HAL || Robot Programming & Control

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Comment by Thibault SCHWARTZ on January 27, 2013 at 6:26pm

HAL 004.4 Update available

LOG HALv0.04.4
--------------------------------------------------------------------------------------------------------------------------------------
General updates:
• Generic toolbars for Grasshopper are now part of the HAL package.
• Almost all components now have at least one new menu item (via the right click menu), allowing to open an example file using the component.
• Almost all components now have a new menu item (via the right click menu), allowing to search related tutorials on youtube channel.

Base Pack:
• The components of the base pack are now detecting invalid characters leading to errors when used for RAPID code generation.
• The Update Check has been improved to detect reorientation of targets. A new input has been added to clear the cache.
• The computing time for the display of out of reach positions by the Inverse Kinematics Solver has been devided by 100
and is now equivalent to valid positions (approx. 1ms/target).
• The Inverse Kinematics Solver has a new menu item (via the right click menu), allowing to switch the display of errors.
• The Datatree Recorder now keeps displaying the cache and the stored datatree when fed with an invalid data stream.
• The Toolpath Discretization component is now recognizing polylines portions inside polycurves.
• The Target Atributes component was buggy, this is fixed.
• New String Multi-Split component.
• New String Multi-Join component.
• New Target Selection component.
• New Mode Value List component.
• New Face Value List component.

Advanced Programming Pack
• The Number component had a bug in its initialization value input, this is fixed.
• The (re)Try component was not outputing values for "TryNext", this is fixed.
• The Error component now allows to only write errors in the log (\I).
• The If...Then...Else loop component is now automatically creating a dummy condition for "Else" operations activation.
• The Test...Case...Default loop component could trigger a syntax error, this is fixed.
• The CallByVar component was not taking the ProcID into account, this is fixed.
• The Function component was in error when no internal declarations were done, this is fixed.

I/O Pack
• The Save component was outputing wrong syntax, this is fixed.

Communication Pack:
• The HAL To Controller component stability has been improved for real-time streaming applications. Two new inputs are now available: one to
erase all the tasks of the targeted controller, and another which allows to choose the buffer size of the streaming program on the controller.

Multi-Robots Pack
• The QuickSync component is now generating synchronization messages only on motion commands to avoid syntax errors.

Hot Wire Cutting Pack
• The Ruled Surface component now allows to modify the length of the rulings for preview, and is outputing the TCPs.

Milling Pack
• The Parallel Roughing and Parallel Finishing components are now much more stable.

Comment by Thibault SCHWARTZ on December 6, 2012 at 8:38am

HAL 004.2 Update available

LOG HALv0.04.2
-----------------------------------------------------------------
General updates:
• This update can trigger an error window at the opening of files containing HAL 004.0 components. In such a case, please click on OK, replace
the RAPID Generator, HAL To Controller, Robot Data Extractor and Pick components if you use any and save your file again to make these
errors disappear.

Fixes:
• The Robot Data Extractor component had switched outputs (Brand/Controller), this is fixed.
• Some testing outputs were still present on the IK solver and the OSC Listener, this is fixed.
• The IK Solver was outputing non optimal rotation values for 3rd and 6th axis when using some specific custom robot geometries, this is fixed.

Base Pack:
• The RAPID Generator is now accepting one tool per branch for multi-robot tasks generation.
• The RAPID Generator is now outputing clean Datatrees.
• The RAPID Generator is now outputing ToolData, ZoneData and SpeedData declarations.
• The RAPID Generator is now detecting if default ToolData, ZoneData or SpeedData presets are used in the toolpath.

Multi-Robots Pack
• New QuickSync component, to automatically generate basic synchronized tasks for MultiMove setups.

Communication Pack:
• The HAL To Controller component has been improved and is now much more stable, especially for multi-robot setups.
• New "Force" Input on the ECM Generator, to force the streaming of an instruction.
• The Streaming Module now allows custom speeds for MoveAbsJ and MoveL motions. Please use this feature with great caution.

Picking Pack
• The Pick Component has new inputs for distinct approach and withdrawal directions, as well as withdrawal distances.

Comment by Freddy on November 26, 2012 at 12:36pm

kool tools, if they were for Kuka, I'll buy the license staright away.

Comment by Thibault SCHWARTZ on November 13, 2012 at 5:39am

HAL 004 is now online!

HAL 004 is compatible with all versions of Rhino, and has a lot of new exciting functionalities such as:

• Robot Multi-tasking.
• Real-time access to robot controllers for streaming or execution control.
• New optimized robot library, including almost all ABB IRC5-based robots.
• Improved kinematics solvers.
• New custom data-types, accessible through two dll libraries.
• Improved tool path generation algorithms for milling.
• A lot of fixes and 30 additional tools...

See the project page on Food4Rhino or the new HAL website for further details.

Comment by Thibault SCHWARTZ on March 19, 2012 at 8:44am

The new HAL version compatible with Rhino4 (simulation functionalities only) is now available.

Comment by Thibault SCHWARTZ on March 10, 2012 at 10:20am

A new sub-release is online that fixes two major bugs on the licensing system and the 6th axis kinematics.

Comment by Thibault SCHWARTZ on March 4, 2012 at 12:09pm

HAL v0.03 is now online! 

• Download HALv0.03 installer
• Read the complete update log of HALv0.03
• HALv0.03-Example_Files
• Watch the video tutorials
• HALv0.03-Manual

Comment by Thibault SCHWARTZ on March 4, 2012 at 7:12am

bxsqrym --> From HAL v0.02, the plugin is ONLY compatible with Rhino5. Please verify that your grasshopper installation folder on Rhino 5 has the good GHA file, and that no precedent versions of Hal are already installed.

Comment by bxsqrym on March 4, 2012 at 12:25am

hi,I have some problem in installing Hal v0.02 for Grasshopper 0.8.0063,it seems not working

Comment by bxsqrym on March 3, 2012 at 6:29am

ok,I will try,thanks very much!!

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