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V2.7.0 New Feature ​

Live Control - End Collision Model Offset ​

Feature Description

  • Used to set the Z-direction offset of a custom end collision model relative to the tool coordinate system, for adjusting the position of the collision model.

  • After setting the offset, the effect is as follows:

Live Control - End-effector - Vacuum Gripper ​

Feature Description

  • Added connection options: plug-in connection, contact connection
  • Only available for 850, xArm (≥1305)

Live Control - End-effector Models ​

Feature Description

  • Compatible with UFACTORY Gripper G2, RH56DFX dexterous hand and DH-PGC-140-50 gripper. Supports control and adding self-collision models.

Blockly Programming - File Name ​

Feature Description

  • Added sorting logic for file names. For example, if projects are created in the order 003, 002, 001, they will be displayed as shown below.

Blockly Programming - External Devices - Transparent Transmission ​

Feature Description

  • Used for RS485 communication between the robotic arm and the end-effector or controller. The robotic arm only forwards the data without processing it.
  • Optional parameters: Robot Arm, Control Box

The following program opens the UFACTORY Gripper G2 and obtains its position.

Settings - Motions - TCP ​

Feature Description

  • Added TCP payload and offset parameters for RH56DFX and DH-PGC-140-50 gripper.

Settings - Externals - Torque Sensor ​

Feature Description

  • Added torque sensor collision detection.
  • Configurable parameters: Detection Threshold, Rebound Distance, Rebound Angle.
  • When the end speed ≥100mm/s, the sensor may be damaged by collision. Please enable with caution.

Settings - Assistive Features - Environment Simulation (Beta) ​

Feature Description

  • Enable the environment simulation option in Settings - General. (This feature is still in testing)
  • You can add models into the environment: cube, cylinder, table.
  • After selecting a model, you can enable drag mode to move the model to the desired position. You can also enable physics simulation to consider real gravity and collision.
  • If a collision occurs, the software will pop up a warning message, as shown below: