Robotmaster X4 offers several major features including path optimization, processing speed enhancements and support for multiple rails and rotaries. Robot programs are easily optimized graphically without the need for point-by-point manual touchups. Once again this new version sets a new standard for programming robots with the same ease and functionality as CNC Milling Machines.


Path Optimization
A graphical optimization feature has been added that displays the programmed trajectory as well as problem zones
     - The user has the ability to drag the path around problem areas to easily create an error free program
     - The following problem areas can be displayed and easily managed:
         - Singularity
         - Out of reach
         - Joint limits
         - Wrist flips
         - Over travel
         - Collisions





Interface
The following changes have been made to the robot configuration page:
     - Check marks indicate which pages have been changed to facilitate tracking of changes within a session
     - A rotation calculator has been added to convert between Euler angles, Rotation Matrix and Quaternion





Simulation
The following enhancements have been made to robot simulation:
     - Simulation motion is smoother due to motion planner enhancements
     - The points displayed on the move list correspond to the actual point numbers in the programs
     - Toolpath tip tracing mode enables the user to see the trajectory of the TCP in space





External Axes
The following enhancements have been made to external axes:
     - Ability to program up to 11 axes simultaneously
     - Increased rails to a maximum of 3
     - Increased rotaries to a maximum of 2
     - Ability to support the following setups:
         - Robot mounted on up to three rails and part mounted on up to 2 rotaries
         - Robot on floor and part mounted on up to three rails
         - Part mounted on robot and robot mounted on up to three rails










Robot Kinematics
Fully redesigned kinematics engine with the following enhancements:
     - Support for any de-coupled (standard wrist) 6-axis robot
     - Ability to enter calibrated robot parameters versus theoretical values
     - Ability to process large programs in excess of 150,000 points quickly
     - Calculation speed is 10 times faster versus previous version


Post Processors
The following enhancements have been made to the post processors:
     - Greater control of where the tool is turned on/off for applications requiring tool activation at every path
        such as welding, painting/spraying, dispensing and waterjet/laser cutting
     - Output of comments and manual entry strings have been added to all posts
     - Ability to process large programs in excess of 150,000 points quickly