New

Collapsible ribbon added to Task Canvas block editor menu, replacing the left/right swipe interface to display the additional Skip buttons.
Comment feature for blocks, “Comment” button on toolbar. User can add a comment with title, color, body, to any block. Added view area for comments, added comment icon to block.
All block warning/error icon messages will be displayed in comment view area.
Waypoints and Frames: user can define New Waypoints and Frames by Linear or Joint values, whereas in prior versions those values were only accessible when modifying an existing Waypoint or Frame.
Check Block: added +/- tolerance check to Waypoint, Frame, and Current Robot Position comparison. User can choose exactly equal to =, !=, or approximately equal to ≈, !≈ and define Linear and Rotational +/- tolerances.
All 6DOF robot blocks: added speed slider to Move To and Try it Out sections. Slider defaults to 25% when a window is opened and can be adjusted by 5% increments.

Fixes

Certain characters are now invalid for task names: ` ~ ! # %^ & * \ | ' “ : ; ? / < > Existing tasks will be prompted to change their name.
USB Import will no longer auto-eject USB after import. Exports still auto-ejects as part of process.
Removed “Edit” menu, moved Undo/Redo, Cut/Copy buttons to editor menu ribbon.
All 6DOF robots: Waypoint rotational values limited to [-180, 180).
Gripper blocks: blocks at the end of the task not marked “wait to finish” will stop executing when the task executes, even if the gripper action is incomplete.
Clicking a selected block in single-select mode will not deselect the block. Click a blank area of the canvas to deselect a single block. Clicking a selected block in multi-select mode still deselects the block.
Math Block: Fixed font issues and changed division symbol to slash “/” for readability.
Math Block: Added confirmation dialog when deleting an equation.
User Input: Changed “Stop Task” button to “Stop Task Without Updating” to clarify button behavior.
Continuous, Array Move, User Input Blocks: multi-select parameter selection available for adding items to table through “Existing Waypoint” and ADD+ buttons, respectively.
Robot Motion Blocks: Collision warning about speed and stopping distance added to Travel Speed tab when onboard force sensor enabled.
Set, Check Blocks: New workflow for adding rows, ADD+ button opens parameter selector with multi-select available. Selected options added as left-hand-side values in order of selection.
Check Block: “Equal” and “not equal” no longer valid operators for 6DOF robot position comparisons. Check must use “approximately equal” or “not approximately equal” and tolerance values. 0 is an acceptable tolerance value for exact check.
Safeguard Stop during task execution will always pause Main Task, even if Safeguard-originating device is not executing in Main Task.
When remapping robot device in task, Current Robot Position was not remapping to new device.
Load Task table became unsorted after system restart, but said it was sorted. Also applies to Device Configuration table.
Task and subtask import will check name collisions between linear and joint waypoints and not allow overwrite.
Saving an autosave task to its original file will register to the File>Save button.
When modifying a waypoint with a missing Frame, user must assign Frame first.
Fixed sorting issue with Frame Manager only sorting by Name, not Reference Frame.
When undoing/redoing a multi-select change, such as deleting several blocks at once, the entire change will undo/redo in a single step..
Set/Check Block: Can no longer execute Set/Check between Linear and Joint waypoints. Waypoints must be of same type.
Math Block: Fixed bug where entering decimal point in blank field would be ignored.
User Input: Variable default values were auto-filling “Set To” fields; fields are now blank until selected.
Grid Block: Can no longer backdoor Grid sizes greater than 500x500.
All 6DOF robot blocks: Robot needed to be in TEACH (ENABLED) mode when block opened for Reset Position value to take. Robot can also be in TEACH (DISABLED), HAND GUIDE, or RUN mode now.
All 6DOF robot blocks: Travel speed Vel/Acc or Time to Complete values will now Runtime Fail block if they use out-of-bounds variable. Variable value must match range noted on block field.

Forge/OS 5.2.0 - Release Notes

Forge/OS 5.2.0 - Release Notes