are displayed only when the mouse is near the corresponding coordinate system.

Coordinate system labels. Special characters like ä and ö were not shown, correctly.

Open projects. Projects on network drives with UNC paths were not opened by double-clicking the file.

Saving projects. Before saving a project a back up the project files will be created in the project folder, now. The backup files have the extension ". bak" appended. This protects against a complete loss if, the power fails while saving, for example.

Axis angles. After simulation to a selected target, the limits, shown in the axis angle dialog, were not correct in some cases.

ABB import. The ABB import was adapted to the IRC5P. "SetBrush" with events is now supportet. The optional parameter "\RelDist" will be processed.

ABB postprocessor. The ABB postprocessor was adapted to the IRC5P. Instead of the event planes, SetBrush commands with trigger conditions are generated, now. Brush tables are not written and the command UseBrushTab no longer used.

ABB robots. New robot "IRB-5400-12".

Copy and Paste. It is possible now to exchange positions and orientations in Comau PDL2 format.

When a new robot model is selected, now the currently selected postprocessor is selected in the selection list.

Granite CAD-Kernel. New Granite One(TM) Kernel V7 M050. Import of Parasolid models improved.

Path manager. The function "Rename multiple" now validates names for path and groups as you type. Placeholder for path index and group name, etc. are taken into account.

Position editor. The distance to the selected reference frame is now displayed. This value can also be changed to shift targets or coordinate systems.

Automatic Updates. Proxy servers are now supported. Settings for proxies are read from the Windows Control Panel. If user name and password are required, the automatic update can be started manually. Use the Famos robotic program group in the Start menu or the Help menu in Famos robotic.

CAD. When loading FCM files, invisible objects were always made visible.

Path creation. The programming coordinate system can now be selected automatically. When in "Options - Path creation" tha respective option is activated the CAD model used to create the path will be automatically used as the programming coordinate system. This option is disabled by default.

CAD-Import. In some cases the colors were not read from Parasolid models.

Position editor. If a reference frame has been selected and this was deleted, an error could occur.

Login. In the Login dialog, you can now check the "Log on as administrator" option. If activated you have to complete the LogIn with an administrator account. The selected user account can now be configured with administrator privileges. It's not required to enter user password.

Administration. In the "Administration" menu, there are two new features. With "Log on as administrator" administrator privileges can be assigned to a standard account. This requires an administrator account and the password. Thereafter, the current account can be configured. With "Log off as administrator", the administrator privileges are withdrawn and the account can be used normally. This helps to configure user accounts, to enable or disable functions quickly, or the the GUI can be adjusted.

Options. Administrators can now specify which option page is visible to standard users in the options dialog. This only needs to click on the icon with the padlock in the options dialog. An open padlock indicates that the options available to users.

V8.5.0/3 from 17 September 2012

Geometry function "Set position" now displays the current position of the selected target or coordinate system when opening.

Geometry function "Kurven Interpolate curves". Target distribution optimized and performance improved.

Stäubli CS8 postprocessor. The postprocessor supports the "WaitTime-Parameter", now.

Graphic. The text captions of lables were not displayed on computers with AMD FirePro M5950 graphics card.

Parameter "Wait" renamed to "WaitTime".

EasyRob Kernel. New EasyRob Kernel V6.004. Disconnecting from a conveyor with linear interpolated targets improved.

Coloring of CAD models. Models can now be"refined" subsequently to improve the quality of coloring. In the "Attribute Explorer", the maximum edge length of the triangles can be specified. This additional mesh can not be displayed. Refining consumes additional memory. Start with 50mm or more, and check the results before you decrease the value. This feature is experimental. Save your project before you use the function.

CAD. IGES import bug fixed. Importing invalid bodies could lead to the termination of the entire import process.

Geometry functions. The following functions are now working with arbitrary coordinate systems: "Set position", "Move relative in (XYZ)", "Move position towards point", "Project onto coordinate systeme plane", "Rotate around Axis", "Set orientation", "Rotate orientation relative to (E123)", "Align orientation to vector", "Align orientation to point", "Mirror", "Scale", "Circle from target".

"Align orientation to curve". This function failed if the used CAD-Modell was not in the origin.

V8.4.0/30 from 13 July 2012

Copy and paste. Pasting copied targets and paths did not work in some cases.

V8.4.0/24 from 10 July 2012

Copy and paste. Positions and orientations can now be directly copied and pasted from a robot program in FAMOS. The type of active robot does not matter. So you can copy a pose from an ABB program and paste it into a Kuka program. The application log shows a message that indicates whether the copied text was detected or not. Copy only the position and orientation, depending on the format with parentheses. For ABB, e.g., [10,20,30],[1,0,0,0].

Copy and paste. If positions and orientations are copied, they are inserted into the Windows clipboard in the format of the active robot.

CAD. STEP import fixed. After loading of special assemblies some faces were missing in some cases.

Kuka postprocessor. New option "Main routine with path index as parameter." This option is enabled by default. If turned off, the main routine calls all the tracks in a row the index parameter is no longer needed.

Stäubli robots. New robots. TS-60-STD-FL-200 und TS-80-STD-FL-200.

Robot library. If a robot is inserted in a project its position will be now corrected so that it is placed with the socket on the XY plane of the world coordinate system. This simplifies the handling of most Fanuc and Stäubli robots.

Simulation. In the device list of the register "Sim" multiple selection is possible, now. Various devices can be activated and deactivated simultaneously.

Selection. Two new functions in the menu "Edit-Select" allow selecting all targets that are out of reach. "Slelect all targets that are out of reach [F3]" takes into account the programmed values for external axes. The function "Select all targets that are out of reach (don't move external axes) [Shift + F3]" will run the test with the current position of external devices. The latter is particularly convenient for conveyors.

Kuka robots. New robots. KR-6-R900-sixx, KR-6-R900-sixx-C and KR-6-R900-sixx-W.

Motoman robots. New robot. DX100-MH50-20.

Copy and paste. The standard functions Copy and Paste for single values are back in all editors for positions and orientations.

ABB Postprocessor. If the PaintGun-parameter was combined with the PaintWare-parameter, it could happen that "UseBrushTab" was written once too often into the program.

ABB Import. Manually commented brushdata declarations are now imported as inactive brush tables. A leading commentary text remains.

ABB Postprocessor. In the tab "Conveyor" is now the option "Write WaitWObj with RelDist = 0.0 when the distance is zero" available. Disabling this option can lead to errors in the program execution, if the work object is already connected to the conveyor.

Tracer. For the drawing of the trace a reference system can now be choosen, freely. Thus, even a trace of workpiece-guided applications can be created.

Granite CAD-Kernel. New Granite One(TM) Kernel V7 M040. Import of STEP models improved.

Geometry functions. New function "Average orientation (distance dependent)". The change in orientation is uniformly distributed on the trajectory length.

ABB postprocessor. The MultiMove options were not displayed correctly when large fonts were set.

Tracer. Active tracers were able to delay the robot program generation.

External axes. For positioners with a rotational axis an automatic calculation of the axis values is available, now. The calculation is started with the "magic wand" in the parameter editor of the external axis. First, define the default position at the first target. Then select all desired targets and use the magic wand.

Graphic. Centering the view now works for the simple 3D objects and actor models, too.

Graphic. Enabling and disabling shadows will affect all views, now.

Positionierer. New positionierer ABB IRBP-L300-L1600-M2009.

CAD-Import. After loading a CAD model in an exchange format an error occurs when you have then created a new project.

Project onto CAD-Model. The function now correctly takes the visibility of model groups into account.

Toolbars and menus. If the option "Allow Resetting menus and toolbars" is disabled it prevents the reset after a software update, too.

V8.3.0/25 from 15 March 2012

Files. Projects can now be opened with the preview image. Use the "Send to" function or Drag'n Drop to open the respective project from the Windows Explorer.

Copy and paste. All editors for positions and orientations now have special functions in their context menu for copying and pasting of positions and orientations.

Project on model. The projection can now be performed even with the "shortest distance". This option is particularly suited for targets that are already near or on a surface.

CAD calibration. It is now possible to simlply copy targets and paste them as measuring positions. The best-fit function can now be used for calibration of polygon models, too.

Fanuc robots. New version of the P250 without process arm "FANUC-P250-iA-15-Standard".

Position editor. Align to 3 and 6 points could cause a crash if the wrong positions were selected. Selecting invalid points interrupts the function, now.

ABB robots. New robots. IRB-6640ID-170-275, IRB-6640ID-200-255, IRB-6640-235-255, IRB-6640-205-275, IRB-6640-185-280, IRB-6640-180-255, IRB-6640-130-320.

Picking. "Range on curve" did not work even after switching on the edges.

Selection. The focused target remains selected, if all path were set to invisible.

Granite CAD-Kernel. New Granite One(TM) Kernel V7 M030. Import of models in the formats STEP, Parasolid und Rhino improved.

Kuka Robots. New robots. KR-300-R2500-ULTRA, KR-210-R3100-ULTRA, KR-240-R2900-ULTRA, KR-270-R2700-ULTRA.

Process objects. The tracer was revised and has new options. It can now also be linked and controlled by the free-linkable boolean parameter.

Tips. When loading a project, a tip window is displayed, now. A [left click] keeps the window open. A [right click] or [Esc] will close it.

