Release notes

K-ROSET

V1.7.0
Table of Contents
1 Release information.............................................................................................................................................................. 3
1.1 Overview......................................................................................................................................................................... 3
2 New features in this version ................................................................................................................................................. 7
2.1 Recycle Bin(Layout）.................................................................................................................................................... 7
2.2 Program Instruction........................................................................................................................................................ 8
2.3 Simulation Functional Extension................................................................................................................................... 8
2.4 K-ROSET Multi-Viewer.................................................................................................................................................. 9
2.5 Cycle Time extensions................................................................................................................................................... 9
2.6 Robot Panel Option Screen extension ....................................................................................................................... 10
2.7 STL Thumbnail Display ...............................................................................................................................................10
2.8 Clip Plane Extension.................................................................................................................................................... 11
2.9 Axis Plane extension....................................................................................................................................................12
2.10 Camera Setting ..........................................................................................................................................................12
3 Problems Corrected............................................................................................................................................................13
4 Late Breaking Information ..................................................................................................................................................16
5 Known limitations ................................................................................................................................................................17
1 Release information

1.1 Overview

Release name

Release name is K-ROSET 1.7.0. Revision is 12951.

Release date

The release date is 27th of February, 2014.

Document

Documents provide by PDF file. These are extending to the specified folder after installation.

When you open from all programs, these are in the Kawasaki Robot Solutions/K-ROSET/Hisui
/Documents folder.
When it default installation location for the folder, contains the following folder.
C:¥Program Files ¥Kawasaki¥K-ROSET¥Hisui¥documents
Please refer to these.

Simulation Models
Following robots are provided.

E-controller Standard
BX Series
BX100N-A001,BX200L-A001,BX100N-B001,BX200L-B001

MCR Series
MC004N-A001, MC004N-A041

R Series
RS003N-A001, RS005N-A001, RS005L-A001, RS006L-A001, RS010N-A001,
RS010L-A001,RS015X-A001, RS020N-A001, RS030N-A001, RS050N-A001, RS080N-A001,
RD080N-A001
RC005L-A001
RF010N-A001,RF020N-A001

Y Series
YF003N-A001,YF003N-A101, YS002N-B001

Z Series
ZX100L-S001, ZX130L-B001,ZX130S-A001, ZX130S-B001, ZX130U-B001,
ZX165L-B001, ZX165L-B501, ZX165U-B001, ZX165U-B501,
ZX200S-B001, ZX200S-B501, ZX200S-S001, ZX200U-B001, ZX300S-B001,
ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT130U-C001, ZT130Y-A001,
ZT165U-C001, ZT165X-A001, ZT165Y-A001,ZT200S-C001, ZT200U-C001, ZT200Y-A001,
ZH100U-A001
ZB150S-B001
ZD130S-D001, ZD130S-E001, ZD250S-B001

M Series
MX350L-A001, MX420L-A001, MX500N-A001, MX700N-A001,
MD400N-A001, MD500N-A001

D/D+ controller Standard

F Series
FS002N-A001, FS003N-E001, FS006L-B001, FS006N-B001, FS010C-B001,
FS010E-B001, FS010N-B001, FS010L-A001, FS010X-A001, FS020C-A001,
FS020N-A001, FS030N-A001,FS030N-E001, FS030L-A001, FS045C-A001, FS045N-A001,
FS060L-C001
FD050N-C001

Z Series
ZX130L-B001, ZX130S-B001, ZX130U-B001, ZX165L-B001,
ZX165L-B501, ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX200S-B001,
ZX200S-B501, ZX200S-S001, ZX300S-B001,
ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT130U-C001,
ZT165U-C001, ZT165X-A001, ZT200U-C001,
ZH100U-A001
ZB150S-B001
ZD130S-D001, ZD130S-E001, ZD250S-B001

M Series
MX350L-A001, MX420L-A001, MX500N-A001, MD400N-A001
MT400N-A001

Explosion-proof Painting E-controller

KF Series
KF121-A001, KF192-A001, KF192-B001, KF193-A001, KF194-A001,
KF262-A001, KF262-B001, KF263-A001, KF264-A001

Conveyor predefined models

KF121-A001-CV, KF192-A001-CV, KF192-B001-CV, KF193-A001-CV, KF194-A001-CV,
KF262-A001-CV, KF262-B001-CV, KF263-A001-CV, KF264-A001-CV

Tombow predefined models

KF121-A001-Tombow1000_20, KF121-A001-Tombow1000_40, KF121-A001-Tombow1200_20
KF121-A001-Tombow1200_40
KF193-A001-Tombow1000_20, KF193-A001-Tombow1000_40, KF193-A001-Tombow1400_20,
KF193-A001-Tombow1400_40,
KF194-A001-Tombow1400_20,
KF262-A001-Tombow1400_20, KF262-A001-Tombow1400_40, KF262-B001-Tombow1400_20,
KF262-B001-Tombow1400_40,
KF263-A001-Tombow1400_20, KF263-A001-Tombow1400_40
KF264-A001-Tombow1400_20,
Tombow R predefined models
KF121-A001-TombowR1800_20,

Twister predefined models

KF121-A001-Twister800, KF193-A001-Twister800

Spinner predefined models

KF193-A001-Spinner_20, KF193-A001-Spinner_60
KF263-A001-Spinner_20, KF263-A001-Spinner_60
KF264-A001-Spinner_60

Turn table predefined models

KF262-A001-Turntable2000_500, KF262-B001-Turntable2000_500,
KF263-A001-Turntable650_500, KF263-A001-Turntable2000_500

Shuttle predefined models

KF192-A001-Shuttle2700_60
KF263-A001- Shuttle3200_60

KGSeries
KG264-A001

Conveyor predefined models

KG264-A001-CV

KJ Series
KJ264-A001, KJ264-A001-SHELF,
KJ264-A001-WALL, KJ264-A001-WALL2,
KJ314-A001

Conveyor predefined models

KJ264-A001-CV, KJ264-A001-SHELF-CV,
KJ264-A001-WALL-CV, KJ264-A001-WALL2-CV,
KJ314-A001-CV

Explosion-proof Painting C-controller

KFSeries
KF121-A001, KF192-A001, KF192-B001, KF193-A001, KF194-A001,
KF262-A001, KF262-B001, KF263-A001, KF264-A001

KE Series
KE610H-A001, KE610L-A001

E-controller Sealing
R Series
RS003N-A001, RS005L-A001, RS005N-A001, RS006L-A001, RS010L-A001,
RS010N-A001, RS015X-A001, RS020N-A001, RS030N-A001, RS050N-A001, RS080N-A001
Spin axis predefined models
RS050N-A001-Spin

Z Series
ZX130L-B001, ZX130S-B001, ZX130U-B001, ZX165L-B001,
ZX165L-B501, ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX200S-B001,
ZX200S-S001, ZX300S-B001,

E controller Arc Welding

R Series
RA005L-A001, RA006L-A001, RA010L-A001, RA010N-A001, RA020N-A001
RS003N-A001, RS005N-A001, RS005L-A001, RS010N-A001, RS010L-A001,
RS015X-A001, RS030N-A001

Z Series
ZX130U-B001, ZX165L-B001, ZX165L-B501, ZX165U-B001, ZX165U-B501,
ZX200U-B001, ZX300S-B001,
ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT165U-C001,
ZT200U-C001, ZT200S-C001,
ZB150S-B001, ZH100U-A001

E-controller Servo Welding Gun

BX Series
BX100N-A001, BX100N-B001, BX200L-A001, BX200L-B001,

Z Series
ZX130L-B001, ZX130S-B001, ZX130U-B001, ZX165L-B001, ZX165L-B501
ZX165U-B001, ZX165U-B501, ZX200U-B001, ZX200S-B001, ZX200S-B501
ZX200S-S001, ZX300S-B001,
ZT130L-C001, ZT130L-C501, ZT130S-C001, ZT130U-C001, ZT130Y-A001
ZT165U-C001, ZT165X-C001, ZT165Y-C001, ZT200S-C001, ZT200U-C001
ZB150S-B001, ZH100U-A001

M Series
MX350L-A001,MX420L-A001,MX500N-A001,MX700N-A001
2 New features in this version

Overview

This section provides information about the new features in this release.

