--> New in RoboDK v3.5.

4 (2018-10-26):
Improved automatic teach for machining project when the robot holds the part
Added option to parametrize tool and reference names for robot machining projects

--> New in RoboDK v3.5.4 (2018-10-23):

Added option to simplify objects: reduces file size and increases render speed
(Tools-Options-Display-Simplify Object...)
Added time-based option

--> New in RoboDK v3.5.4 (2018-10-22):

Improved robot holds object machining projects (no need to manually set to apply
transformation anymore)
Automatic selection of the robot holds object setting

--> New in RoboDK v3.5.3 (2018-10-21):

Improved KEBA Kairo post processor

--> New in RoboDK v3.5.3 (2018-10-19):

RoboDK plugin interface ready

--> New in RoboDK v3.5.3 (2018-10-15):

Improved Staubli post processors
Added option to not show popups on program generation

--> New in RoboDK v3.5.3 (2018-10-13):

Solved Motoman 7 DOF Kinematics issue
Improved rounding results from InstructionListJoints
Improved partner licenses

--> New in RoboDK v3.5.3 (2018-10-09):

Improved Motoman Driver
Improved auto naming of curve follow projects
Improved instructionlistjoints
Improved Fanuc post processors for welding

--> New in RoboDK v3.5.3 (2018-10-06):

Fixed issue with Aubo robots

--> New in RoboDK v3.5.3 (2018-10-05):

Fixed robot panel layout issue
Improved RoboDK plugins
Added option to embed external windows as docked windows

--> New in RoboDK v3.5.3 (2018-10-31):

Improved automatic calculation for the option "Auto select next curve"
Improved Rhino plugin to support meshed surfaces

--> New in RoboDK v3.5.3 (2018-10-30):

Improved Fanuc post processor for arc welding
Added option to invert curves of tools
Unlocked Add Instruction option to add instructions
Added option to have plugins

--> New in RoboDK v3.5.3 (2018-10-27):

Improved macro ArcOn to not project particles
Fully transparent objects/colors are not displayed
Updating robot machining projects does not change the robot kinematics
Added option to check paths using accurate/active kinematics (Tools-Options-
Accuracy)
Bulk program generation stops if a problem arises when generating a program
It is now possible to delete faces of a specific color using the change color tool
Improved tool follows path method
Added Codian robots

--> New in RoboDK v3.5.3 (2018-10-24):

Improved visibility/invisibility of the station item (API and Icons)
Improved kinematics of Aubo robots
Improved API error messages for API calls

--> New in RoboDK v3.5.3 (2018-10-23):

Improved changing robot visibility through the API
Fixed crash when grouping objects when using the Change Color Tool
Improved Motoman post processor to properly set the joint speed as a percentage

--> New in RoboDK v3.5.3 (2018-10-22):

Added gripper mechanism
Added color to tools and mechanisms to allow idendifying what's visible vs what's
invisible
Machining project icons are shown in gray when the path is hidden
Improved smart feedback for robot machining projects through icons
Improved robot panel for gripper
Added option to add tools to the robot as STL files using AddFile(file_name, robot)
Improved Python API (poses)

--> New in RoboDK v3.5.3 (2018-10-18):

Added command line option to change the language
Added example to move the robot and measure with a tracker automatically

--> New in RoboDK v3.5.3 (2018-10-17):

Updated Motoman post processor
Improved event loop
Improved API auto render option

--> New in RoboDK v3.5.3 (2018-10-16):

Improved ABB post processors including automatic Dripfeed for S4C
Added option to output subprograms as inline code
Added option to avoid importing curves from STEP and IGES when using plugins

--> New in RoboDK v3.5.2 (2018-10-15):

Improved curve selection options
Improved importing NC files
Improved Rhino plugin (the normal for a curve is calculated according to multiple
surfaces)

--> New in RoboDK v3.5.2 (2018-10-10):

Improved events loop
Improved InstructionListJoints
Fixed quaternion issue not displaying properly on UR robots for 180 rotations
Fixed online library not opening after it was closed as a floating window

--> New in RoboDK v3.5.2 (2018-10-08):

Added customized M code calls
Added option to select an instruction through the API to add more instructions
Improved drill cycles when importing APT files
Improved layout style using latest Qt libraries (Qt5.11)
Fixed crash when using online library
Improved speed when loading the online library
--> New in RoboDK v3.5.2 (2018-10-04):
Fixed dependency issue that caused a crash when opening the online library

--> New in RoboDK v3.5.2 (2018-10-03):

Improved startup speed
Updated to Microsoft Visual Studio 2017
Using latest Qt libraries (Qt5.11)
Added option to add multiple events
Added option to set events as code, thread run, message display or comment

--> New in RoboDK v3.5.1 (2018-10-01):

Added option for bulk calculations of Fordard/Inverse kinematics through the API
Adding programs doesn't stop moving robots
Improved Cinema mode
Improved logging/debugging options
Improved Mecademic post processor
Improved Motoman post processor
Improved Mitsubishi post processor

--> New in RoboDK v3.5.1 (2018-09-13):

Fixed visibility crash for mechanisms with no geometry
Added option to provide a bulk update
Improved C++ API
Fixed retract event call when using curves that are not joined

--> New in RoboDK v3.5.1 (2018-09-11):

Added option to have RoboDK server licenses (set up in a local network)
Fixed Flip issue for joints sequence
Improved quality and performance of 3D HTML generation

--> New in RoboDK v3.5.1 (2018-09-05):

Improved Network license check (much faster)
Improved documentation

--> New in RoboDK v3.5.0 (2018-09-05):

Improved Denso driver
Updated URP post processor to generate an absolute joint movement
Improved collision checking through the API
Improved path planning
Fixed importing STEP files with non English characters
Added trace styles

--> New in RoboDK v3.5.0 (2018-08-28):

Improved changing circular movements to linear movements
Improved kinematics of 5 axis machines
Improved InstructionListJoints API command

--> New in RoboDK v3.5.0 (2018-08-24):

Added option to specify distance to attach objects to tools for event instructions
Fixed crash on closing RoboDK with a side window
Improved program generation using Python posts and the API

--> New in RoboDK v3.5.0 (2018-08-23):

Fixed UR driver issue after v3.5 update
Improved appearance of the tree when displayed as a side/opaque window. It is now a
dockable window.
Option to add folders as divider items (right click the station and select Add
Folder)
Added C++ API option to set the color
Added option to export all curves of an object
Improved InstructionListJoints command
Improved UR post processor
Added tooltip comments on some tree items
Fixed adding instructions in a non locked program using a program left click

--> New in RoboDK v3.5.0 (2018-08-21):

Added HCR robot post processor
Improved appearance of the tree when it is displayed opaque (Tools-Options-Display
tree preference)
Improved zoom customization through the API
Improved InstructionListJoints API command

--> New in RoboDK v3.5.0 (2018-08-20):

Improved collision checking
Added option to group triangles
Adding instruction is blocked for running programs

--> New in RoboDK v3.5.0 (2018-08-17):

Improved UR driver to stop the robot anytime
Improved UR URP post processor

--> New in RoboDK v3.5.0 (2018-08-16):

Improved setting global settings through the API
Improved filtering non finite values provided through the API

--> New in RoboDK v3.5.0 (2018-08-13):

Improved transparency to see transparent objects behind each other
Added commands to set default settings

--> New in RoboDK v3.5.0 (2018-08-10):

Added option to feed flange coordinates to the driver instead of tool coordinates

--> New in RoboDK v3.5.0 (2018-08-09):

Fixed selection issue
Improved BnR driver
Improved special commands for robots and laser trackers

--> New in RoboDK v3.5.0 (2018-08-08):

Option to show reachable vs non reachable targets (F5)
Added option to generate robot programs by right clicking an RDK file (Windows
only)
Improved ghost robot and tool colors when targets are not reachable
Improved API when running in the background

--> New in RoboDK v3.4.7 (2018-08-07):

Added option to save all PY files at once
Added option to clear the trace through the API

--> New in RoboDK v3.4.7 (2018-08-06):

Improved 3D mouse view combined with moving reference frames (Alt)
Improved layouts
Added F7 shortcut for visible/invisible
Improved setting visibility of internal links
Improved Universal Robots URP post to support uploading files automatically using
SFTP