Copy and Paste. The insertion of positions, orientations, paths and targets works much faster, now.

Login. The login name had to be chosen again and again. Now the last user is automatically selected.

Work planes. Work planes plane can now be generated at any coordinate system. The function is no longer available in the CAD-tree, but in the context menu of all coordinate systems. Should the plane be used to cut with a CAD model it must be created relative to the coordinate system of the model. Projects, that contain these planes can not be read by older versions, properly.

CAD. "Search components" is now always performed within the selected component. Select "session" to search in all components. The selection can be changed while the dialog is still open.

Kuka robots. New KRC4 QUANTEC Roboter KR-90-R3700-Prime-K.

Staubli robots. New Staubli CS8 Roboter TX200L-HBL.

ABB import. If the option "Sync position and orientation only" is enabled external axis values are synced, too.

Kuka import. If the option "Sync position and orientation only" is enabled external axis values are synced, too.

Axis configuration. When the option "Simulate disabled path" were used, a wrong configuration may be used when selecting a single target.

Application. The command line parameter "/NoCAD" can now be used to load a project without CAD models from a shortcut. Such a link may for example be created in the "Send To" menu. Example: "C:\Program Files(x86)\Famos V8\bin\FamosV8.exe" "%1" /NoCAD

Process objects. Coloring a CAD model with the dynamic spray object did not work with a beam diameter smaller than 12mm.

Kuka import. Configuration values (status / turn) completed with a decimal point could not be read correctly.

Simulation. Perfomance of background simulation improved.

Simulation. Simulation performance for applications with positioniers improved.

V8.2.1/180 from 16 December 2011

Automatic update check. When starting the program will now check for updates. This feature requires a working Internet connection. The automatic check can be disabled in "Options - General". You can search for updates manually using via the Help menu, or the Famos program group in the Windows Start menu.

Graphics card detection improved.

Parameter "Axis configuration. " Now, the axis configuration can be changed only for joint (PTP) targets. For linearly interpolated targets the current valid configuration index will be shown. Configuration changes on disabled paths are ignored automatically.

Pick positions. When switching off the snapping an exception could occur.

Granite CAD-Kernel. New Granite One(TM) Kernel V7 M020. Performance improvement in interference analysis. Unicode compatibility improved.

Path manager. "Renaming multiple" now works with empty groups. In addition, the placeholder %n can be used used to insert the group name into the path name.

V8.2.1/69 from 09 November 2011

Fanuc postprocessor. Output of turn values in the configuration data corrected. So far, only the values in the range from -359 degrees up to +359 degrees were correct.

Fanuc robots. The LR Mate M10iA and models have been revised.

Easyrob new kernel with support for parallel kinematics, such as the Fanuc F200iB.

Fanuc robots. New robot F200iB.

Program import. Improved treatment of configurations when importing from robot programs. The configuration index for linear / circular movements will now be automatically corrected. The basis is the HOMEPOS, AbsJoint and PTP positions. This eliminates the warning "Illegal configuration change" during the simulation.

Robot groups. ABB MultiMove. The prefix for SyncID variables can not be changed in the post-processor configuration dialog.

Kuka import. Configurations of HA-models with more than 7 bits were interpreted incorrectly.

Graphics. OpenGL initialization error on some systems with nVidia Quadro FX3700M fixed.

Reference systems. For Bases and tools the declaration option "Local to the task" is now available. The ABB postprocessor generates e.g. a declaration like "TASK PERS WObjData ...", if the option is enabled.

Kuka import. External axes have been added into the project, when a E6POS was stored on the robot, which contained axis values, which were not used.

File menu. The list of recently opened files is now in its own submenu of the file menu. So the file menu is not displayed in extra-wide, if the filenames are very long.

Rhino 3dm-import. The models are now fully loaded and an assembly will be generated with one component of each Rhino layer.

Fanuc postprocessor. MakeTP reported a "Configuration Error" for LR Mate 200i programs.

Files. Files can now be opened by Drag'n Drop. Just drag a file from Windows Explorer or another application, on the title bar of the Famos application window. Projects, CAD-models and robot programs can be loaded.

Kuka-import. Line breaks in linked parameters are now processed correctly. Line breaks are inserted into the instruction text with "\n".

ABB-import. Line breaks in linked parameters are now processed correctly. Line breaks are inserted into the instruction text with "\n".

External devices (ABB and KUKA). The conversion of the targets to the base will now work, even if the base and the programming coordinate system have a different context. E.g. then when the programming coordinate system lies on a positioner, but the base is fixed in space. This approach is not recommended.

Granite CAD-Kernel. New Granite One(TM) kernel V7 M010. The kernel provides support for the Pro/E successor Creo and is more robust when loading IGES and ACIS files.

CAD. The function "Search components", in the CAD-tree, now checks for parts of a name, if no wildcards (*,?) have been specified.

Backup of project files. Before a backup is created the application will now check whether the resulting file name exceeds the maximum length of 260 byte or not. If this were the case, an error message is added to application log and the backup fails.

Position editor. Coordinate systems, which were marked as "non-editable in position editor" does not appear in the position of editor.

Postprocessors. During program generation the exception "Not enough timers available" could occur on some machines, if the project was not saved. Error occurred only under Windows 7 64Bit.

Motoman robots. New robots. DX100-MA1400, DX100-MA1800 and DX100-MA1900.

Kuka robots. New robots (KRC4). KR5-Arc, KR-120-R2500-PRO, KR-120-R2900-EXTRA, KR-150-R2700-EXTRA, KR-180-R2500-EXTRA, KR-210-R2700-EXTRA.

Pack&Go. The function for creation and opening of project archives are now avialable in the menu "File - Pack&Go".

Pack&Go. Project archives can now be opened, if the archive files (.rpa) have been renamed.

Pick&Place. If the parameter has been deleted, objects were returned to their original position when the simulation is started.

Graphics. Revised Rendering - and collision engine. Improved performance when coloring of CAD models by process objects.

Staubli CS8 postprocessor. Support for firmware s7. The VAL III version is now an option in the configuration dialog of the postprocessor.

Process objects. New process object "Tracer". Can be attached to arbitrary coordinate systems and records a track that can be colored depending on speed.

Geometry function "Lead in/Lead out". New option for constant orientation on arcs.

ABB postprocessor. Parameter changes on a deactivated path were not always recognized correctly.

V8.2.0/10 from 29 June 2011

CodeMeter. New CodeMeter runtime V4.30b.

Geometry functions. The function "Align orientation to vector" used the reference coordinate system under certain conditions incorrect.

Collision control. New option "Filter static collisions automatically when activating".

Collision control. In asynchronous mode a "~" appears before the collision time, to express the collision times can not be determined exactly.

External devices. New positioner. ABB IRBP-300R_D1000-L1600.

Motoman. New controller DX100.

Motoman robots. New robots. SIA-20, MH6-10.

ABB robots. New robots. IRB-2600-12-165, IRB-2600-12-185, IRB-2600-20-165.

Pick&Place. Simplified selection of the object. After selecting the function simply click on the desired label. The operation can be aborted with ESC.

CAD. When changing the position of an assembly component, it could happen that the model group changes.

CAD-Tree. In some cases, incorrect symbols for assembly components were displayed.

CAD. The triangulation settings for models in the group "Fixtures" were not saved.

Granite CAD-Kernel. New Granite One(TM) kernel V5 M190. The Kernel is more robust when loading IGES files.

Tools. It is now possible to use zero values as Load-Data.

Simulation. Waiting times (WaitTime) in, successive path points with 100% identical positions were ignored.

KUKA. Support for the new KR4 controller.

KUKA robots. New robots. KR-240-2, KR-240-L180-2, KR-240-L210-2, KR-90-2700-Pro and KR-90-3100-Extra.

V8.1.0/9 from 25 March 2011

Simulation. Attachments for robot axes. In the coordinate system filter one can now activate labels for the joints of robots and other devices. CAD models, 3D bodies and user coordinate systems can now be easily attached to the axles. The coordinate systems of axes can move and rotate freely. This will not affect the kinematic.

Pick&Place. The context menu of the parameter editor for pick operations offers two new functions. One set's the initial position of the current object, and the other the initial positions off all objects in the project. The initialposition is the object position for the start of the simulation.

Path manager. When columns were hided, the activation state of selected path were changed.

External axes. In the context menu of the parameter editors for external axes, the function "Transfer values to other axis" is now available. This feature is especially useful if identical programs, eg on two different positioning devices, to be executed.

KUKA Postprocessor. When using external devices, such as positioners, the postprocessor will now use the EK-command to activate the coupling. This must no longer be done in the main program. The MACH_IDX is entered in the dialog "Robot- Properties of the active robot". The import function was updated, too.

CAD. Model group selection. "Cancel" failed if more than one CAD-model was added to the project.

Path manager. The visibility state of a path was not updated immediately, if toggled and multiple path were selected.

V8.0.6/40 from 13 December 2010

Motoman import. The import supports linked parameter values, now.

Motoman Postprocessor. The postprocessor supports linked parameter values, now.

Fanuc robots. New Robot "FANUC-M20iA".

Simulation. The circular interpolation of Staubli and Fanuc robots are now correctly simulated.