2.1 Recycle Bin(Layout）

Recycle Bin icon will be displayed when K-ROSET is activated with V1.7.0 and after.
After V1.7.0, Recycle Bin icon will be displayed when K-ROSET is started.

Deleted Entity will be temporarily saved in Recycle Bin. Entity which is deleted from Recycle Bin can
be restored.

Entity name, deletion time and information about structure of the Entity when deleted will be displayed
in Recycle Bin Window.
2.2 Program Instruction
Program Instruction is a function which creates AS, Block teach and Explosion-proof instruction in
programing step of program name which is selected in the program display. Same instruction as
actual robot can be input.
Instruction variation is different by application and robot controller option. Selecting program in program
tab will activate the tab and available instruction tab will be displayed when applied.

2.3 Simulation extension

Group Name Display
Group name is added in the simulation tab which is displayed on right side in the program name.

Program selection in controller

Selecting teaching program in virtual robot controller is available.
2.4 K-ROSET Multi-Viewer
New feature allows K-ROSET be multi-active. / Multi-activating K-ROSET is available.
Second K-ROSET window and after will be activated as [K-ROSET Viewer].

2.5 Cycle Time extension

History function in Cycle Time is available.
History can be displayed by repeated date and time.
Detail screen will appear by clicking Detail button as same as before.
2.6 Robot Panel Option Screen extension
Floating display is available for teach panel option screen.

By clicking button in Option in Robot Panel tab will activate the screen separately from task panel (right
side panel).Get back to Teach Panel tab by clicking X button in the Option(RobotPanel) screen.

2.7 STL Thumbnail Display

Thumbnail display of STL in file selection screen is available.

Thumbnail will be displayed by selecting file in STL.

2.8 Clip Plane extension
Cross section view/ split view setting by each quad view is available.

Select sectional view from dropdown list.

2.9 Axis Plane extension
Displaying coordinate plane by XY,YZ,ZX view is available.

2.10 Camera Setting

View point angle can be changed by each view with quad view mode.
3 Problems Corrected

Overview
This chapter describes the items that were resolved with K-ROSET.

Release date
The release date is 27th February 2014.