--> New in RoboDK v3.4.7 (2018-08-04):

Improved support for KUKA configuration flags on importing SRC files
--> New in RoboDK v3.4.7 (2018-08-02):
Improved TREE_STATE command line options

--> New in RoboDK v3.4.7 (2018-08-01):

Improved integration with other Python Editors (Tools-Options-Other-Show Program
Editor as an Embedded window)
Improved Python editor to properly integrate VS Code in RoboDK's main window
Fixed setting named colors through the API for a spray gun

--> New in RoboDK v3.4.7 (2018-07-31):

Improved inverse kinematics of 2-axis mechanisms

--> New in RoboDK v3.4.7 (2018-07-30):

Newly loaded robots: the base always shows at Z=0 mm (XY plane)
Added post processor G-code A3200
Improved support for generic 2 and 3 axis mechanisms
Tools and reference frames can be non English characters for program generation
Joint movement is added right before the linear movement for robot machining
projects

--> New in RoboDK v3.4.7 (2018-07-23):

Added Tripept Exechon Kinematics
Added Techman Robots
Improved API instruction to Stop program operations
Faster API to update collision map
Fixed Undo/Redo menu problem after cinema mode is set
Improved C++ API sample application

--> New in RoboDK v3.4.7 (2018-07-17):

Added option to have a 3D simulation web server (Tools-Options-Other-Web Server)
HTML simulation supports pan (mid button)
Improved InstructionListJoints
Improved teach targets on surface (the keyboard works without selecting the dial)
Joint speed properly set for Fanuc drivers
The trace is properly displayed for synchronized mechanisms

--> New in RoboDK v3.4.7 (2018-07-13):

Improved object selection events through the API
Added SetShapeColor API function
Inverse kinematics optionally supports tool and reference frames (API)

--> New in RoboDK v3.4.7 (2018-07-10):

Collision line does not provoke a refresh (API)
Check if an object is inside another one does not provoke a refresh (API)

--> New in RoboDK v3.4.7 (2018-07-07):

Improved robot calibration macros
Improved delta kinematics
Improved Motoman post processor
Improved UR driver to stop

--> New in RoboDK v3.4.7 (2018-07-06):

Added Proxy options in License menu
Improved circular movement commands

--> New in RoboDK v3.4.7 (2018-07-03):

Improved HIWIN post processor
--> New in RoboDK v3.4.7 (2018-07-02):
Improved UR post processor for large milling files
Improved integration with Meca robot

--> New in RoboDK v3.4.7 (2018-06-29):

Improved Mecademic integration
Improved 3D navigation behavior using Cinema mode
Improved API

--> New in RoboDK v3.4.7 (2018-06-28):

Improved importing APT ACL from Autodesk FeatureCAM
Improved collision checking
Added driver stop button
Improved Mecademic robot driver

--> New in RoboDK v3.4.7 (2018-06-26):

Added option to stop collision checking through the API
Improved UR scrip import

--> New in RoboDK v3.4.7 (2018-06-25):

Added support for Exechon PKM Tricept robot kinematics
Improved Robot Machining Thread Cycles

--> New in RoboDK v3.4.7 (2018-06-22):

Improved Delta inverse kinematics

--> New in RoboDK v3.4.7 (2018-06-21):

Fixed Motoman driver and DOF mismatch
Improved collision detection (faster)
Improved rendering for large point clouds
Improved Mecademic driver

--> New in RoboDK v3.4.7 (2018-06-20):

Fixed right click on a station issue
AddShape supports color
Robot text is not displayed if the robot is hidden
GetSelected API function remembers left click

--> New in RoboDK v3.4.6 (2018-06-07):

Improved joint list generation to include time stamps
Added compatibility for API events

--> New in RoboDK v3.4.6 (2018-06-04):

Improved debugging messages

--> New in RoboDK v3.4.6 (2018-06-01):

Any text editor is allowed on windows
Added Comau in the pose dropdown menu
Improved customized instructions through the API
Improved ABB post processors

--> New in RoboDK v3.4.6 (2018-05-30):

Improved support for Epson robots (Scara and 6-axis)
Setting a target as cartesian target updates joints the target has a robot linked

--> New in RoboDK v3.4.6 (2018-05-28):

Improved joint limits for Fanuc robots
Improved robot machining projects with external axes (linear track)
Improved editing and program generation for Mac and Linux
--> New in RoboDK v3.4.6 (2018-05-25):
Added option to customize the display of points and lines
Improved API commands
Improved stability

--> New in RoboDK v3.4.6 (2018-05-24):

Added API version control
Fixed issue with setting the default toolbar
URP post processor uses activeTCP set to false
Improved Mecademic post to support single Gripper calls

--> New in RoboDK v3.4.6 (2018-05-22):

Improved option to add non reachable targets to programs using the API

--> New in RoboDK v3.4.6 (2018-05-18):

Improved post processors (Mecademic, Fanuc, KUKA)
Added support for external axes (Staubli)
Improved generation of root point

--> New in RoboDK v3.4.6 (2018-05-14):

Improved reference frame calibration: support for laser tracker measurements to
define a setup
Improved all robot drivers (Windows, Mac and Linux)
Improved default Python settings (Windows, Mac and Linux)

--> New in RoboDK v3.4.5 (2018-05-11):

Fixed apirobot driver issue (Windows vs Mac)
Improved connection to laser trackers
Improved default Fanuc post processor

--> New in RoboDK v3.4.5 (2018-05-07):

Improved URP post processor
Improved Proxy Settings

--> New in RoboDK v3.4.5 (2018-05-02):

Added support for Slic3r v1.3.0
Added API options to control turntable and linear rail optimization

--> New in RoboDK v3.4.5 (2018-04-26):

Improved Kinematics of Scara robots

--> New in RoboDK v3.4.5 (2018-04-26):

Fixed crash with RoboDK flags when cinema mode is active
Improved UR post processor for circular movements
Curve arrow sizes changes with the +/- key

--> New in RoboDK v3.4.5 (2018-04-25):

Improved integration with API trackers
Improved license check system (dummy proof)
Save stl, sld, robot and tool files is allowed through the API

--> New in RoboDK v3.4.5 (2018-04-23):

Improved turntable support for robot milling projects
Improved linear track auto compensation for robot milling
Added command line options
Improved API stability
Improved issue when building a robot
--> New in RoboDK v3.4.5 (2018-04-19):
Improved robot drivers for circular movements
Added more options for UR drivers

--> New in RoboDK v3.4.5 (2018-04-16):

Improved Motoman JBI program import (programs are imported even if CND files are
not provided)
Added option to customize the interactive motion from the API

--> New in RoboDK v3.4.4 (2018-04-13):

Improved API communication issues

--> New in RoboDK v3.4.4 (2018-04-11):

Improved API to support navigating through stations

--> New in RoboDK v3.4.4 (2018-04-05):

Improved Denso driver (support for linear movements)
Robots and mechanisms can be built using the API

--> New in RoboDK v3.4.4 (2018-04-04):

Added option to specify units when importing CAM files (Tools-Options-CAM)

--> New in RoboDK v3.4.4 (2018-04-03):

Improved context menu icons (right click)
Changed default rotation choice for UR to degrees instead of Radians
Added Degrees and Radians rotation choice for UR
Added AUBO robots

--> New in RoboDK v3.4.3 (2018-03-30):

Improved Delta Kinematics
API function setActiveStation can be run in safe mode
Improved ABB IRC5 Post processor

--> New in RoboDK v3.4.3 (2018-03-27):

Improved URP post processor (speeds properly set)

--> New in RoboDK v3.4.3 (2018-03-23):

Get/set active station is possible through the API
Improved KUKA driver allowing it to run programs

--> New in RoboDK v3.4.3 (2018-03-22):

Improved program filtering without the need of constant updating
Hiding the TCP frame also hides the text
Added KUKA CNC post processor

--> New in RoboDK v3.4.3 (2018-03-16):

Improved Universal Robots URP post processor

--> New in RoboDK v3.4.3 (2018-03-08):

Filtering issues fixed when using the split option and warnings are displayed
Fixed FTP default settings options (Mac and Windows)
Fixed Text editor options (Mac)
Improved UR driver
Fixed keyboard shortcuts (Mac)

--> New in RoboDK v3.4.2 (2018-03-06):