Graphic. The display of snap points forces a shader error on nVidia cards with driver version 260.99 or higher.

Geometry functions. Creating tangent lead in/out will now work with circular path, too.

SDK. The Famos API offers many new functions. For details, refer to the SDK documentation, the sources and the revision history of the SDK.

Coordinate systems. Robots can now be linked to user coordinate systems and 3D bodies. So far, only CAD models were possible.

Simlib. If the simlib path was renamed, it could happen, under adverse circumstances, that the robots in the library were not found, although they were present there.

Save. The "Save As" function now uses the current project path as default path.

CodeMeter. New CodeMeter runtime V4.20b.

F9 Mode. In F9 mode the next target was selected during the simulation. That was unfavorable in the single-step mode, because the selected point was not selected equal to the reached. Now, always reached target is selected.

GUI. In some cases, the application window disappeared into the background when certain dialogs are closed.

Options. The option "CAD-Performance" was renamed to "CAD-Quality settings".

ABB robots. New robots. IRB-260--30-M2004.

Online Help. The search function and the viewing of topics worked on Vista and Win7 incorrect.

Motoman Postprocessor. Although the postprocessor supports external axes, like track motions and positioners, a warning was displayed when linking the axes.

Robots. Calculation of the dynamic A3 limits of the IRB 6400R robots improved.

ABB robots. New robots. IRB-6660-190-205-M2008, IRB-540-1000-M2000.

ABB robots. The model of the ABB IRB-540 was corrected and renamed. The axes 4 and 5 are now treated as a linear axis. The new model names are IRB-540-1620-M2000 and the IRB-540-1620-M96.

Kuka Import. Recursions in KRL programs are now recognized and will no longer cause errors.

Transfer targets. In the target robot an operation was created without a name. The operation now has a name and also shows between which robots the transfer took place.

Postprocessor PlugIns. License problems when using PlugIn postprocessors fixed.

Kuka robots. New robots. KR-180--180-2, KR-180-K-180-2, KR-180-K-180-2, KR-180-L-100-2, KR-180-L-150-2, KR-180-LK-100-2, KR-180-LK-130-2, KR-180-LK-150-2.

Robot groups. If robots are linked together geometrically, the non-active robots will follow the active master robot, if it is moved. The non-active robots follow only, if one target was selected in ther program.

Measure. When measuring the length of a path, the space between the selected targets is now measured. It must now, min. 2 rail points are selected. At least, two targets must be selected.

KUKA robots. New robot "Kuka KR2 150 L110".

Geometry functions. "Segment path" improved. The segmentation will now be performed between the selected Targets. The functions offers an option to automatically adjust the segmentlength for an even distribution. A second options allows you to define the number of segments you want.

CS8-Postprocessor. In applications, where the robot guides to workpiece, the corrected TCP-speed is now always greater than 0mm/s. The recalculation of the speed is necessary because the CS8 has no support for workpiece guided applications.

External axes. If the current value of an external axis (Curr) changed using the parameter editor, the robot now follows the axis. For this, the simulation has to be activated.

CAD-Calibration. The dialog could not be restored correctly when the name of the CAD model contained a space at the end. This space is now automatically removed.

Granite CAD-Kernel. New Granite One(TM) kernel V5 M150. The Kernel is more robust when reading Parasolid, IGES and STEP files.

Graphic. The starting point of a path is highlighted by a small triangle symbol, now.

Graphic. The paths of inactive devices can now be hidden using "File - Options - Graphics - Hide paths if inactive robots".

Geometry functions. New function "Align to curve". This function is suitable for generating bevel cutting for water jet and milling applications.

3D-Bodies. New 3D body "Paraboloid". This can be, for example, used to model the spray jet of a rotary atomizer.

3D-Bodies. Sphere, cone, cylinder and torus can now be deformed elliptical with compression factors. The spray cone of a gun can be generated from a cone, for example.

Numerical input. In all input fields for numeric values mathematical expressions are allowed. Divisions of two integer values have been treated as integer division. This could cause unexpected results. Divisions are now basically floating point divisions. When an integer division is to be executed, use the operator "DIV".

Path creation. Under "File - Options - Path creation" it is now possible to turn the automatic creation of circular movements of, while creating a path. Arcs will be interpolated like curves.

Application. Support for multiprocessor systems improved.

Application. If many instances of the application are closed at the same time, this could lead to errors while accessing the configuration files. This problem has been fixed.

V8.0.5/75 from 22 April 2010

Geometry functions. Bug fix for "Set position" and "Set orientation".

CNC-Import. The CNC import is now able to read programs without sequence numbers. Additionally the import is able to read the speed parameter (F mm/min).

Application log. While saving a project the full filename including path will be added to the log.

Robot groups. The simulation works now robuster for targets with very small distances.

Positioner. New Positioner ABB IRB P 250R L1250 and L1600.

V8.0.5/45 from 09 April 2010

Operatingsystem. Support for Windows 7 (32/64Bit).

Installation. The installation includes the 64Bit CodeMeter driver, now.

Robots. After adding a new robot, it's zero position was used as HomePos. Now a more useful position will be used.

Geometry functions. The geometry functions "Mirror", "Align to Vector" and "Projection onto coordinate plane" can now handle coordinate systems such as tools and Bases, too.

Kuka-Import. It is now possible to import Inline-Targets without data type information. This is important for manual correction made with a KRC1 controller.

Kuka-Import. Small memory leak fixed.

Graphic. Maximized view windows were not correctly restored after loading a project.

Project archives. When opening an RPA-File an empty configuration file (RI8) was always created.

Collision detection. In the rare case, that a single model had more than 100000 faces, the collision detection caused an exception.

CS8-Postprocessor. If the option "Save instructions per group" was activated, the instructions of the last group were placed in the start function.

Project. If a project is new, the function "Save as" will be executed if a postprocessor starts.

CAD FCM-Import. The import of FCM models could fail if faces of sub componentes were invisible.

CodeMeter. New CodeMeter Runtime V4.10c. The Famos robotic® setup is now able to detect a 64Bit operating system and will install the correct version.

ABB robots. New robot IRB 120.

Delete CAD models. CAD models can only be deleted if they are no longer referenced. Previously, the references had to be changed manually. This is now done automatically.

CAD Tree. In the context menu for the selected CAD model the function "Show referenced objects" is now available.

New EasyRob Kernel. Fixes a small interpolation error in work piece guided applications.

Granite CAD-Kernel. New Granite One(TM) kernel V5 M140. Fixes problems with special characters in filenames of ProE models and is more robust when reading parasolid files.

Picking. Picking position on a work plane forced an error and the application was terminated

License informations. Now the application log shows when the certified time must be updated and how long a trial license is still ongoing. This information can also be displayed with Help - License Information".

Robot groups. The synchronization now works with continuous program execution.

V8.0.4/16 from 25 January 2010

Compabiltity with ATI FireGL graphic cards improved.

ABB Postprocessor. As an option, the name of the frame can be added to the parameter list of the functions caToolTrans and caToolOffset. This is useful to determine the actual contactwheel used in grinding applications. With this information a wear compensation value can be added to the offset.

Fanuc robots, New robot M-900iA-350.

The model group "Fixtures" was missing in the CAD menu.

Preview image. The preview image of the project is now updated automatically when saving. Under the "File-Options-General, this option can be enabled or disabled.

V8.0.4/2 from 15 December 2009

Interpolate curves. The function "Geometry - Interpolate curves" now has a progress indicator and can be canceled. This is useful when the resolution was chosen too fine.

Move position. If a negative distance value is entered, it will automatically be converted into a positive value. after execution. This prevents the alternation of the direction for repeated entering a negative distance value.

CAD tree. The state tree of the CAD is now preserved when the visibility of a model group is changed.

ABB Postprocessor. For the new function "caToolOffset" the offset is resetted to zero at the end of each procedure, too.

Picking. Picking of arcs failed if the world coordinate system was turned off.

Copy protection. Message texts expanded. License query technology optimized.

Path-Manager. Renaming of paths and groups failed if only the spelling of the name was changed.

Graphic. Das Fadenkreuz und der Name der Kamera können jetzt unter "Datei-Optionen-Grafik" abgeschaltet werden.

3D-Bodies. The 3D bodies are now properly considered in the scaling of the views.

CAD-Import. Under "File Options-CAD" the import of invisible objects can be turned on or off.

CAD-Import. Models on invisible layers were ignored during import. That could mean that, for example, an IGES file was successfully loaded but no models have been displayed.

Graphic. It is now possible to deactivate the camera coordinate system, lower left corner. You will find this option in "File-Options-Graphics".

When closing a project an error could occur, when textures were used.

PIS-Import and CNC-Import. If a project had no path the import replaced the complete program. Now, optional, only the path will be removed.

Fanuc M710iC. Origin corrected.

Granite CAD-Kernel. New Granite One(tm) Kernel V5 M120. More robust while deleting ProE models.

A damaged Undo buffer could cause an exception when a project was opened.

Kuka Import. The assignments of load data, which can be generated by the post-processor, can now be re-imported.

Motoman Import. The verification of names has been adjusted. The name check had prevented the import of some Jobs.

Projects. Opening projects in folders for which the current user does not have write permissions will now work.

