New

New Capability: Remote Task Control. Task Canvas can receive commands from the Remote Control Device when Forge/OS is in Remote Mode. New outgoing parameters are added to complete a “call and response” loop for all incoming commands. On-screen interaction with Task Canvas is limited while in Remote Mode.
Task ID: new field added to Create Task and Task Settings screen. Accepts positive integers to identify the task for the Remote Control Device. Enforces exclusivity of ID on creation and Task Import.
6DOF, pause behavior and icon on Task Canvas. Blocks indicate if they are paused with a yellow “Pause” icon. Robot motion, including relative motion such as Relative Move and Circular Move blocks, will resume from pause. In 5.2, relative motion blocks always restart after pause.
“Reset States” and “Reset All to Start” buttons on Runtime menu. “Reset States” sets all incremental blocks to zero and removes any paused states. “Reset All to Start” does the same and also takes the view to the main subtask and selects the Start block.
The “Resume Subtasks” dialog allows user to select which subtasks to not resume. De-selected subtask will remain paused.
Forge Task Language updated to include new Subtask control blocks, “Stop If”, “Pause While”, and “Remote Task ID”.
Runtime Menu rearranged to add Reset buttons and change Start behavior.
Removed “Start From Selected”, grafted behavior onto “Start Task” button. “Start Task” requires block to be selected and will always start the task with the current block states.
Tasks can be started when all ghosted blocks are skipped; if blocks originate from a device, the device must be disabled to enable Start button.
“Task Stopped” pop up removed for user-initiated Stop.
Start Parallel Subtask and Stop Subtask blocks: added support for starting and stopping multiple subtasks from a single blocks. For Start, selected modifiers will apply to all subtasks.
Start Subtask, Count, Wait, Timer Blocks: changed checkboxes to toggle switches.
Math, Set, Check blocks: block will automatically scroll to bottom when new rows added.
Check blocks: Check will task parent Frames into consideration when comparing Waypoints and Frames. Similarity is based on resultant value, or “physical position in space”, and not on Waypoint/Frame defining values.

Fixes:

Clicking disabled Jump and Zoom menu buttons would collapse menu.
Move To commands: Manual entry of speed value caused KEBA speed controls to disconnect.
Move To commands: Waypoints now specify correct joint configuration string for linear moves.

Forge/OS 5.3.0 - Release Notes

Forge/OS 5.3.0 - Release Notes