Fixed Universal Robots URP generation issue
Added option to have custom commands for trackers
Fixed issue with the setSpeed and for program items
--> New in RoboDK v3.4.2 (2018-03-02):
Added option to tilt curve normals along the path tangent (right click the curve,
select tilt curve)
Fixed popup not showing when generating a program and the Python path is not
correct
Added more command line options
Tool calibration information is saved with the RDK file
Improved performance issue with "Check Path and Collisions" feature

--> New in RoboDK v3.4.2 (2018-02-23):

Fixed issue with APT circles and ANGLE command
Added option to invert APT circles (Tools-Options-CAM)

--> New in RoboDK v3.4.2 (2018-02-22):

More APT commands supported on NC files
Improved latest ABB IRC5 driver
Improved collision checking when using MoveJ_Test and MoveL_Test (binary search)
Added option to check collisions with hidden objects (Tools-Collision Map)
Improved /DEBUG option. It is possible to pass a specific file for debugging
(/DEBUG=C:/FileDbg.txt)

--> New in RoboDK v3.4.2 (2018-02-19):

Improved GSK post processor
Added more GSK robots
Improved collision checking tests for programs calling sub programs

--> New in RoboDK v3.4.1 (2018-02-16):

Added settings to manually specify step in mm and deg for collision checking
(Tools-Options-Motion)
Added option to check collisions specifying the step in mm and deg (API)
Improved built-in Fanuc post processor
Improved ABB driver for on-line programming (Pause command was creating problems)
Added option to display bounding boxes (Tools-Options-Other)
Added option to retrieve the joint list of a program checking for collisions

--> New in RoboDK v3.4.1 (2018-02-12):

RoboDK is now available in Italian
Angle command is now supported in APT/CL robot milling files

--> New in RoboDK v3.4.1 (2018-02-09):

Improved automatic rail compensation for robot machining project
Fixed shortcuts

--> New in RoboDK v3.4.1 (2018-02-08):

Extended support for importing NC files
Added option to check path with collision checking
Added option to use AddShape overriding existing object geometry

--> New in RoboDK v3.4.1 (2018-02-06):

Changed style of the slider bar (station tree)
Added import circular movements from Fanuc LS programs
Improved Fanuc configuration flags to support circular movements
Added support for embedded hardware
Fixed crash with USB dongle license when maintenance expired

--> New in RoboDK v3.4.0 (2018-02-02):

Improved importing NC circle moves
Ignoring warnings lasts for the duration of the session
Changed default setting to never alter changed machining programs automatically
Added automatic axis 5 and axis 6 calibration

--> New in RoboDK v3.4.0 (2018-01-30):

Improved coupling limitations for robots having j2 and j3 coupled

--> New in RoboDK v3.4.0 (2018-01-30):

Improved post processor for Motoman
Added support for Panasonic post processors
Using high display accuracy for embedded devices and generated html simulations
Android and Mac versions updated
Improved stability

--> New in RoboDK v3.3.7 (2018-01-26):

Added extended API functions for milling
Improved collision map settings
Improved preprocessed joint information (for accurate turn settings)

--> New in RoboDK v3.3.6 (2018-01-24):

UR driver shows real time feedback when using the option "Run on Robot"
Improved post processors
It is possible to update DHM parameters through the API
Robot mastering works well for robots where the home position is not 0

--> New in RoboDK v3.3.6 (2018-01-22):

Improved program generation
Improved UR post processor to run large programs (automatically splits and feeds
sub programs to the robot)

--> New in RoboDK v3.3.5 (2018-01-19):

Fixed circular movement issue on simulation within the program
Improved KUKA driver
Improved UR post processor to filter blend radius properly
Improved issue with UR driver and circular movements
Fixed "Send program to robot" issue (Ctrl+F6)

--> New in RoboDK v3.3.5 (2018-01-15):

Updated RoboDK API documentation (Python)
Improved Yamaha post processor
Improved Nachi post processor
Improved importing thread cycles (G-code G81)
Allowing robot calibration with a tool setup/identification where J6 is not 0 deg
Improved robot calibration auto target generation

--> New in RoboDK v3.3.4 (2018-01-08):

Removed line highlight when selecting hidden programs or milling projects
Added German as default accepted language
Improved generating accurate joints when generating filtered programs

--> New in RoboDK v3.3.4 (2018-01-03):

Added option to open online library externally if https is used
Fixed issue with warning popup when running a program directly on the robot
Improved UR post procesor (using movel instead of movep)

--> New in RoboDK v3.3.4 (2018-01-02):

Added more 3D stereo view options in Tools-Options-View Stereo View section. Works
with any graphic card.

--> New in RoboDK v3.3.3 (2017-12-31):

RoboDK fully translated to German
Documentation available in German
Documentation available in Thai
Improved Nachi post (linear movements allowed in joint space)

--> New in RoboDK v3.3.2 (2017-12-21):

Improved options menu (more compact)
Added tolerance to filter circle movements (outputs linear movements instead), in
Tools-Options-Program
Added error information when calibrating a turntable
Added support to KUKA driver for external axes
Improved KUKA post
Updated Fanuc robot library
Updated German translation

--> New in RoboDK v3.3.1 (2017-12-04):

Added Gcode robot import option
Improved 3D mouse move options

--> New in RoboDK v3.3.1 (2017-12-01):

Improved Fanuc LS program import
robodk.com/doc/ has improved and responsive search
Updated Mac and Linux versions
Improved automated license delivery
It is possible to retrieve user's selection through the API
It is possible to retrieve the license through the API

--> New in RoboDK v3.3.1 (2017-11-30):

Fixed issue with building Mechanism or robot (auto selection)
Added option to move a robot using a 3D mouse
Added option to ignore settool commands through 3rd party applications (Tools-
Options-Other)

--> New in RoboDK v3.3.1 (2017-11-27):

Fixed encoding issues
Improved ABB IRC5 post processor (faster, automatic splitting)

--> New in RoboDK v3.3.0 (2017-11-24):

Improved G-code G90.1 for G02 and G03 arc by adding more default settings in Tools-
Options-CAM
Fixed joint axis limits issue for Nachi robots caused by update 3.2.8
Improved license options and automated license and maintenance delivery

--> New in RoboDK v3.3.0 (2017-11-22):

Added option to have one machining project at a time (at most)
Improved toolpath display on start for machining projects
Properly avoiding undesired toolpaths calculations on startup
Fixed Network license option issue
Improved license Network code checking

--> New in RoboDK v3.2.9 (2017-11-16):

Improved API
Improved Denso driver with custom settings
Improved custom instruction

--> New in RoboDK v3.2.9 (2017-11-13):

Fixed Ortographic angle issue
Improved ordering
Added different limits for Nominal and Accurate models
--> New in RoboDK v3.2.9 (2017-11-06):
Improved robot drivers
Improved robot post processors
Improved default parameters for best performance
Improved Fanuc LS import keeping desired configuration
Improved NC file import
Improved kinematics for UR robots and singularity avoidance

--> New in RoboDK v3.2.8 (2017-10-29):

Added auto save backup option (Tools-Options)
Added Search movement option
Added rotation around X and Y to teach targets on surface
Fixed post naming issue
Improved preferred orientation auto set for machining projects

--> New in RoboDK v3.2.8 (2017-10-23):

Added custom instruction
Added accurate modeling of j2/j3 for coupled robot joints
Added option to lock certain objects or RoboDK features
Fixed crash when AttachClosest() is used on certain items
Fixed 3D printing issues
Added Comau driver
Calibration reset project clears measurements only
Fixed D3D binary
Updated Sense_LC library (no dll dependency)
Updated Comau post processor
Updated ABB S4C post processor
Improved NCI post with circles and correct lead/tilt angles

--> New in RoboDK v3.2.8 (2017-10-10):

RoboDK OCP Server available (Tools-Options-Other-Activate OPC server on desired
port)

--> New in RoboDK v3.2.7 (2017-10-06):

Improved KUKA post processors
Added support for future items and instructions without loosing modifications

--> New in RoboDK v3.2.7 (2017-09-29):