Kuka Postprocessor. For PTP fly-by targets the zone criterias C_DIS and C_VEL will now be added to the instruction.

Logs. The log windows can now be toggled with [F6].

Kuka Import. The new rotary offset can now be imported.

Picking. The snap mode "Positions" did not work with models in an assembly that has been disabled.

Project archives. The Project archives (*. rpa), could only be opened if the project does not yet exist. Now a warning is displayed and the archive can be unpacked again.

3D Bodies. The transparency value can now be entered directly.

Creating paths. When a new path is created, the paths automatically made visible, if they were disabled.

V8.0.3/8 from 13 November 2009

ABB robots. New robot. IRB 6400C M94

Installation. A missing directory forced an exception during the first start of the application.

Collision control. If the collision control is disabled for an assembly, the collision control was greatly slowed.

CAD. The new proprietary CAD format (FCM), for polygonal models, is used now when saving and loading projects. If a project conains many polygon models this will reduce the times needed for loading and saving. Famos versions prior to 8.0.3/5 are not able to read the new projects. In order to enable data exchange with older versions, Famos can be started with the command line parameter /UseIGP.

CAD. New propitiatory CAD format (FCM) for polygon models. It generates very compact files that can be read and stored very fast. All attributes remain, such as color and transparency. We recommend this format as a replacement for STL and IGP.

Graphic. The option "Translucent through work pieces" had no effect.

Simulation. When entering a target time for the simulation, the graphics have been updated.

Application. Command line parameters. With the parameters / Open and / Import the application will start with the project file. Then the robot program is automatically imported.

Application. "File - Open project folder" will open the project folder in Windows Explorer.

V8.0.2/91 from 02 November 2009

Fanuc M10iA. Origin corrected.

CAD. If older projects (Granite V4) were opened, loading could fail, if the file names were longer than 63 characters. The file names are now automatically adjusted.

Tracker-coordinate system. The context menu of a coordinate system offers now have a "Tracker-coordinate system". It can track the position of another coordinate system and aligns itself accordingly. If a camera is connected to the Tracker-coordinate system, you can easily monitor a workpiece at various work stations without the need to always correct the view.

Graphic. New function to create a screenshot of the active viewport as an imagefile in the tool bar "Viewports".

Graphic. Shadows are now disabled for all objects with an transparency value equal or higher than 70%.

Graphic card test. During the start up of the application the acompability test for graphic card is performed. A message appears if the adapter is not compatible.

V8.0.2/8 from 20 October 2009

Granite CAD-Kernel. New Granite One(tm) Kernel V5 M110. More robust while importing STEP models. More robust while deleting models.

Collision detection. Performance improvements.

Picking. The mode "Positions" works now faster and uses about 40% less memory.

V8.0.1/19 from 12 October 2009

Collision control. If a collision entry is selected in the collision-Log, the collided objects are now highlighted in a special way. The two collided objects are displayed in red and yellow. All other objects are transparent. This simplyfies the localization of the collision.

Saving projects as an archive. Projects can now be saved as an archive with "Save as". The project must first be normally stored. Then all the files needed by the project are transferred in a compressed archive, which can then be easily passed to others. Use "File open" to open these archives again. The project will be extracted and then the project will be opened as usual.

CodeMeter. New option "Update certified time automatically". This option is enabled by default and automatically updates the certified time on the CM-Stick. This happens at least once a day. If this option is disabled, the updating is attempted only if the license test fails. The certified Time is therefore always kept up to date, if there is an Internet connection. If no connection is available, you should disable this option to start of the application faster.

Graphic. New rendering mode "Phong shading".

Graphic. Specular Lighting with better contrast even in the shadow representation.

Graphic. In all views are now using the same solar position for the shadow representation.

Graphic. Support of textured, transparent objects.

Graphic. Textures are cached, thus saving space.

Graphic. Textures are now modulated with the selected body color. The color of a body remains visible through the texture. This is for example very convenient for text. To keep the texture color unaltered, the body color must be white. In existing projects, the colors have to be adjusted.

Graphic. Highlighted areas were completely covered by transparent bodies.

In some cases, the display of logs has the CPU real burden. This effect was greatly reduced.

For technical reasons, the license validation process was changed. The inspection interval for the certified period of the CodeMeter dongle was inadvertently shortened. The interval is now back to the original length. Please update the time regularly, about 1 x per month.

CodeMeter. New CodeMeter Runtime V4.10a with automatic detection of proxy servers.

ABB Postprocessor. If the option "Create own variabls" for speed and zone values was active the exception "Division By Zero" was raised on some CPU's.

Collision Log. On selection of an collision item in the list, it will be highlighted. Hit [ESC] to remove the accentuation.

CAD-files. File names with an extrem length (>63 characters) were automatically reduced to their 8.3 name. Now a dialog gives a chance th define a more readable name for the file.

CodeMeter. A new Option "Search licenses on the local network" is available via "File-Options-CodeMeter". If no license server is used, one can deactivate this option to enhance the license validation speed.

Parameter. TCP-Offset. In addition to the translation offset a rotation offset is now available. The rotation can be performed around the local TCP or around the reference coordinate system of the active TCP. This allowas you to reach all positions on contact wheel in grinding application, for example. The parameter is supported for ABB - and Kuka robots.

ABB robots. New robots. IRB 4600-205-45, IRB 4600-205-60, IRB 4600-250-20, IRB 4600-255-40.

Application. New option "Auto safe before adding a CAD model". Enable this option to reduce the risk to loose data if a corrupted CAD model produces a fatal error.

CAD. To rename a CAD component a dialog is used, now. Use [F2] or the context menue to access the rename function.

CAD. The captions of the menu items of the CAD-Tree context menu are now equal to the attributes of the Attribute-Explorer.

CAD. The visibility settings of the model groups will be restored after loading a project.

CAD. Search CAD components. It is now possible to use multiple searchmasks seperated by a colon. For example *_x_*;*_m_*;*DIN*. This mask will find screws and standard parts.

CAD. Search CAD components. Fixed an error, that occurs while deleting components. Deleting of multipe components is a bit faster, know.

Collision detection. The side register "Sim" offers the new function "Stop on collision". If activated the simulation will stop on the first collision.

Collision log. With a double click or via the context menu of the log, you can simulate to the collision.

Collision log. Now, the collision log lists all colliding object pairs.

Collision detection. New options page for collision detection. Access via "File - Options".

Granite CAD-Kernel. New Granite One(tm) Kernel V5 M100. More robust when loading Pro/ENGINEER Wildfire assemblies. IGES, STEP and Parasolid import are more robust.

V8.0.0/1259 Beta from 29 Juli 2009

Online help system. If the context sensitive online help is called using [F1] the content tree will be opened at the corrosponding chapter.

Some small graphic problems fixed.

Fanuc Import. New import option "Add only new path".

Motoman Inform III New import option "Add only new path".

Dürr EcoTalk Import. New import option "Add only new path".

ABB Import. New import option "Add only new path". This option keeps existing path untouched.

Cad Model export fixed. After setting the "Session" to invisible nothing was exported if some components were set to visible again.

Kuka Robots. New robots. KR-210-2K, KR-210-L-180-2K, KR-210-L-150-2K, KR-210-L-100-2K

Bases and Tools. Duplicating a frame will not change the reference frame any longer.

V8.0.0/1146 Beta from 20 Juli 2009

Collision detection. The toolbar "Collision detection" allows to enable a collision test. First, an overall test will be performed and all collisions are highlighted. A filter system, used like a fire wall, is used to suppress all current collisions.

Complete new rendering engine with up to 10 times better performance.

Graphic. Shadows. It is now possible to aktivate realtime shadows and to define the light position. This option improves the visual impression.

Graphic. Shadows. The position of the light source can be defined interactivly using the pull down menu of the Shadow-Button.

New file extension for V8. "rs8" is used for project files, "rc8" for the CAD Part of the project and "ri8" for the project settings. V8 is able to read the projects of V7, but V7 is not able to load the new project files. With the new extensions we ensure, that your old project files are "save".

CAD. The CAD Tree offers a filter. Simply type the name or a part of the name of a component and press [Return].

New program icon for V8.

ABB Import. New import option "Add only new path". This option keeps existing path untouched.

Measure distances. The result is now, additionally, displayed as a vector (XYZ).

CAD. New model group "Fixtures".

CAD. It is now possible to define a rendering quality level for each model group. Use "File - Options-CAD-Performance" to change the seetings.

Toolbars. Under special circumstances the toolbar area was not restored correctly if the window size was changed. This problem is fixed.

Granite CAD-Kernel. New Granite One(tm) Kernel V5 M090. STEP und IGES import are more robust. Support für Pro/E Wildfire 4. Better performance while loading Granite files and assemblies. The 3dm import supports curves, now.

ABB robots. New robots. IRB580-12, IRB580-16, IRB540-12

Vista compability improved.

Kuka positioners. New positioners KPF1-500 V1, KPF1-500 V2 and KPF1-500 V3

V7.6.0/221 from 5 May 2009

KUKA robots. New robots KR-16-KS and KR-16-KSL-6

Simlib. It is now possible to move complete robot nodes from the standard simlib into a personal simlib folder.

