DRL Studio 1.7.6 What's new? - robb19y/DRL-Studio GitHub Wiki

New Features

Save Sub Task Skill (UtilsLib PowerUp 1.2.4)

Latest release of UtilsLib PowerUp has a new function/skill to save Task Builder or Task Writer programs as Sub programs that can be called from other tasks.

Just add at the begining of program the SaveTask skill e specify the name you want to give to the task.

If you prefer also custom code can be used to save the task instead of the skill:

import powerup.utils as utils
utils.task_to_sub("TASK01")

Then from any other program you can run the saved task with function:

sub_program_run("TASK01")

You can also check the checkapp_example21_hmi_sub_program.py working example to see how to execute sub task from a customized HMI:

OPCUA Bridge (Background PowerUp 1.1.3)

With this new release of Background PowerUp you can launch an OPCUA server that will make robot data available to other OPCUA nodes.

Available data are:

  • Robot Modbus Holding Registers
  • Robot Modbus Coils
  • 100 General Purpose String Registers
  • 100 General Purpose Integer Registers
  • 100 General Purpose Float Registers
  • CheckApp functions

To run the OPCUA brdige it takes just one line of code inside a background task:

background.OPCUABridge(robot_ip="192.168.1.68", hub_ip="192.168.1.215")

Then if you connect from an OPCUA client you will see all available data nodes:

New Smart HMI Working Examples (CheckApp PowerUp 1.7.3)

New Working examples showing the usage of customized Smart HMI have been added. Also source code of the Path Recording demo presented at Automatica 2022 is available.

See example: checkapp_example22_hmi_path_recording.py

New Hub Firmware Release (1.7.0)

Finally new firmware release is available! This new version is based on last Raspberry OS and support both raspberry 3 and raspberry 4. Also more advanced network settings are available to configure the wired network and improve signal of WiFi.

You can Download the new firmware image from the Homberger Hub website.

Speed Up blended trajectories (Motion Lib PowerUp 1.2.7)

Standard Doosan blending functions requires to set a fixed radius defined by trial and error for each movement. Forget that! With motion lib optimized radius is calculated automatically for each point, showing a cycle time reduction up to 30%.

import powerup.motion as motion

pa = posx(177.8, 435.7, 122.2, 9.1, 180, 33.2)
pb = posx(177.8, 435.7, 400, 9.1, 180, 33.2)
pc = posx(-506.1, 416.0, 400, 83.9, 180, 35.6)
pd = posx(-646.3, -42.9, 400, 136.6, 180, 45.1)
pe = posx(-646.3, -42.9, 119.8, 136.5, 180, 45.1)

motion.move_blending([pa, pb, pc, pd, pe], v=300, a=200)

VIDEO

DRL Studio 1.7.6

  • Added space bar to checkapp Smart HMI
  • Improved network scan function