Added Denso PAC post processor (support for all Denso robots)
Updated Python API documentation
Added option "Start from here" for program calls
Robot programs and machining projects are highlighted when they are selected in the
tree
Programs and machining settings show highlighted paths
Improved API (included getLink(), showTargets(), ...) and improved API
documentation
Fixed toolpath color issue (displayed in yellow instead of green)
Improved Comau compatibility
Teach targets on surface shortcut (Ctrl+Shift+T) is allowed in Cinema mode
Added compatibility for linear search moves
Improved adding joint and linear moves at specific locations in a program
Added reordering option

--> New in RoboDK v3.2.6 (2017-09-21):

Improved speed settings for Fanuc and ABB drivers
Improved Fanuc post processors
Improved ABB and Comau post processors
Fixed quote issues on generating programs
Improved circle filtering
Note: This is the last version that will run on any license

--> New in RoboDK v3.2.6 (2017-09-05):

Added search option
Improved command line options
Fixed license maintenance issues
Fixed camera simulation sensor size

--> New in RoboDK v3.2.6 (2017-09-04):

Added command line option to set Inch as default unit
Fixed Mecademic driver issue
Added option to impose tool and reference frame on subprograms
Improved Sinumerik post processor details
Added option to automatically split and filter accurate line movements
Added option to change robot axis limits through the API
Added new accuracy features through the API
Fixed other post processors

--> New in RoboDK v3.2.6 (2017-08-25):

Fixed Denso RC8 driver
Updated Mecademic driver
Updated Mecademic post processor
Improved KUKA driver (pause command)
Improved Fanuc post processor
Updated Mac and Linux versions
Added collision checking options through the API

--> New in RoboDK v3.2.6 (2017-08-24):

Fixed ABB Post processors
Added 32 bit resolution for depth camera simulation
Comau calibration is properly supported
Added Denso driver
Improved UR post processors
Added URP post processor
Improved feedback on program generation
Fixed Siemens Sinumerik post processor

--> New in RoboDK v3.2.5 (2017-08-15):

Updated Comau driver
Run on robot option does not start the program
Run on robot option shows connected Icon
Improved C# API
Transparency issue fixed for 3D HTML/WebGL simulations

--> New in RoboDK v3.2.4 (2017-08-10):

Right clicking on multiple programs allows creating a main program automatically
Single right click allows to rotate the 3D view
rdklic file format supported to set up licenses automatically
Added URI scheme to trigger RoboDK from the website
Imported points or curves have a default normal if no projection is detected
Improved point picking
Improved documentation by selecting F1

--> New in RoboDK v3.2.4 (2017-08-04):

Added support for input/outputs using APT source milling program
Updated KUKA post processor
Updated Staubli S6 post processor
Improved online documentation
Online documentation is linked by sections from RoboDK
Double clicking an instruction call properly runs that procedure
Targets can be selected and then hidden (right click a movement instruction, then,
Hide target object)
Multiple movement instructions can be selected to select their targets and then
hide them
Editing a Python macro does not request saving a RDK station if it has not been
saved yet (by default)
Editing a Python macro saves the original station (not the station currently open)
Python 2 and Python 3 API modules have been merged in one module
Fixed filtering issue
Fixed CloseRoboDK API bug
Improved auto naming instructions for Pause and Wait Digital Input
Add program update option to retrieve cycle time through the API

--> New in RoboDK v3.2.3 (2017-07-28):

Improved default milling settings
Installer remembers the last location of the installed path
Improved context menu for milling projects
Fixed Siemens Sinumerik post processor issues
Fixed issues with unlimited range for joint 6
Program-Add/Edit post processor preselects the post of the first robot found in the
RDK station
Improved multithreaded API stability by using direct socket connections
Fixed crash issue for start point when using milling projects

--> New in RoboDK v3.2.2 (2017-07-21):

Improved pose script with a more simplified representation
Improved group options for milling programs
Added Staubli S6 post processor
Camera simulation can simulate depth measurement as a grayscale

--> New in RoboDK v3.2.2 (2017-07-18):

Improved UR script program import
Added option to attach a group of milling projects to a specific reference frame
Fast ratio simulations show render 4 times/second even if computer power is not
fast enough

--> New in RoboDK v3.2.2 (2017-07-13):

Improved kinematics if joint 1 limits are outside +-180 deg
Added API option to extract selected points on objects
Fixed robot calibration for Siemens robot controllers
Improved command line options

--> New in RoboDK v3.2.1 (2017-07-05):

Fixed changing joint limits when axes are synchronized
Fixed command line issues

--> New in RoboDK v3.2.0 (2017-06-29):

Added Ballbar test for 50 mm
2D camera snapshot renders properly even if best performance is checked
Controller render throught the API does not black out the main screen
Improved Mecademic post processor and driver
Fixed command line issues
Improved translation (English and French)
Added 3D printing particle simulation compatibility (particles are not projected)
Fixed command line options
Fixed transparency issue with particles
Improved UR post processor
Items in the tree are kept collapsed on save, close & loading station
Fixed G20/G21 issue with Gcode

--> New in RoboDK v3.2.0 (2017-06-21):

Fixed bug on curve delete
CAM projects maintain the success/failed status when they are saved and loaded
Fixed link to online library from the APP (no redirect)
Added Mitsubishi driver (experimental)
Improved Siemens Sinumerik post processor

--> New in RoboDK v3.2.0 (2017-06-19):

Improved French translation
Improved English translation
RAPID speed can be specified for each CAM project
Arranged default CAM parameters in the main menu
CAM project with override existing programs with the same name by default
Fixed on path start bugs for curve follow projects
Added on path finish program call event for curve follow projects
Better version control on the installer binary
Check for updates in RoboDK now suggests updates for any minor updates
Fixed issue updating milling programs from the API (all programs would
automatically stop)

--> New in RoboDK v3.1.7 (2017-06-14):

Fixed driver disconnect issue. Now the disconnect is forced on double click.
Fixed crash when setting up a milling project from the API
Added toolbar menu settings
Added operation speed for curve/point follow projects
Adding targets keeps them selected until a move instruction is added

--> New in RoboDK v3.1.7 (2017-06-12):

Fixed crash caused by selecting F3 on smoothing instruction
Updated Comau post processor
Updated Dobot post processor

--> New in RoboDK v3.1.7 (2017-06-09):

Improved driver MOVL cartesian coordinates
Improved settcp when using the driver
Added Mecademic driver
Updated Comau post processor
Added option to set locale (comma vs point)
Improved F3 shortcut for instructions
Improved 3D printing options (Ubuntu)
It is now possible to group undo/redo actions

--> New in RoboDK v3.1.7 (2017-06-05):

Fixed unicode issue for objects and robots
Fixed unicode support using the API
Added proxy settings
Tree window background is white when shown as a side window

--> New in RoboDK v3.1.7 (2017-06-02):

Fixed robot calibration for UR
Fixed robot calibration bugs for base and tool setup
Changed robot configuration checks by flags
Fixed Kawasaki post processor issues

--> New in RoboDK v3.1.6 (2017-05-25):

Added point pick sensitivity setting
Fixed point follow bug

--> New in RoboDK v3.1.6 (2017-05-23):

Improved robot drivers
Fixed Cam2D_Snapshot issue on some graphic cards
Added 3D stereo vision compatibility
Fixed bug with machining projects when the TCP was changed
Fixed web library issues
Added support for Hexapod/Stewart platform
Fixed Codian update

--> New in RoboDK v3.1.5 (2017-05-15):

Improved support for Space Mouse, avoiding wheel event
3D stereo vision supported (3D monitor and Quad Stereo support required)
Import Fanuc LS supported
2D Camera simulation allows setting up a customized light

--> New in RoboDK v3.1.5 (2017-05-08):

Added support for Space Mouse
Added near/far plane settings
Fixed delta coupling for inverse kinematics

--> New in RoboDK v3.1.4 (2017-04-21):

Changed transparency selection threshold to 0.5
Added Siemens Sinumerik post processor
Fixed workspace menu option for certain robots
Fixed merge objects issue
Fixed synchronization with other robots issue

--> New in RoboDK v3.1.4 (2017-04-19):

Improved ballbar test for any mechanism
Fixed merge objects issue
Added HIWIN post processor
Fixed ABB post processor circular issue

--> New in RoboDK v3.1.4 (2017-04-18):

Transparency is rendered later
Transparent objects are not selectable (better for teach targets on surface option)
Added 5bar 2DOF mechanism like Codian D2
Improved Linking parameters for 5 axis delta robots
Fixed pick and place examples
added RoboDK-Virtual.bat to start RoboDK with problematic graphic drivers

--> New in RoboDK v3.1.3 (2017-04-07):

Improved debug/default options
Fixed ProgramStart API issues
Improved Python macro samples

--> New in RoboDK v3.1.3 (2017-04-05):

Improved gun simulation features

--> New in RoboDK v3.1.3 (2017-04-04):

Improved TCP calibration allowing to remove points
Improved joint limit settings
Improved languages
Improved teach targets on surface

--> New in RoboDK v3.1.3 (2017-04-03):

Allowed to rename items using right click
Tool hide/show managed automatically for milling projects
Improved command line options
Fixed display of estimated toolpath for milling projects
Better visual feedback for milling projects
Robot library download progress available
Improved G-code import to support 3 digit G commands
Improved self extracting demo station
Fixed issue with spray simulation

--> New in RoboDK v3.1.2 (2017-03-22):

Improved zoom and allowed to invert
Fixed reference frame issue when using turntables

--> New in RoboDK v3.1.1 (2017-03-14):

Rectangle spray gun simulation allowed
Robot calibration issues fixed
Robot calibration shows error preview
Added better debug options
Improved KUKA posts

--> New in RoboDK v3.1.0 (2017-03-09):

Improved feature: Targets on Surface
UR API distributed for Linux
Robot connection form show/hide fixed

--> New in RoboDK v3.0.8 (2017-03-03):

Scintilla text editor is integrated by default with RoboDK install
Mouse wheel does not zoom if we hold the button down
Robot panel with external axes shows the options to modify these axes
KUKA KRC2 and KRC4 DAT post processors updated
Added command line options

--> New in RoboDK v3.0.7 (2017-03-01):

Fixed SetDO issue with drivers
Improved Gcode import support
Added G28 move to home option
Added ISO cube plane selection option
Added pulses option on post processors

--> New in RoboDK v3.0.7 (2017-02-24):

Fixed issue generating Python programs
Improved robot and laser tracker drivers
Improved SRC/DAT KUKA programs import/export

--> New in RoboDK v3.0.6 (2017-02-16):

Windows registry is not used to store recent files anymore
Fixed startup crash issue

--> New in RoboDK v3.0.5 (2017-02-15):

Fixed vero license issues
Double click on RDK file opens on existing instance of RoboDK
Fixed KUKA circular movement from driver
Added stereocamera measurement through the API
Improved milling operation speeds
Added delete right click button for python programs
Calibration project better sets up the tool measurements (such as Comau)

--> New in RoboDK v3.0.4 (2017-02-06):

Verosofware licensing option added
Fixed Kawasaki robot tool flange

--> New in RoboDK v3.0.4 (2017-02-03):

Fixed codec issue when generating programs
Fixed apibnr driver
Improved command line options

--> New in RoboDK v3.0.4 (2017-01-25):

Copy values from xyz txyz window uses full decimals
Added support for B&R Automation controller driver
Program generation: Added support for different codecs
Fixed simulation slider issue
Improved HTML simulation generation: reduced output size and better support for
Internet Explorer browser

--> New in RoboDK v3.0.3 (2017-01-20):

Post processor encoding issues fixed
Fixed KUKA post processor to automatically handle turntables
Fixed STL import crash if Binary STL is not properly defined
Fixed all KUKA driver issues
Fixed drag&drop file issue from Network location
Fixed issue when referencing TCPs with respect to other TCPs
When loading an existing milling toolpath it asks the user to update the existing
milling project

--> New in RoboDK v3.0.2 (2017-01-16):

Improved robot driver events
MoveJ allowed for programs
Rearanged left click menus for robots and tools
Improved TCP and reference frame calibration
Added turntable calibration option
Axis identification now uses more than 3 points
Robot calibration remarkably improved to support axis calibration (with iterations)
UR post processor remarkably improved (fixed pose issue)
KUKA KR2 post processor improved to support multiple programs
KUKA SRC import now supports DAT files
Fixed external axes issue for milling (issue with smooth movements)
Fixed external axes issue with wrist singularity
Better error message provided when a movement is not feasible
Fixed external axes issues when working close to robot limits (one mm/degree used
as numerical tolerance)

--> New in RoboDK v3.0.1 (2016-12-30):

RJ option added for Motoman Inform III output (built-in post processor)
View shortcuts added
Fixed milling project infinite loop event bug

--> New in RoboDK v3.0.0 (2016-12-22):

Using Qt 5.7 library wich includes better compatibility with Windows
Fixed issue with non ASCII characters in the path when loading a STEP or IGES file
Point is used as decimal for all countries
Installer remembers last install and does not override Python installation by
default
Fixed issue with circular moves for ABB
Fixed comau joint moves
Fixed issue uploading multiple files through FTP
Improved Euler angles accuracy issue for specific cases
Added setSpeedJoints and setAccelerationJoints API calls
Added tangency auto select for curve follow projects
Fixed issue when calling subprograms between movements
Improved command line arguments
Fit to selection option added
Accurate pricing for calibration and ballbar testing options
Fixed blocking run on robot connection not working

--> New in RoboDK v2.7.1(2016-11-25):

Zoom in and zoom out improved when using the wheel (more accurate when closer)
Fixed UR driver issue with setPoseTool
Added X,Y,Z letters to the reference frames

--> New in RoboDK v2.7.0 (2016-11-14):

Fixed RoboDK Viewer (removed connection and HTML export)
RoboDK Viewer does not alter the API
Fixed KUKA DAT post processor
Post processor issue fixed for non-english characters
Memory usage remarkably improved when not using collision detection
Fixed procedure call issue

--> New in RoboDK v2.6.8 (2016-11-7):

Improved Mac and Linux version and better installer for Linux
Multiple objects can be merged
Milling/curve following can be fully set up by API
API update: Mat can be saved and loaded from text/csv files
Added a Python example to validate distance errors after robot calibration
Multiple program calls can be generated in one shot

--> New in RoboDK v2.6.7 (2016-10-31):

Improved ballbar test issues (line width, branding, reference frame alignment)
Improved MoveC compatibility for ABB IRC5 post processor
Fixed issue with UR post processor and movec
Fixed issue with UR driver and movec
Added KUKA DAT program compatibility
Return on global parameters does not set default parameters
Improved post processor FTP transfer using 'Send program to Robot'
Jog along axes: fixed issue when moving with respect to a reference frame
added Color and setColor API methods

--> New in RoboDK v2.6.6 (2016-10-20):

Fixed Faro laser tracker driver (currently not working for Windows 10)
Fixed run program issue when no robot was selected
Call program instruction allows input of many lines (one program call per line)
Improved French translation
Improved FilterTarget
Improved SolveIK to support specifying preferred joints
added API GeometryPose

--> New in RoboDK v2.6.5 (2016-10-11):

Change tool accepted for APT files
Tree hierarchy uses new logos (white)
Added option to display simplified robot panel menu
Fixed issue with xyzwpr form input
Included support for Leica laser trackers and API laser trackers
Improved Mecademic post processor
Split curve option improved
Updating Milling project stops all programs (faster and removes bugs)
ALT+Shift on targets projects the target on the surface
Delete all curves allowed for objects
Using Qt 5.4 libraries
Display moving target
Multiple movement instructions can be translated and rotated along X, Y and Z axis
Improved milling option menu with polar coordinates for preferred orientation
Fixed timeout issue with Wait DI
'Start from here' allowed for move instructions
Improved support for STL load/save of large files (up to 1.5 GB)
Added filter target
Fixed issue when dongle license is used for the first time

--> New in RoboDK v2.6.4 (2016-09-28):

Teach target from program inline problem fixed
Fixed issule loading program files and txt files
Added option to go full screen without toolbar
Deleting a robot also deletes the reference frame if there are no dependencies left
Codecs properly set for program generation (internationalisation)
Added compatibility for ABC Gcode input
Improved robot calibration feature: the user is allowed to pick the desired
parameters
Added tolerance for welding projects using approach/retract for each curve

--> New in RoboDK v2.6.3 (2016-09-16):

Fixed 2D camera sample simulation with UR robots
Fixed program generation issue from API

--> New in RoboDK v2.6.2 (2016-09-15):

Robot feedback is properly displayed on the screen when the real robot is moving
(compatible robots only)
Improved set speed instruction when connected to the robot
Fixed problem with KUKA posts regarding the rounding parameters
On open/close station, there is no message to save the station
KUKA driver updated
Fixed issue with Pick and place sample using Python
By default, TXT files are loaded as point list and CSV are loaded as curves
Fixed issue generating programs with post processor
Start on robot works for Python programs using custom post processors

--> New in RoboDK v2.6.1 (2016-09-11):

Copy joints has comma
Fixed RoboDK Python transl() issue

--> New in RoboDK v2.6.0 (2016-09-08):

Fixed issue with UR post processor when passing parameters
Added WaitProgram API call to wait for a program to finish
Improved Fanuc post processors
Python2 and Python3 versions of the RoboDK API are properly used depending on the
selected version of Python

--> New in RoboDK v2.5.9 (2016-09-01):

Fixed select curve issue for polishing
Updated DXF 2 Gcode import
setSpeed supports joint speeds and accelerations
Improved UR API to support setting speeds and accelerations for linear and joint
moves
Fixed issue with linear and joint move using drivers, cartesian data was not
provided properly
Fixed filter issue with KUKA SRC programs having external axes
Added KUKA CamRob CSV post processor with corrected average speed

--> New in RoboDK v2.5.8 (2016-08-24):

Improved program generation from the API for multiple robots
Added close side windows option
Added Pause/Play option
Improved Mecademic post processor
Improved Fanuc post processor to set UTOOL and UFRAME by ID only

--> New in RoboDK v2.5.7 (2016-08-23):

Improved display performance
Pre-processed file is stored in a temporary directory
Zone data/accuracy value set to 'Rounding value'
Renamed some menu items (Instructions)
Added option to change the program name and post processor from the API when
generating programs
Fixed issue with ToolChange event (when set to empty)
Fixed issue with program calls having empty values
Fixed issue with progress bar when generating programs

--> New in RoboDK v2.5.6 (2016-08-12):

Fixed issue generating program using Python (issue caused after 2.5 update)
Improved performance generating from Python programs
Added Mitsubishi and Mecademic post processors

--> New in RoboDK v2.5.5 (2016-08-12):

Fixed issue with UR post processor (created by blending update)
Speed optimized when programs are simulated (double click)
Simulation improved for milling projects
Fixed issue for polishing projects
Improved calibration report statistics (calibration vs validation are different)

--> New in RoboDK v2.5.4 (2016-08-10):

Fixed issue with running programs connected to the robot (if the driver provides
joint feedback it does not work)
Improved automatic fix for surface normals
Improved Manage IO feature in RoboDK

--> New in RoboDK v2.5.3 (2016-08-09):

Fixed API communication when retrieving a large list of joints positions
Default curve pick sensitivity set to a smaller value (2mm instead of 10mm)
Removed option 'MoveL, otherwise MoveJ' (it is not available for most robot
controllers)
Improved target icon refresh problem
Fixed issue with WaitDI and no timeout
Allowed to create programs without robot
Limited actions between different stations
Fixed tabs for robot speed settings
Fixed Fanuc post processor
Added Kawasaki post processor
Improved UR post processor (MoveC and IO)
Renamed confusing buttons
Improved algorithm to create calibration targets for a laser tracker calibration
Fixed issue with large program dependency (provoked crash)
Fixed issue with program-robot assignment
Fixed other bugs
Fixed loop cycle issue when connected to the robot (run on robot)

--> New in RoboDK v2.5.2 (2016-07-26):

Improved Fanuc post processor
Improved modify robot or mechanism
Fixed bug for group object parts together
--> New in RoboDK v2.5.1 (2016-07-15):
Improved Staubli Post Processor to support FTP transfer
Stop program or robot allowed through the API
API Instruction() returns the current instruction by default
Fixed singularity avoidance for welding Motoman robots (axis 5 behaves differently)

--> New in RoboDK v2.5.0 (2016-07-12):

Improved performance when creating mechanisms
Added option to retrieve the number of triangles per object
Robot connection parameters can be read/modified by the API
Fixed API functions: Pose_2_UR and UR_2_Pose

--> New in RoboDK v2.4.7 (2016-07-08):

Scara robots can be built/modified in RoboDK
Improved Staubli post processor
IO added in the GUI
Curve normals are fixed automatically when surface normals are inverted
Fixed JBI program import (speed set on movements can be omitted)

--> New in RoboDK v2.4.6 (2016-07-01):

Added WaitDI and SetDO options in post processors (API only)
Added option to call program with arguments
Added option to be able to track the position of the TCP when the robot is
connected to RoboDK
robot.Busy() reports busy status if the robot is connected

--> New in RoboDK v2.4.6 (2016-06-29):

Improved robot calibration report and filters. Changed blue to green for successful
results
Added Rhinoceros rotation style
Rotate around the selected point
Improved default collision map settings
Station variables are saved with the station
Simplified the robot parameters menu
Robot joint limits can be changed by double clicking the joint limits
Improved robot calibration and repeatability report
Robot calibration report can be exported as PDF file
Pose options menu is now visible and it is possible to invert reference frame poses
Fixed bug crash when the milling project was deleted after selecting features
Calibration measurements hides the calibration window
Added option to respect turns
Fixed robot driver to provide cartesian data
Fixed issues with Staubli VAL3 post processor

--> New in RoboDK v2.4.4 (2016-06-18):

Fixed KUKA SRC import bug for speed and MoveC
Fixed KUKA driver
Fixed KUKA Python post processor to export circular moves
Fixed post processor bug caused by last update
Fixed API issue with InstructionListJoints() and zone data

--> New in RoboDK v2.4.3 (2016-06-17):

Fixed issue with post processors, saved program was not provided to RoboDK to use
the feature 'Start on Robot'
Added ConnectedState on API to check the robot connection status
Move time calculation has been improved for movements that only involved
orientation change
KUKA Circular moves can be imported
Added Rhinoceros camera mouse move
Fixed bug with Denso RC8 post (J keyword is used for joints)
Added Cam2D_SetParameters API option
Added API option to create joint list of programs including the smoothing parameter
(Zone data)

--> New in RoboDK v2.4.2 (2016-06-15):

Added Toshiba Scara robots with Post Processor
Added Denso RC8 post processor
Fixed issue with UR post processor when multiple programs are generated as one
program file (built in and Python post processor)
Fixed layout for robot parameters form
2D camera workspace and sample view is updated live

--> New in RoboDK v2.4.1 (2016-06-13):

Added option for API ShowMessage not blocking
Fixed View2D camera issues
Fixed IsInside API issues
Added WaitDI and SetDO script macro functions

--> New in RoboDK v2.4.0 (2016-06-10):

Robolink API can be used in post processors
Mac version updated

--> New in RoboDK v2.3.6 (2016-06-09):

Added MoveC to API (Python and C#)
Improved API getParam method to return None if the parameter is not defined

--> New in RoboDK v2.3.4 (2016-06-08):

Quick update with 2D camera fixes

--> New in RoboDK v2.3.4 (2016-06-06):

Added 2D camera views
Added 2D camera view support from API
Fixed reference frame issue when robot reference frame was used
Added progress bar for Python program generation

--> New in RoboDK v2.3.3 (2016-06-02):

Added copy/paste option for station parameters
Added delete all parameters option in station parameters
Fixed bug for Run on robot
Robot speed (mm/s) is taken into account when used with the 'run on robot option'
setSpeed() updates joint speed when used with a cartesian robot or equivalent
Added command line option to start/make programs and wait until they finish

--> New in RoboDK v2.3.2 (2016-06-01):

IsBusy now accepts programs
Added point projection
Improved option to run programs on robot from the API vs only simulate (selection
can be made from the API)
Improved UR API to support running programs by name
Post processors show an appropriate progress bar
Update for Mac ready to automatically set PYTHONPATH for post processors
Improved Staubli VAL 3 post processor
Improved error messages for linear moves
Improved API problem for ProjectPoints and AddCurve
Fixed issue with the RoboDK viewer

--> New in RoboDK v2.3.1 (2016-05-30):

Added Universal Robots script import feature
Fixed bug with python calls inside a program using arguments
Fixed Gcode import issue with arcs
Fixed DXF issue (comments were taken as instructions)
Auto detected Python PyCharm editor as Python editor

--> New in RoboDK v2.3.0 (2016-05-25):

Added option for offline library (Professional licenses only)
Added Yamaha scara robots
Added Yamaha post processor draft
Fixed KUKA IIWA post processor
Improved multiple calls to script: subsequent calls are queued. Ideally they should
be considered as parallel calls.
Removed extra slash from warning message when Post processors are not found

--> New in RoboDK v2.2.9 (2016-05-17):

Added 7-axes machining sample
Added 8-axes machining sample
Added conveyor simulation with a laser sensor (collision detection)
Added pick curve sensitivity to select edges/curves of small objects

--> New in RoboDK v2.2.9 (2016-05-16):

Fixed collision detection through API
Added sample stations
External axes allowed in the target options form

--> New in RoboDK v2.2.8 (2016-05-13):

Added support for optimizing linear tracks, including turntable simultaneously (8
axis)
Fixed milling optimization bug
Added support for importing and filtering programs with external axes (robot
accuracy option)
Improved milling optimization algorithm (faster speed, less memory usage)

--> New in RoboDK v2.2.7 (2016-05-11):

Changed degrees step for XYZWPR form to 5 deg
Milling optimization shows process and can be cancelled
Milling optimization generates the program even if it fails

--> New in RoboDK v2.2.6.2 (2016-05-10):

KUKA program import and filtering has been improved to support any reference frame
or tool frame
Improved UR driver
Robot driver now is forced to end execution if disconnect is double clicked

--> New in RoboDK v2.2.6 (2016-05-9):

Added missing setSpeedJoints() and setAccelJoints() to post processors
Fixed joints sense for KUKA IIWA (forward and inverse kinematics changed)
Added KUKA IIWA post processor
Fixed issue with some post processors (def def)
Station parameters are updated if anything is changed through the API
Improved but with the KUKA filter for absolute accuracy

--> New in RoboDK v2.2.5 (2016-05-4):

Added API call to check if an object is inside another object
Added reference frame and tool frame names for post processors
Added option to block exporting objects (CTRL+ALT+SHIFT+P)
Added VS2010 redistributable by default (required by DXF to Gcode conversion)
Object edges are always displayed if an object does not have geometry shape
Added option to export curve
Normals are reoriented automatically according to surface shape normals
Improved Chinese translation
Curve following project improved when the robot holds the object (bugs appeared
after previous updates)
Added import option for KUKA robots and filter (beta)

--> New in RoboDK v2.2.4 (2016-04-25):

Fixed conflict between demo and Network license
Added denso robots

--> New in RoboDK v2.2.3 (2016-04-24):

Fixed bug for program simulation/generation when certain movements were too close
to axis limits. This bug was triggered mostly for circular moves close to axis
limits
Fixed Nachi post processor to support tool id instead of setting the tool frame
inside a program
Added instruction numbers on programs automatically generated
Improved automatic target naming when select target from move instruction is used
Limited inverse kinematics for H-bot robots

--> New in RoboDK v2.2.2 (2016-04-16):

Fixed issue generating programs for calibrated robots
Fixed issue generating programs for robots with external axes
Improved KUKA KRC2 post processor
Programs stop when a collision is detected
Camera near value reduced to 1mm (was 100mm)

--> New in RoboDK v2.2.1 (2016-04-08):

Fixed bug on window closing the window measure point
Pasting XYZ values is allowed for reference frames

--> New in RoboDK v2.2.0 (2016-04-06):

Fixed issue with Nachi robots (Euler angles)
Workspace included for Universal Robots
Fixed license issue between demo license and Network or USB Dongle license

--> New in RoboDK v2.1.9 (2016-04-05):

All post processors are shown using the default text editor
On program right click -> select post processor sets the current post as default
Fixed bug with Kuka CamRob post processor
Fixed weight issue with ABB post processors

--> New in RoboDK v2.1.8 (2016-04-04):

Laser tracker and stereo camera calibration macros have been improved
Fixed issue with Staubli VAL3 post processor (Staubli VAL3 Euler angles behaves
like KUKA/Fanuc Euler)
A LOG message is displayed when a program is generated with errors
Reorganised the Euler angle types. Now Generic Euler mode is the same as
KUKA/Fanuc.
Added Euler mode for UR with radians
Fixed bug when replace robot is used by selecting the robot on the screen
Fixed issue importing STL files

--> New in RoboDK v2.1.7 (2016-03-31):

The main tree window can be put on the left side and not in the main window
(problem with older graphic cards) (View->Show Tree in main Window)
Drag & Drop inside the window tree is more permissive when the right mouse click is
down
--> New in RoboDK v2.1.6 (2016-03-30):
Staubli VAL3 post processor included with installer
Nachi post processor supports cutting large programs in smaller subprograms
Insert comment instruction allowed (Program->Add custom code)
Added C# API
Added Configuration data in Python post processors

--> New in RoboDK v2.1.5 (2016-03-29):

Added option for orthographic view (View->Perspective on/off: off = orthographic)
Fixed tree menu view for old graphic cards
Fixed layout size for buttons in the robot connection menu

--> New in RoboDK v2.1.4 (2016-03-25):

ABB MOD programs can be imported by variables
ABB built in post processor tabs have been improved to align IF, WHILE, ERROR,
SWITCH, etc
Fixed layout for certain labels in the robot parameters menu

--> New in RoboDK v2.1.3 (2016-03-24):

Added support for G04 Px (wait) for milling projects
Added support for M62-M65 (turn on/off digital output) for milling projects
Added command line option /PORT=20509 to be able to start the API on a given port
Added API option to start RoboDK hidden and to show or hide it through the API
Improved inverse kinematics of palletizing robots to support Kuka PA robots

--> New in RoboDK v2.1.2 (2016-03-16):

Fixed bug for G-code import. Comment character was ignored.
Updated Gcode example with the box and Nachi robot with this fix.

--> New in RoboDK v2.1.1 (2016-03-15):

Fixed bug when 'Modify robot' is selected (it was not possible to select the robot
parts)
UR driver now allows connection to localhost (127.0.0.1)
Movements from the API directly to the robot are allowed (movements such as MoveJ
and MoveL)

--> New in RoboDK v2.1.0 (2016-03-09):

RoboDK API improved. When starting a script from the GUI, API server connection is
checked
RoboDK API options menu has also been improved
Milling options->The Z rotation step updates the project automatically only when
editing is finished instead of every edit
Kuka post processor includes configuration data and axis data
Option added to use tool ID and reference frame ID instead of poses
Simulation buttons fit better with high resolution screens
UR inverse kinematics improved with more solutions and more options
Improved bug with APT circles for milling
Improved small bug setting the pose in the pose window
Performance improved when deleting all visible instructions of a program
Milling window is not hidden anymore
Extruder option added for 3D printing as a function call with the extruder feed (E
value)
Spindle speed, change tool id and extruded added as macros that can be modified
Improved custom Fanuc post processor
Added $ADVANCE = 1 in the Kuka built-in post header
Added the option Tools->Measure tool

--> New in RoboDK v2.0.7 (2016-03-01):

Dongle license available for Windows 64 bit
Added API calls AddShape and AddCurve to add new geometry or curves as well as
project the curves if desired (2 Macro examples have been added to the library).
New shape can also be added to robot links
Changed Euler types by their corresponding brand names.
Fixed bug with DXF extension when the file was in CAPS (it would not allow to edit
the path manually).
Folder to save programs is not desktop by default anymore. The first time a program
is saved, a message shows up asking for the save directory

--> New in RoboDK v2.0.6 (2016-02-24):

Replaced __eq__ by __cmp__ in the robolink.py api
Python idle uses Ctrl+Y for redo
When a Python post processor fails it shows the error in a message box
Desktop is not used as default folder to generate programs. The first time a
program is generate, a message pops up to specify the program folder
Arguments in brackets of Python function calls are provided with their arguments
(example DoSomething(2,'up'))
Added approach/retract for each path (milling menu)
Added point approach for each project (milling menu)

--> New in RoboDK v2.0.5 (2016-02-19):

Added option 'Fix normals automatically' in the menu Tools->Change color utility
Added option RL.Collided(item1,item2) to check collision between 2 objects
Split in half for edges has been added
Edge normals are automatically fixed if there is no projection to surface found

--> New in RoboDK v2.0.4 (2016-02-17):

Improved curve and surface selection for operations like painting, inspection and
welding. The user can now select any edge without having to specify the curve in
the CAD software.
The surface to zig-zag curve feature has been improved by specifying the step size
and clearance (in the menu Tools->Options->CAD).
Added menu options 'Utilities->Curve follow project' and 'Point follow project' to
easily follow curve or point features.

--> New in RoboDK v2.0.3 (2016-02-05):

Motoman robot programs can be split into several programs
The reference frame of the robot is updated if a target is double clicked (more
intuitive)
Table size is set to a smaller size for 3D printing, otherwise, a large approach is
used.

--> New in RoboDK v2.0.2 (2016-02-01):

Perofmance fix importing CNC files (performance conserably improved for large
files)
Added 3D print support
Web library is opened externally if there is no internet connection or connexion is
blocked
Objects can now be saved as Binary STL files
Surface to ZizZag option now accepts parameters (step between passes and clearance
from border)
Removed suggestion to deactivate auto update for large programs (it is done
automatically)
Added 'Maintain plane' option for milling programs with turntable

--> New in RoboDK v2.0.1 (2016-01-26):

Robot limits change in the robot form for Fanuc robots and certain ABB robots
Fixed bug with built-in ABB post using external axes
Added tool calibration through the API (CalibrateTCP)
Added custom post processor for Nachi robots

--> New in RoboDK v2.0.0 (2016-01-01):

Now the user can build robots (6 axis, 7 axis, 1T, 2T, 3T, 1R)
It is possible to generate 3D PDF and HTML simulations
Fixed robot calibration warning (for base setup, if there are warnings, now the
screen appears read instead of blue)
Added icons for left-click Menus that list tree items.
Added copy/paste feature for pasting points or curves using data coordinates (from
an excel or text file for example).
Added different icon for joint targets (green instead of read).
Improved Python API for 'getParam()', 'getParams()' and 'setParams()' to
automatically support numbers (numbers are converted to floats).
Added the option to modify the lag time for uncontrolled Render.
Added option Tools->Rename item (F2)
The toolbar state is now saved and restored. Default settings can be set by Tools-
>Restore default toolbar
Added Event options for objects. It allows left clicking an object and execute
specific actions.
Disabled Wheel mouse button (middle button) for the tree (avoids picking items
unexpectedly)
Added Right click menu to move items in the tree (move before, move nested and move
after)
When collision check is deactivated, nothing is left red
Collision map now shows the full table (not half as it used to be)
Added option right click on robot-> Attach tool->Select object
Added icons on left click menus
Added dongle licensing type
Added partner reference in the menu about (if applicable)
UR built in post supports subprograms
Fixed UR python post to properly post in radians
Fixed bug with change color utility

--> New in RoboDK v1.7.5 (2015-11-24):

Fixed bug with Circular movements when the target was not specified.
Added post for V+ (Adept, Kawasaki and some Staubli controllers)
Added post for Comau robots (C4G)
Simulator orientation now it sets properly for Comau, Staubli, Kawasaki and Adept
robots
Improved input command line arguments

--> New in RoboDK v1.7.4 (2015-11-18):

Fixed bug with UR built in post processor (added tab for blend_radius)
Fixed bug with UR custom post processor (alignment problem would not compile the
post)
Improved adding instructions in a program: if an instruction is selected, and a new
instruction is added the new instruction will be added after the instruction that
was previously selected.
Added API function robot.LinkPoses(), which returns the position of all the robot
links
Improved API functions robot.Joints/setJoints to support external axes.
Improved API function robot.Pose/setPose: added exception for robots -> The Pose
returns the position of the end efector and not the position of the robot base
Improved API exchange of arrays like Name() and setName(). The arrays were
truncated if they were too long.

--> New in RoboDK v1.7.3 (2015-11-17):

The robot post processor can be selected from the program (right click a program-
>Select Post Processor)

--> New in RoboDK v1.7.2 (2015-11-15):

Added joint speed and acceleration support for processors
Addded support for external axes using custom post processors
Improved built-in Kuka and Fanuc posts to support external axes
Updated robodk.py to always provide quaternion data (sqrt(-x) changed to sqrt(0))

--> New in RoboDK v1.7.1 (2015-11-13):

Added time calculation option to select between angular vs linear speed constrain
(Tools->Options->Motion->Time calculation mode)
Fixed problem for newly created posts from scratch (ProgSave)
Milling feature-> Fixed problem with start configuration (it would not rotate
around the tool)
Milling feature-> Fixed problem with preferred joint start for external axes
Fixed layout for simulation bar on Mac computers (removed pixel size constrain)

--> New in RoboDK v1.7.0 (2015-11-11):

IMPORTANT: Added joint speed change in the speed change menu, version 1.6.4 and
future versions are not backwards compatible if speed change instruction is used!
Fixed STL import bug (for certain Rhino STL files)
ABB post processors have been improved (tabs better aligned, custom definition of
variables, functions, ...)
Customized code and program call icons are now different (more clear).
Fixed inverse kinematics problem for 5 axis robots (to include Fanuc LR Mate
200iC/5H)
Fixed configurations for 7-axis robots (Such as Kuka LBR IIWA robots).
Fixed bug with API call AddFile(): when called on an existing item, it did not
work.
Milling with external axes works well (the user is not allowed to build or modify
external axes)
Milling with external axes works also for Circular moves
Milling projects can have customized event calls (program)
Fixed optimization bug when loading a CAM program (too many updates at the same
time provoked a slow down).
Settings are saved as version dependent.
Milling Optimization allows collision checks (experimental: CTRL+ALT+SHIFT+L)
Fixed Mac layout on robot parameters form

--> New in RoboDK v1.6.3 (2015-11-02):

Milling support for Scara robots (any robot with 3-7 axes).
Target can be saved or 'moved to' from the target options menu (F3).
Instruction/program call text field tab size equals 4 (instead of 8).
Program can be stopped anytime and the instruction pointer is saved (Backspace
key).
Added demo for pick and place with delta robots.
Fixed bug with API call DetachClosest() (crashed if no parameters were provided)
Milling with external axis starts to be experimental.
Server allows commands from the outside.
ABB MOD/PRG import allows importing multiple programs.

--> New in RoboDK v1.6.2 (2015-10-22):

Code signing certificate for the installer!
Custom Fanuc post processor added.
Post processor allows adding subprograms together with the main program.
Fixed memory leak for CAD objects.
Fixed bug on importing points or wires (sometimes we could not select the newly
added features).
No crash when opening STEP/IGES files directly from the file.
Two daihen robots and one ABB robot added.
Expire date allowed for standalone licenses.

--> New in RoboDK v1.6.1 (2015-10-11):

Added support for robot milling when the part is held by the robot (typical for
robot polishing and grinding) (Option Utilities->Milling project->Select algorithm-
>Robot holds object).
Added the ABB IRB 6700 series to the library (8 robots).
Added support for 5-axis delta robots where axis 4 and 5 do not intersect.
Bug fix for Network license check.

--> New in RoboDK v1.6.0 (2015-10-06):

Included the option 'Utilities->Add Mechanism', which allows modelling any
mechanism by a user like a Cartesian + Spherical robot (up to 6 DOF)
Included support for 5-axis delta robots (like Codian Robotics D5)
Program time now shows up on the simulation bar.
Program time calculation includes subprogram/s time.
Fixed bug with UR code generation: speed in radians and mm were mixed up.
Fixed bug with UR code generation: acceleration was not being properly set.
Included alternative UR custom post.
Fixed bug for program filtering with ABB robots (robot accuracy).
The Python program DoWeld_All in the 'Offline programming sample with 3 robots',
has been modified to make synchronized movements.

--> New in RoboDK v1.5.9:

Included support for 4 axis palletizing robots.
Included Allen Bradley Logix custom post processor.
The RoboDK API has been improved to support moving multiple robots at the same
time. Each robot requires a new Robolink() instance (if Python API is used)
Added offline programming sample to move with 3 robots.
Bug fixes

--> New in RoboDK v1.5.8:

Included the option 'Tools->Options->CAD->Generate zig-zag curves from surfaces' to
allow generating painting/inspection programs on surfaces (this option is
experimental, use 'Program->Teach target(s) on surface' instead)