Motoman Import for Inform III. First version of an import function for Motoman XRC/NX100 jobs implemented. Supported are all standard movement instructions, external axis and the parameters TCP-Speed and Zone. If a program contains puls values, the Pulse value to degree conversion factors must be defined using "Robot - Controller and Kinematic". The factors must be defined for both the robot and all external devices.

CodeMeter. New CodeMeter runtime V4.01.

Location of config files changed. Effected are the configurations für "Move parameteric", the projct list and the configs for Baces, MicroScribe and Faro. The new location on Vista systems is "C:\Users\\AppData\Roaming\carat-robotic\Famos\", on XP "C:\Documents and settings\\AppData\carat-robotic\Famos\". Please copy old files manually to their new location, if needed. The old location was under Vista "C:\ProgramData\carat-robotic\Famos\" and under XP "C:\Documents and settings\All Users\AppData\carat-robotic\Famos\". During the installtion, the old settings are automatically moved to the new location. Now these files are available on roaming servers.

Mirror and duplicate. All internal copy operations are faster, now.

Motoman robots. New robot EPL-160.

Transfer targets to other robot. Handling of ABS-Joint targets corrected.

ABB Postprocessor. The prefixes for variables are now strictly examined. The values must be unique and must not contain numbers. Numbers in the target prefix are allowed, except at the beginning.

Dialog positions. The initial default position for dialogs is now the applications main form center.

It is not longer possible to load projects with an version older than 7. 6.0/28, except the application option "Save in UTF-8 format" is disabled. Enable this option if you use the russian language. The new version will read older projects.

Unicode support extended. The UTF-8 Format is now used to store projects. This allows you to use multibyte characters.

Loading and saving of project files improved. The benefit is as bigger as more targets a project has. This improvement will not effect the laoding times of CAD models.

Path manager. A dialog is now used to rename a path or a group.

Options dialog. The tabulator key works now like expected.

Fanuc Import. If a conveyor is used in a Fanuc program, but is not defined in the project the conveyor will be identified automatically. This may happen, if a conveyor name was changed.

Options. The default values for the path generation are now saved correctly and used for new projects.

Memory usage of the Undo buffer reduced. The effect depends on the operation and of the number of targets that are manipulated with one operation.

It is now possible to use unicode characters for the project description and other options of the applications.

V7.6.0/9 from 27 February 2009

Multi language support. The user interface is now availaible in russian language.

All over application performance improved.

CodeMeter. New CodeMeter Runtime V4.0a

The dialog "Installed PlugIns" in the menu "Help" has a new design and shows more informations.

Kuka robots. New robot. KR 5sixx R850

Kuka robots. New robot. KR 5sixx R650

Kuka robots. KR360-280-2 and Kuka KR360-360-2 Zero position travel ranges corrected.

ABB robots. New robot. IRB 6650-S-200/3.5

The graphical user interface of Famos robotic is now fully unicode capable. The user interface is know ready to support languages like Turkish and Russian.

Tools and Bases. It is now possible to change the reference coordinate systems of tools and bases via drag'n drop. Use the [Shift] key while releasing the mouse button the keep the world position of the frame.

ABB robots. New robot. IRB6640-130/3.2

Cause of technical reasons you will loose the toolbar layout after updating the software. Please recreate the layout manually.

HomePos. If you define a new HomePos, using the axis angle dialog, the simulation will be reset automatically.

Renaming of CAD models. After renaming a model it's name will be updated immediately.

Configure Controller and Kinematic. Now, axes value conversion factors are available for robots and external devices. This replaces the option of the postprocessors e.g. MOTOMAN.

Fanuc robots. New robot M10iA.

Pathmanager. Deleting invisible path corrected.

Function "E-Mail to support" removed from the help menu. Under Vista this function produced massive errors.

V7.4.0/16 from 24 October 2008

Simulation. If Joint or Abs-Joint interpolation are used while tracking a conveyor or positioner, or if a direct device changed is detected, an error message will be added to the simulation log.

Easy-Rob Kernel, New Easy-Rob Kernel with improved axis configuration handling.

Under seldom conditions a bug in the the function "Align Orientation to vector" has blocked the graphic window.

ABB robots. New robot. IRB6640-180/2.55

Simulation. A deactivated device, check box in the device list of the register "Sim" is not checked, the function Reset/Home will not longer effect this device.

The function "Create equidistant path" will now insert the new path directly behind the last selected path. Each new path is now selected and ready for modifications. If the last correction was wrong, please use the undo function.

"Create Approach and Depart targets" renamed to "Lead in / Lead out". New Options "Straight" and "Arc" added.

Mirror. It is now possible to convert ABS-Joint targets into Joint Targets during mirroring. Normally ABS-Joint targets are ignored during cartesian operations.

Path visibility. It is now possible to control visibility of all paths with a new button in the toolbar "Visibility". This will not effect the visibility settings of a individual path.

Famos will now start maximized under Vista, too.

ABB robots. New robots. IRB-5500-A and IRB-5500-B Flexpainter.

Position editor. It is now psossible to change the distance of a coordinate system to it's owner using the field "Distance Previous". This works only, if the current distance is not zero.

It is now possible to control visibility of the basic 3D-Bodys and the process objects with two extra buttons of the toolbar "Visibility".

Configure controller & kinematic. It is now possible to copy the axis data list to the windows clip board. Useful for support requests and for documentation.

ABB Postprocesser. Support for RobotGroups. The MultiMove(tm) commands SyncMoveOn and SyncMoveOff are supported.

CAD. New function "Replace component". Use the context menu of the register "CAD" to access the function. This function is very useful to replace a workpiece model with new one. All references, the position etc. will be preserved.

Staubli robots. New robots. TX-200 and RX-170-HSM.

KUKA Postprocesser and Import. Support for RobotGroups. The RoboTeam(tm) commands PROGSYNC with the arguments PROGSYSNC and MOTIONSYNC and the command LK are supported.

ABB Postprocessor. Starting the configuration dialog of the postprocessor could cause an exception, if the option "Create Targets as array" was activated.

Instructions. It is now possible to deactivate the auto complete feature of the instruction text dialog.

ABB Import. The instruction "WaitTime" is now supported. If the option "Keep unknown instructions" is set, the instruction will be added to the instruction list of the path, otherwise the parameter "Wait" will be created.

Dürr axis configuration. During the simulation the turns of the axis are recorded, now. The turns are used to turn the robot axis the position, they had during the simulation, if you select a target. This feature will work with the latest SimLib only. If you have modified robots or onw kinematics a rework is needed. Plese send the rob files to support@famos-robotic.de.

ABB axis configuration. During the simulation the turns of the axis are recorded, now. The turns are used to turn the robot axis the position, they had during the simulation, if you select a target. This feature will work with the latest SimLib only. If you have modified robots or onw kinematics a rework is needed. Plese send the rob files to support@famos-robotic.de.

Move parametric. It was not possible to delete an expressions. Now, the expression will be moved to the Windows recycler.

Duerr EcoTalk program import. The import filter reads a program module (*.tip) and the corrosponding data module (*.tid). Supported are all relevant parameters and move commands, like VEL, ACC, OVELAP, Tracking, TOOL and OBJECT. Additionaly Gun-Trigger and Brush-Trigger are supported.

Kuka Postprocessor. New Option "Declare procedures as GLOBAL". If one single SRC-File is used for all path this option gives direct access to each path. This option requires at least a KRC2 controller.

Online help. New chapter "External axis" added. Decribed are tracks, positioners, conveyors, flange mounted devices and virtual devices.

New option to support cooperating robots "Robot groups". Actually only supported by the simulation. This feature is currently under development. Robot support is planned for ABB and Kuka, soon.

If two different assemblies with extra dots in the file name were loaded and both assemlies have used the same models, saving the project could fail.

The dialog "Search component" in the register "Cad" has a new function, to delete the found CAD-Models. A search for "screw" allows you to delete all screws in your project.

Granite CAD-Kernel. New Granite One(tm) Kernel V4 M160. Enhanced import of IGES files created from Adobe Acrobat 3D. The Step import is more robust in handling curves with trimming dimensions defined in radians.

3dm Import. On some systems the import fails, cause if a missing DLL. The missing msvcr71.dll is now part of the installation.

ABB robots. New robots IRB 340 and IRB 340R Flexpicker.

Parameter. Parameters are now sorted in categories. That makes it easier to find the right parameter.

ABB Postprocessor. If PaintWare commands are used the postprozssor will create error messages if an event plane is not on it's segment.

ABB PaintWare Parameter editor. The event plane list now support the arrow keys [Right][Left] to change the target selektion. [Return] will open the event plane editor.

ABB Postprocessor. Assignments to vOri were created above MoveC instructions, even if SpeedData variable were used.

Parameter editors. All editors in the register "Parameter" have a new button to minimize the editor. Minimizing some parameter editor makes it easier to handle project with a large number of parameters.

Fanuc Robot. New robot M710iC/50

Tools and Bases. It is now possible to attach multiple CAD-Models to a Tool or Base. The linked CAD-Model of a Tool or Base is only used to control the visibility of the Model. This makes it possible to control the visibility of any CAD-Modell in the project.

Pick&Place. Basic support for Pick&Place applications added. Pick CAD models and 3D-Bodies using the parameter "Pick-Object" and "Place-Object". Always reset the simulation to home before you try to simulate. Please don't try to use picked objects as programming coordinate system for Targets. The Pick&Place parameters are linked parameters. That means you can define instructions, that the postprocessor will use in the robot program. May be a procedure call or a signal. Currently it is not possible to import those programs. The connection to the CAD-Models will be lost.

3D-Bodies. New function to easily create duplicates of bodies and process objects.

3D-Bodies. The optional back face of the rectangular face had a wrong position.

New Postprocessor. First version of a EcoTalk postprocessor for Dürr robots with EcoRPC controller.

V7.3.0/91 from 30 May 2008

Postprocessors. The postprocessors will create warnings if any of the reference frames of the ViaTarget does not match the frames of the EndTarget.

CAD calibration. The methods "Apply calibration to robot program" removed. These methods had no function.

CAD calibration. Eventually existing Tracking-Frames are removed from the selection list for Bases and Tools.

Kuka postprocessor. It has created wrong bases if the Robot was connected to a Positioner.

ABB postprocessor. It has created wrong WorkObjects, if the Robot was connected with a coordinated track and the track was moved relative to world.

CodeMeter. New CodeMeter Runtime V3.30a

V7.3.0/72 from 28 May 2008

PaintWare Parameter. It was not possible to add and remove trigger planes.

Logs. Each new log entry will be shown in the status line, too. This is helpful, if the log area was closed.

Granite CAD-Kernel. New Granite One(tm) Version V4 M150. Enhanced GRANITE to retrieve datum curve colors when loading Pro/ENGINEER models.

V7.3.0/22 from 05 May 2008

Rhino - Import. New CAD-Import for Rhinoceros(r) 3dm files. The import is able to process files from Rhino version 1 up to the current version 4.

Simulation-Log. This log shows informations about the current simulation. Selecting an entry will activate the assigned device and selects the target, if possible. Double click to focus the target in the current view.

Application-Log. This log offers informations about file operations and shows other application specific messages.

Log - Windows. The bottom area of the application window is now used to show log windows. A context offers functions to copy the content of the log to the Windows clipboard. Useful für support mails. Drag the header of the log to undock it and make it floating. If a log was closed it can be reactivated using the context menu of the status bar. The menu "Window" offers additional functions to show or hide all logs.

New function "Geometry-Orientation-Rotate around traverse direction". This function rotates the orientation of each target around it's traverse direction. In the case of circular interpolation, the arc tangent will be used.

ABB Postprocessor. It is now possible to use zone values with a precision of two digits. If the option "Create ZoneData Values" is activated the value name for a zone of 0.01mm will z0_01.

CodeMeter. New CodeMeter runtime V3.3

ABB Import. During import, the Famos configuration index will be calculated from the configuration value "CFX". For robots with back link the configuration index must be still defined manually.

Kuka Import. During import, the Famos configuration index will be calculated from the configuration value "S".

Fanuc RjFTP. While downloading paint programs from the controller the preset tables are downloaded automatically. If the job folder has no preset files a dialog appears and an alternative job number can be used to specify the location if the preset files.

Simulation library. It is now possible to define a path to your own, custom, simulation library. The structure and the folder names have to be equal to the folder s in the standard simulation library.

KUKA robots. New robot "Kuka KR 360 L 280"

Granite CAD-Kernel. New Granite One(tm) Kernel V4 M140. The Step import is more robust in handling edge loops defined with a single polyline.

Fanuc Import. During import, the Famos configuration index will be calculated from the Fanuc configuration (N U T etc.)

Fanuc Import. Handling of circular movements improved, wich are written on two program lines.

3D-Body's. It's now possible to add a texture to a body. A texture is loaded from a file (bmp, jpg or tga) and optionally stored in the project path.

3D-Body's. It is now possible to create some basic 3D-Body's using the context menu of a coordinate system. You can attach a body to all available frames in the project.

Fanuc axis configuration. The calculation of the up/down config now works correct for all kinematics.

Fanuc RjFTP. The FTP client will now always open the connect dialog, when downloading files from the robot. The IP, defined in the postprocessor, will be used as an preset. If a different adress is selected an appropriate connection will be established.

Orientation values. In all orientation displays you can change the orientation format using the context menu of the control.

Orientation options. New option "Use format of the current robot" in "File-Options-Position & Orientation". If activated the orientation is automatically changed to the format of teh current robot.

Kuka Postprocessor. New option to create load datas for tools in the register "Variables". Writing load_data will be supressed if the tool is declared in the $config.dat and named like TOOL_DATA[1]. Currently, load datas are not supported during import.

ABB Postprocessor. It is now possible to call an application of your choice for each created program file. This option could be used to perform a special post processing on each file. To use special parameters %s can be used as place holder for the file name. These options are available on the new register "Advanced" in the postprocessor configuration dialog.

Fanuc robots. New robots. M16iB/20, M16iBL/10, R2000iBF/165, M710iCL/20

Kuka Postprocessor. It is now possible to call an application of your choice for each created program file. This option could be used to perform a special post processing on each file. To use special parameters %s can be used as place holder for the file name. These options are available on the new register "Advanced" in the postprocessor configuration dialog.

Kuka Postprocessor. The options for the handling of the creates modules are now all available simultaneous.

ABB Postprocessor. The options for the handling of the creates modules are now all available simultaneous.

ABB Postprocessor. For the target name generation a indexing factor can be used to create names like p10, p20 instead of p1,p2.

Granite CAD-Kernel. New Granite One(tm) Kernel V4 M130. More robust in handling certain spline curves and when loading Pro/ENGINEER models that have trimmed curves.

V7.1.2/255 from 08 January 2008

Kuka Postprocessor. The search order for the initilization blocks is now as follows. First, the output directory of the postprocessor, next the project directory and at last the bin-directory of the application.

Kuka Postprocessor. The postprocessor will now save the initilization block if the option to create sub programs by group is activated, too.

Rapid Import. Assignments like MyVar:=FALSE; or MyVar:="Test" were added to the instruction list without the value.

KUKA robots. New robot "Kuka KR 180 L 130"

Fanuc postporcessor. RjFTP. The file upload failed cause of wrong target path.

V7.1.2/196 from 12 December 2007

Parameter "Acceleration". The field "Ramp" will now always be displayed if the current robot support the "Ramp" option.

V7.1.2/181 from 07 December 2007

Parameter. The function "Increment values" in the context menu of the parameter editors failed for integer values.

Pathmanager. Selection problems, regarding invisible path, solved.

Project list. Independent of the numer of projects, the project list opens now in constant time. Missing data will be loaded in the background.

Position editor. A coordinate system, selected in the 3D view, can now be used as current frame of reference by clicking on the new button at the right of the frame of refernce selection button.

Easy-Rob Kernel. New Easy-Rob Kernel solves problems with extremely large arcs with a radius greater than 200km.

The function "Geometry - Fillet" is now more robust.

Conveyor. Tracking condition handling improved for robots with target dependend trackingconditions, for example Fanuc with PaintTool. It is now possible to use negative values, related to the conveyor origin, for the up stream boundary.

Circular interpolation bug fixed. Under some extremly rare conditions the robot left it's track.

License informations improved. The license info dialog under "Help - License informations" offers now an option to deactivate the license check for not installed products. This may improve the start up time of the application.

Rapid Import. If a reserved RAPID identifier was used as link text in a linked parameter instruction the import failed or was incomplete. Import will now add a warning to the log and is more stable.

Support added for Baces3D digitizers. Supported are USB - and serial devices from FriulROBOT S.r.l..

Changed application folders. To keep the application more compatible with restricted user accounts, all folders for configuration files and profiles are moved to the default windows folders. These are the folders "c:\documents and settings\\Application data\carat-robotic\Famos\" and "c:\documents and settings\\My Files\carat-robotic\Famos\". After the installation of the new version, some settings may be lost. Normally you can restore the settings if you copy the files from the old location to the new one. Please contact your support for furthor details.

If the LogIn for Famos was disabled, using Famos_StartupConfig. exe, the Windows(R) account name will be used as user name.

Project list. A new function "Search projects in folders" is available via the context menu of the project list.

Granite CAD-Kernel. New Granite One(tm) Kernel M120. The Paraoslid import is now more robust.

The default views are now relative to world. Press [Shift] while selecting a view to get a view relative to the currently selected coordinate system.

Fanuc robots. New robot "Fanuc P154"

Improved axis configuration handling for Fanuc P250iA.

Fanuc Postprocessor and FTP-Tool. Support for the new controller RJ3iC improved.

Postprocessors. If the last active path of a group was a sub program, without targets, and this sub program was follwed by inactive paths, the program generation failed with an exception.

Kuka Postprocesser. The Postprocessor failed to create the declarations for tools and bases if the first path in the project had no targets.

CAD-Export. The CAD Export stopped at the first inivisble object of an assembly. This results in uncomplete models.

KUKA robots. New Robot KR 15/2

Linking an external device to a robot could fail if the position of the external device was different from it's default position.

Picking positions on surface failed for STL and IGP models. The orientation of the picked positions was wrong.

Support for native robot instructions was missing in the Staubli CS7-postprocessor

Granite CAD-Kernel. New Granite One(tm) Kernel M100. The calculation of intersections between two faces is more robust in handling surfaces that are very long and narrow.