R12951 On item resolved

ID Title
93 Work near tool coordinate in clamp state. (Distance is not measured appropriately)
162 Displaying grid at XY, YZ, XZ view in quad view.
Match all the center of each projection view of view point management when it’s in quad
163
view.
164 Change settings for cross section view by each when it’s in quad view.
178 Implementation of Recycle bin function
179 Operation improvement in autocomplete function.
180 [Program tab] Copy / cut function is not displayed when editing comments in program tab.
188 Implementation of preview function for STL file.
281 Add new robot by specifying fill.
295 Countermeasures for using prohibition letters
297 Problem on not changing highlighted color
298 Problem on option for foregrounding of track line
328 Problem on option for saving data without shape data file
348 Viewer is flickering in clamping work.
354 Current folder in terminal tab activated multiply.
355 Cannot get distance when clamping (GetDistance)
356 K-ROSET hangs up when simulating repeatedly with multiple robots
Left side label on value of joint value and step information in teach panel can be edited when
357
it shouldn’t.
358 Group of teaching points are not drawn
359 Track line, Spray line and Welding line are not drawn
361 Executing load-command with selected file locked cause internal error
364 Destruction of demonstration project in handling is slow
365 Hide all the unsupported function in option tab
368 K-ROSET will be exit when releasing by multiple clamping setting in handling clamp menu
370 Work will be temporarily displayed at original point when holding multiple work
372 Robot moves XYZ by operating with RX,RY
373 There is a blank line in pop up of additional step in program table
377 current conveyor position when rewinded in Simulation menu
378 Modification with floating display function on option display in Robot panel
379 How to change shape of patterns
380 Touch-up on painting tool PPH707
381 Change on default for Spray track line variation from “dot” to “line”.
382 Positioning for second conveyer
383 Starting position of robot changes after synchronizing with controller
384 Change on size and position of object
385 Request for flexibility on sizing of object
386 Add assist Block teach instruction Program tab
387 Add display of gun operated time by each gun in cycle time menu
389 Make change on simulation system to PCAS program be selectable
392 Prepare manual for how to check collision between robots
393 Prepare flag for display presence in Cycle time
394 Problem on simulation system displaying same program multiply
395 Request for robot parts replacement
396 Multi-activate K-ROSET
397 Consideration on high speed PCAS
398 Setting up screen which integrated teach panel with program table
410 Improvement on project reading processing in K-SPARC
415 PCAS does not start up when reconnected after PCAS exited
416 Axis is inoperative when adding active axis in new project
Under Windows7 environment, only as for the extension application on right task panel
417
displayed in Meiryo font.
419 Spec for deleting axis is different between using menu bar and using delete
420 Motion(operation) range of YF is different from actual movement
421 Handling method of control letter “o” when editing program of terminal
422 Prepare KJ264/KJ314 arm cover model
423 Switching tool is available.
424 Save each axis value of robot into project
425 Teach pendant hides behind main screen
427 Operation slower down when displaying model
430 Painting line be displayed multiply
431 Outer axis does not work even added it to MX robot
432 An error occur when adding controller with editor mode
433 An internal error occur in spot welding setting window
434 Command input is inoperable when display continues being updated in terminal
435 Change on AS side is not reflected on layout side when syncing with motor on.
436 Starting simulation with positioning dialog open could cause internal error
437 CSV outputting cycle time in Chinese setting causes garble on title
440 Editing in terminal is disabled when step has too many letters
441 Project hangs up when loading
444 Revised on display of cycle time for multiple robots at same time
Robot does not stop completely and continue moving a little while when interfere error occur
446
at time of simulation
447 When importing robot, Joint move cannot operate.
448 Cross section will move with the timing of clamp when handling simulation
449 An error occur when execute after tool replacement at time of conveyer simulation
450 "Save" process of project is not executed
451 Project cannot be opened when it was loaded from network system and saved
452 Grid on viewer is not displayed
453 An error cause by recording operation screen
457 Demonstration project list is not displayed by a pass in installing holder in start page
459 Obstacles under tool come off when unclamped
Positioning(Z-，Z+ ) function for teaching point in teach panel option does not work( which is
460
supposed be changing position/ angle by changing value with Z-，Z+)
461 Loading project right after installation could cause fatal error
462 Loading project with teach panel activated could disrupt loading
463 Spray line is drawn with dash line
465 Restoring teaching point position could cause fatal error
467 Operation setting items are not displayed in setting screen of viewer
468 Work doesn’t unclamp
469 Lighting setting for viewer changes unintended
470 Spray command is displayed by the program choice of the arc robot
471 Revised on data base resource
472 Cross section view pop up represents Enable
473 Setting screen for cross section view represents English
474 When selecting “empty recycle bin” in recycle bin window, confirmation window saying
475 Do not let pass to be displayed in file name when outputting CSV in cycle time.
478 Deleting axis node cause internal error
479 Adding program could cause fatal error
480 Signal setting of touch sensing could cause internal error
481 Collision check does not performed when robot position is changed
485 Revised on error message on cooperative operation in Robot Panel
486 An internal error occur when simulating touch sensing
489 Simulation after changing display update of touch sensing interval causes error
490 Robot does not jump
491 Operating form button with state of effective limit in robot panel may make robot act wrong
492 Problem on drawing of rubber band of distance measuring application
501 Hiding motion range display is unavailable after imported robot
505 Loading sample project cause error on model loading
506 Selected cell with collision pair list cannot be deleted
510 YF003N-A101 is inoperative in teach panelYF003N-A101
4 Late Breaking Information

Overview
This section contains late-breaking information that will be included in the appropriate documents in the
subsequent releases.