Easy-Rob Kernel. New Easy-Rob Kernel solves axis configuration problems with robots having extrem asymmetric axis limits.

ABB-Import. If a sequence of WaitWObj instruction was found in program without any movement between this instructions, the WaitWOb instructions will be added to the instruction list.

ABB-Import. The import functions now supports WaitWObj instructions for non tracking targets if this target follows a target that is conntected with a conveyor.

V7.1.1/447 from 22 August 2007

Parameter. The values of the parameter "TCP-Offset" were ignored if new targets were added to an existing path usung "New path".

Instruction list. The Instruction list offers to modify the order of targets and instructions, now.

Devices. The attempt to connect a robot with an external device results in an exception and the operation failed.

CodeMeter. New CodeMeter Software Version 3.2.0b. The new version allows the usage of a spare dongle. This dongle will work 30 days after it's first usage. During this time a new dongle could be delivered. Please install the new CodeMeter runtime.

Staubli CS8-Postprocessor. It processed the parameter order not in the same order defined under "Parameter management".

Picking. The pick mode "Interpolate paths" was not able to pick the center of an arc. It's now possible to pick the center of an arc using the [Shift] key.

Picking. The pick mode "Range on curve" detected curves of invisble models.

Geometry functions. The function "Create equidistant path" now works with cirucular interpoaltion and spline interpolation.

If a CAD model was deleted while it was linked with a tool or base the link was not removed from the tool/base.

Simulation. Axes limit calculation for robots with back link, like IRB 4400, was incorrect

It was impossible to edit targets created with "Create equidistant path".

"Edit - Cut" had no function.

Tools & Bases. The loadData values for tools were not stored after editing.

Fanuc robots. New Robot. Fanuc P250iA/15 for the new RJ3iC controller.

V7.1.1/97 from 20 June 2007

Granite CAD-Kernel. New Granite One(tm) Kernel M090. Import is more robust in reading ACIS SAT files that contain cone surfaces with half angle of 90 degrees (plane surfaces in disguise)

KUKA robot. New Robot KR 360/2

The parameter selection dialog, "Parameters - Parameter manager", will now show a short code sequence for each supported parameter.

ABB postprocessor. In ABB paint projects, the parameter PauntGun can be used to create the "SetBrush" instruction. Event datas are unsupported. It is possible to combine the parameter with the PaintWare parameter. The RAPID import supports SetBrush, too.

It's now possible to delete Tools and Bases using their context menu in the 3D view.

After importing a robot program, that makes use of a conveyor all unnecessary tracking windows are removed, now.

New Parameter "Conveyor Speed Override" This parameter allows to control the speed the conveyor at each target of the robot program. From 0% up to the maximum speed of the conveyor. Cause this is not a standard function of a robot controller a special procedure has be implemented in a system module. The implementation depends on the needs of the used hardware. In RAPID, the procedure has the following declaration: PROC caCNVOvr (CNV string, Ovr num).

ABB Import. Error during synchronization with robot program fixed.

Support for the new Fanuc controller RJ3iC added.

New function "Create equidistant path". This functionis located in the menu "Geometry" and creates an equidistant path of the selected path. Useful to create milling paths. This first version works with linear interpolated targets, only.

Granite CAD-Kernel. New Granite(R) One(TM) Kernel M080. SAT-import is more robust in reading ACIS SAT files that contain entities with missing IDs. Step-Import is more robust in reading STEP files with certain periodic B-spline surfaces.

Fanuc import. The import function is now able to process assignments to position registers with comments. The function also, recognises wether a register is used or not. Assignements to registers not used will be stored in the instruction list. If a register is used to define a tracking window. Thies assignement will be removed, cause the postprocessor will create it.

Fanuc import. The import failed if the file had no /APPL section.

Position editor. If the option "Simulate to target on selection" was active it could happen that the application hangs if a target position was changed using the mouse.

Parameter editors. "Distribute on range". New function to distribute parameter values on a range defined by two values. This functionis is available via the context menu of the respective input field.

Parameter editors. "Increment values" New function to increment and decrement parameter values. This functionis is available via the context menu of the respective input field.

New option "Declaration in system module" in the edit dialogs for bases and tools. If set, the postprocessor will not create the declaration of the tool or base. The import functions for ABB and Kuka will set this option automatically.

It is now possible to control the realtime override of the simulation from 1% up to "max". "max" means that the simulation speed is only limited by the hardware performance.

Simulation performance increased. Projects with a large number of targets (> 10000) will bendefit from this.

ABB robots. New robot "IRB 6620"

Conveyor. It is now possible to assign a tracking window to a target, whose base is not connected with a conveyor. This feature is restricted to the target that is used to disconnect the robot from the conveyor. It has to be a PTP target and a fine position (Zone = 0). Currently supported by ABB Robots only.

Postprocessor-PlugIn. The methode "PostProcessDeviceData" was called once per external axis and not once for device.

Axes configuration. The axes value dialog offers a new button to switch from one configuration to the next. The robot will reflect this. The same is implemented if the configuration parameter changed. This feature will work with simulation turned on and off.

Axes value dialog. The colors indicating, that the robot is near it's limits uses four steps, now. From 20% light green is used, from 10% yellow and from 5% orange. Red will be used to indicate a limit error. The values relating to the complete traversing range.

EasyRob Kernel. New EasyRob Kernel. Improved and more robust configuration handling.

If a project was loaded without CAD - Models or with missing CAD-Models, that could cause errors if new models were added to the project.

ABB import. Brush tables, marked with special comments, designed as test brushes are now supported by import, brush table editor and postprocessor.

ABB import. Granite CAD-Kernel. New Granite One(tm) Kernel. SAT import is more robust in reading ACIS SAT files that contain ‘%’ characters. More robust in loading Pro/ENGINEER models (part and assembly) that contain long strings in multi-byte language in item names.

Preview image for projects. Using "File - Save preview image" you can create a preview for the current project from the active view. If no image exist the first one will be created automatically if you save the project.

The project list offers some functions via a context menu. You can edit project informations or delete an entry. It is possible to open the projec folder and you can copy the complete list to the windows clip board.

New function "Project list" in menu "File". The project list offers a list of all projects with their project informations. You are able to sort the list by each of the fields, to drag columns and to hide columns. It's possible to load projects, too.

Project information management extended and improved. You will find the Projectinformations in File - Project informations.

ABB Import. The import offers the new option "Update positions and orientations only". This will synchronize positions and orientations in the module withe the targets of the projects. This will only work, if the number of targets of a path in the module matches the number of targets in the path of the project. This options works only with "active" paths and is ideal to update the project with teached positions.

New parameter "Override". Override value in percent for the programmed TCP speed. The parameter will effect the simulation, too.

ABB postprocessor. The postprocessors supports the parameter "Override" and creates the instruction VelSet.

ABB import. The import supports the instruction VelSet and creates the parameter "Override".

Kuka postprocessor. The postprocessor supports the parameter "Override" and writes the variable $OV_PRO.

Kuka import. The import supports the variable $OV_PRO and creates the parameter "Override".

Time to load robot models and STL files drastically reduced.

Value "Acceleration ramp" of the parameter "Acceleration" removed. It is only visible if the current robot supports this value.

CS8-Postprocessor. In projects where the robot holds the workpiece and uses different external tools the automatic speed adaption fails.

V7.1.0/888 from 20 Dezember 2006

Improved editor for PaintWare EventData. A new options allows to place the event at the start of the path segment. The work object axis and the intersection point will be calculated automatically.

New axes limit check for ABB robots IRB 5400 with hollow wrist restricts the limits in a way saved keeps a tube package intact. Simply restrict the limits of axis 4 to the values of axis 6. Use "Robot - configure kinemtic and controller".

Editor for brush tables. Use "Parameter - Edit brush tables". The brush factors can be changed absolutly, incrementally and percental. The functions are available via keyboard and a context menu.

Editor for common settings of brush tables. Like factor namens and limits. The editor is available via "Parameter - Brush table properties". This options is available if the PaintWare parameter is used in the project.

The PaintWare parameter editor offers the selction of an imported brush table, now.

ABB-Import. The import supports the command "UseBrushTab", now.

ABB-Postprocessor. The postprocessor supports the command "UseBrushTab", now.

The visualisation of the PaintGun - parameter is completly renewed.

The visualisation of the PaintWare - parameter is completly renewed. Brush changes on a path are now visible.

ABB-Postprocessor. The register "Variables" offers new options to create speeddata variables und zonedata variables.

ABB-Postprocessor. New register "PaintWare". It offers special PaintWare options.

Positioneditor. New Funktion to invert the coordinate system of a target or any other frame. The frame will be inverted with respect to the selected reference frame.

ABB-Postprocessor. Options for configuration monitoring changed. Please check the new Options. If you use a conveyor, you are now able to turn the configuration monitoring on during tracking, too.

ABB-Postprocessor. The calculation of the zone data variable will now use the initialization value of the parameter "Zone" to create a variable that matches the defaults zones z0 to z200.

The Dialog "Robot" - "Properties of the active robot" supports copy and paste, now.

The Dialog "Robot" - "Properties of the active robot" offers the new function "Correct world coordinate system". Useful in the following situation. You have placed a robot in a cell. Now, you have to modify the robot world frame. The new function will keep the robot at it's old position.

ABB-Import. If the Option "Import sub programs without move commands" was activated, sub programs from sys modules have been importiert, too. A filter will skip those sub programs, now.

ABB-Import. It is now possible to import brush tables.

The ABB-Postprocessor will no longer create declarations for "Wobj0", "Wobj1" und "Tool0".

Different problems fixed, that occur if sub programs without move commands were used.

ABB-Import. The import is now able to handle procedure declarations with line breaks.

ABB-Import. The import is now able to handle procedure names, that are identically with predefined names like "T3" in TriggL.

Points have been ignored during the calculation of the CAD bounding box. This produces wrong results in zoom all.

ABB-Import. Additional SpeedData default variables from BASE.SYS added.

The ABB-Import will force messages if variables without declarations are used.

ABB-Prostprocessor. The precision values for positions and orientations have been ignored.

The ABB-Import supports Program displacements, now. The instructions PDispSet and PDispOff are supported. The displacement is added to the imported targets. You have the choice to deactivate this feature within the import options.

If you encounter any problems, running Famos on a DualCore-System, a special program version is available in the folder . .\bin\DualCoreFix. Exchange this file with the original version.

For each kind of device within the SimLib an universal device "Universal-Device" is available, now. This invisible device is able to reach any position in space. It could be used to verify a robot tooling with a program that has no restrictions.

Fullscreen mode. The viewer tool bar offers a maximum of four monitors a new button. Pressing the button will produce a full screen view for the associated monitor. Pressing the button again, or using Ctrl+F4, will cloase the view.

Sometimes, the camera of a new view was not initialized correctly.

Sometimes, the recalculation of the CAD bounding box failed after a simulation run.

CS8-Postprocessor. The program generation failed if an instruction was added mannually to the instruction list.

First version of an interface for Faro 3D digitizers.

While removing a user coordinate system an exception occured. The exception occured, if the user coordinate system was selected as reference frame in the position editor, too.

New Easy-Rob Kernel. The simulation will now work with respect to maximum speed of external axis.

Errormessages during Backups will now added to the log. The application will not longer be blocked by message boxes.

KUKA robots. New robots. Kuka KR16 and KR16 L6.

V7.1.0/666 from 15 November 2006

Errors in S4-FTP solved. The errors "Connection reset by peer" and "Range check error" are solved.

New Option for the import ABB and KUKA programs. It is possible to import sub programs without any movement command, now. Supported are only procedures without paramaters. A sub programs automatically created by the postprocessors will be ignored.

Under special conditions an exception occured while deleting a pathe, using the path manager.

New main menu entry "New Path". The main menu offers all functions to create a new path, now.

Deleting a tool or a base, using the robot frame manager, will now update the graphic immediately.

Using the path manager you are now able to add sub routines to your project. They are like normal pathes, but without targtes. You can add instructions to them.

Changing the execution order of invisible path using the path manager, works now correct.

Staubli robots. New robots. RX260 and RX260L.

Staubli robots. New robots. TX60 and TX60L.

New Interface for the 3D digitizer "MicroScribe" from Immersion. The Microscribe-Interface offers calibrating methods, continuous recording of positions, and a upgradeable library for the user-defined measuring spike. The interfaces are offerd over an extra register side. The measurements of the digitizer can be used in all picking methods and for path creation. For this purpose the pick mode "External input device" must be selected.

In the menu "File" under "Project information" additional information for the project are attached. In the future there will be a project history.

New EasySim-Kernel. The new Kernel is now able to reduce the motion speed of the robot, if the axes of the robot exceed the velocity limits. Extern axes are not considered presently.

Now the ABB Rapid-Import detects the Trap-Routinen and ignores it.

Granite CAD-Kernel. New Granite One(tm) Version V4 M040. The new Kernel solves the problems of import from parasolid assemblies, processing Iges files with "offset surfaces", and problems with step files, which include B-Spline curves with invalid knot definitions.

New memory manager integrated. It provides better memory usage and performance.

V7.1.0/452 from 27 September 2006

Staeubli CS7 Postprocessor fixed. Declaration of AbsJoint-path points were incorrect.

Picking on curves does not work anymore.

V7.1.0/440 from 21 September 2006

For the free parameters the names of the path points are now available, as they would be generated by the postprocessor.

While using a CS7 controller circular interpolations will be automatically replaced with linear interpolations while creating a new path. The circular path will be approximated with linear segments. Additionally the funcions to select circular interpolation are deactivated. If the programm still contains some circular interpolations the processor displays a warning.

The CS7-Postprocessor generates a "Break" at Fine-Positions (Zone=0) after the Move-command, now.

The CS7-Postprocessor no longer generates a "Break" after a Wait-Event.

V7.1.0/422 from 18 September 2006

Picking positions: Now positions of section curves can be picked.

Picking positions: Does not work with switched off magnetic points.

New Function "dissolving curves" in the menu "Geometry". This function allows the cuvature dependent segmentation of path segments into linear segments. Segmentations is available for splines, circular arcs and straight lines. Over the minimal legal dot pitch and maximum legal deviation of the original path, the number of generates path points is controlled.

Desktop management: is anable to restore maximsed views.

Picking positions: for hidden CAD-positions no magnetic points are displayed.

Advanced funcionality of standard views: if a coordinate system is selected, the standard view functions will be executed with respect to selcted coordinate system.

Now the labels of the coordinate system with the same name will not be combined into one lable.

If the mouse is moved (zoom, rotate) while picking, views in larger porjects were bucking, because to much computing time was used by the preselction. The pre selection now is prevented while movint the mouse.

If intersections were present, it was not possible to turn off the visualisation of edges.

Some notation of the picking modes have been corrected.

In the Kuka-Import the new option "Update position and orientation only" can be choosen. In this case the actual loaded project gets synchronised with the robot program. All subrograms need to have the same number of path points as the paths in the project. This option suits for fast adjustment of the project with the robot programm, if the positions were teached.

Motoman robots. New robot. ES165N-100 added to the library. The other designes of the NX series are revised.

A "Build-number" is generated by the postprocessor. This number is incremented automatically, if the robot program is generated. In Fanuc and Kuka this number is registered in the module annotation, in ABB in the file head. Fanuc defines the annotation length to 16 characters. Therefor the number is added only, if a certaiin option is activated and the length of the collective annotation is defined to 16 characters. The numbers use is to distinguish between different versions of the robot programms.

If for a Kuka robot the framework names "TOOL_DATA[x]" or "BASE_DATA[x]" are used, the Dat-Files of the module are not declared anymore. Instead an allocationan is typed in the annotation on a certain field. The allocation can be copied very easily and typed into "$config.dat". This way Bases and Tools from "$config.dat" can be used, the teaching and controlling of the positions is easier then.

Now the Kuka-Import can read Bases and Tools from "$Config. dat". Therefor "$Config.dat" has to be located in the output catalog of the robot or in the project catalog. Is it located in both, the "$config.dat" applied from the output catalog.

Now the Kuka-Import manages the unknown instructions better. These Instructions are obtained in the instruktionlist, if the option is activated. Furthermore Signals, which are set with the order "$OUT[132] = TRUE/FALSE" and "$ANOUT[12] = 10.2" are supported.

Failures in the CNC dataset imports are repaired. The last area of the last account of a dataset is not obseved.

ABB import and ABB postprocessor can read the axes values of virtuell devices.

With the import of an ABB program an Exception appeared, when extern axes with MoveABSJ were used.

KUKA import and KUKA postprocessor are emphasiezed with functions which allow reading the axes of virtuell devices.

Now the kuka postprocessor can include instrucions into the Fold/Enfold blocs. This leads to a better overview in the source code editor of the control, particulary in projects with alot of parameters.

KUKA import and KUKA postprocessor are enlarged with a function, which allows the backreading of free attachable Parameters. Now the option "create special commands" is available in the Kuka postprocessor. When this option is activated free attachable paremeters can be imported.

In the path manager the symbol is aimended for each path with an "I", if the path gets extra instructions. This eases aimed location of such instructions.

New parameter "String-Value". This parameter allows pasting any instructions for each path. New alliances to other parameters and files of path pouints can be used. The instruction is written into the program, if it is not different from the earlier path point, so that every time the same instruction can be called after each path point. The import function and postprocessor of ABB, Func and Kuka are supporting these parameters.

The program can be shut down, even if the storage medium, for example USB stick, for the current program was loaded from this medium, is not available anymore. If the project has been changed, the function "save in" is activated.

Mainfold redefine for paths. In the context menu, in the side register "path", the function "mainfold redefine" is available now. Now all selected paths and groups can be redefined. Placeholder %p for path index and %g for group index can be used.

Kuka program import. The Kuka program import reads tools controlling and workpiece controlling programs. Programs with etern axes can be red. These still have to be defined before the import into Famos. LIN, CIRC and PTP movements are aided. Parameter tool, Base, TCP velocity, PTP velocity slur zones and velocity dependent sluring, reorientation velocity, acceleration, TCP Offset and free attachable parameters are aided. Additionally the VisiontFLex parameter is aided. A program can be seperated on different SRC and DAT files. Added modules, which should be imported are identified and loaded automatically with the EXT allcation in the main program.

1648