Change on project name in layout view

K-ROSET utilize export function when saving project as new name.

It used to show newly saved project name in Layout view despite the fact that the project on the screen
actually shows the one before saved as new name. Revision on project name display has been made.
Project name in Layout view sticks to original even after saving it as new name.

New feature upon robot positioning

Saving robot position is available with V1.7.0 and after positioning of robot will be saved in project after
V1.7.0.
5 Known limitations

Overview
This section describes known limitations in K-ROSET.

Number of robot to launch at the same time

Up to 10 robots can be added to a project.

When trying to add 11th robot, you receive an error message that it is impossible to add 11 or more.
Maximum number of the same controller to be added varies depend on the type of controller.
Up to 4 controllers can be added for the paint C controller. Up to 8 controllers can be added for the
other.

Licensing scheme has been changed

With V1.6.5. 10412 or newer, licensing scheme has been changed.

Sometimes it is impossible to start when newly installed.
If you have a hard key, there is no alteration.
If you have a soft key and use Regular, Evaluation, Lite Mode, and have difficulties in starting K-ROSET,
please request a new license to our support. support_roset@khi.co.jp

How to install

In case the old version is installed, it needs to be uninstalled first.

Even when uninstalling, the data you have created would not be deleted.

In the file selection dialog box in Windows 7, MyKHIlibraries and KHIlibraries icons are not displayed.

If you do not have permission to the following registry, sometimes icons for file selection dialog may not
be displayed.
HKEY_CURRENT_USER ¥Software¥Microsoft¥Windows¥CurrentVersion¥Policies¥comdlg32

Drawing process speed at the time of robot simulation

When using D/D+ controller handling, the drawing process is slower than that of C painting or E
controller.
Also, when simulating robots of D/D+ and E controller at the same time, the drawing process speed of
E controller gets slower due to adjusting it with D/D+ controller.

Virtual teach pendant of arc welding E controller

Currently, the virtual teach pendant remains as D controller even when selecting an arc welding robot of
E controller.

AS version of explosion proof E controller

It is impossible to put paint E controller AS version 8000001E and 80000V2C in the same project.
If putting them in the same project, virtual controller terminates inadequately and not able to start
controller.
KJ314 does not support travel axes.

KJ314

In this version, KJ314 does not support travel axes.

Servo welding gun
It does not support fixed teach points.

Simulation may not be succeeded when K-ROSET is started by double-click the project file that installs more than two
robots.

Until this problem is resolved, do not start by double-clicking.

I/O monitor, Terminal, Controller application may not be able to click.
Terminates K-ROSET and starts again from a shortcut on the desktop or all programs in Windows

Structured files *.krprj

All structured files such as projects, robots, tools, and environmental objects are the same extension
name.
K-ROSET operates start and loading a project at the same time by double-clicking a project file.
Although K-ROSET starts even by double-clicking a structured file except for project, it is impossible to
load a file except for project.

Structured files *.krprj

All structured files such as projects, robots, tools, and environmental objects are the same extension
name.
K-ROSET operates start and loading a project at the same time by double-clicking a project file.
Although K-ROSET starts even by double-clicking a structured file except for project, it is impossible to
load a file except for project.

It is impossible to save options of OX/WX signal extension by the block teaching.

Until this issue would be solved, please set options every time you start.
At every start of the project, set OX/WX signal extension to be ON at Zoption_4.