DReS release notes - DrAmaT The art of programming

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Changes in the version 6.7 (29.09.2026)

Highlights

KUKA KRC:

New KRC point editor: Cartesian and joint views, external axes, 3D preview, editing of motion parameters
"Insert motion point" now available for KRC, with all .dat declarations created automatically
"Go to definition": jump from a call to its definition anywhere in the robot archive
New "Compare KRC programs" (KRC Diff) with point coordinate comparison and PDF export
New KRC ANTLR Validator: bulk syntax and fold check of files or whole directories
KRC Robot 3D View: "Touch up" and "Add point" implemented

ABB:

New ABB Robot 3D View (OLP): 3D robot, path, Touch up and Add point
New ABB Diff and ABB Archive Diff, including point coordinate comparison
Point table: distance, copy/assign coordinates and marking of unused points
Point edits keep exact values, formatting, comments and the taught arm configuration

Yaskawa:

New Yaskawa Diff and Yaskawa Archive Diff, incl. parameter (*.PRM) and condition (*.CND) files
New point table, point editor and motion instruction editor with 3D robot preview
New Yaskawa Robot 3D View (OLP) with Touch up and Add point
Controller data from the backup; I/O/variable names editable; parameter value meanings in tooltips
IF/WHILE/SWITCH/FOR blocks: highlighting, folding, syntax check; navigation to JUMP labels

Others:

VKRC and Fanuc Archive Diff: new check of interlocks, collision requests and technology points
New "Path (TCP)" tools: path length, motion time, arc info, insert point on path
Export to ZIP archive for all robot types, with new toolbar button
Search in all robot projects of the same type; "Find calls" for every robot type
New "Show TCP" option showing the real tool tip in the 3D views

Show all 165 changes in version 6.7

KUKA KRC

Editor and navigation

KRL command catalog (.kfd/.kop) is read from the robot; new KRC menu with these commands and a command completer in the code viewer
New "Protect Folds" option (menu and settings) protects fold and subfold content from accidental editing
"Go to definition" in the context menu: jumps to subprogram, function, global variable, signal, STRUC or ENUM definitions anywhere in the archive
The background symbol index behind "Go to definition" can be switched off in the settings, with a file size limit
Jumps from "Go to definition" and the KRL Variable Scanner now land on the correct line and open collapsed folds
Warning about unbalanced ;FOLD/;ENDFOLD has a "Don't show this message again in this session" checkbox

KRL Variable Scanner

Detects conflicting global variable declarations, searches *.src files (now by default), exports to CSV and XLSX
New "Routine" tab listing subprograms and forward declarations with parameters; detects GLOBAL subprograms defined in several files

Validator

New KRC ANTLR Validator plugin: checks the active file, all open *.SRC files or a directory for fold balance, KRL syntax and optional warnings

Comparison

New "Compare KRC programs" (KRC Diff): point coordinate comparison, PDF export/print, movable annotation boxes
Configurable distance and angle tolerances for KRC point coordinate comparison

Point editor

New KRC point editor (double-click a point fold or "Edit point coordinates"): Cartesian, joint (with sliders), external axes and 3D preview
Global points are written to their .dat file immediately, with a warning naming the file to be overwritten
Plain PTP/LIN/CIRC folds and technology point folds (e.g. "Swi Spotpoint PTP") now open in the point editor
Motion parameters editable: type, point name, CIRC auxiliary point, approximation, velocity, tool, base, extTCP, ACC/APO_DIST
Only the parts of a fold that depend on changed parameters are rewritten; everything else stays untouched
Renaming a point renames position, frame and motion data together; PTP/LIN switch changes PDAT/LDAT accordingly
Points stored as axis values (E6AXIS) keep axis values; Status and Turn are now calculated correctly
The message panel names the missing CAD model, catalog and archive when the dummy kinematics is used
New documentation page for the KRC point editor; "Basic functions" page reorganised and extended

Point table, copying and assigning

Status and Turn of the selected position shown; copying an axis point puts its real S/T on the clipboard
New options blocking XYZABC assignment to global JOINT HOME positions and point type changes of global points
Copy/Assign coordinates respect the point type (XYZ or JOINT) and offer conversion or a deliberate type change
Copy/Assign also available for unused .dat points and in the joint table context menu
Assigning to an axis point no longer asks about tool/base recalculation
Fixed: after "Yes, recalculate" the point got the wrong tool/base number and moved
Unused points with the "PPP" motion data naming now show velocity and acceleration

Inserting points

"Insert motion point" works for KRC: complete PTP fold, position/frame/motion data declarations, next free number, file naming convention kept
Asks whether the new point is XYZABC (E6POS) or JOINT (E6AXIS)
Declarations of new points use the same number formatting as the rest of the file
Closing the point editor without Apply undoes the whole insertion

Robot 3D View

"Touch up": the selected point takes the current robot pose (local/global, E6POS/E6AXIS, CIRC points)
"Add point": inserts a new PTP motion after the selected point, starting from the current robot pose

KUKA VKRC

Improved changing of multi-variable Geanu parameters for gluing points
"Check in *.DAT" now really searches *.dat files
Fixed "Find ... calls in the robot's project" finding nothing in VKRC projects
Point editor: external axes E2..E6 in a separate "External axes" box, as in KRC
Point table context menu no longer shows the wrong point number in "Copy"/"Assign coordinates" labels
Copying a point with undefined Status/Turn no longer puts an invalid value on the clipboard
New point number is the highest used number + 1 (could duplicate an existing number)
Cancelling a point insertion no longer leaves a blank line behind
"Set equal value" and "Switch E<n> value" no longer round values to 6 digits and skip unreadable rows
Fixed a possible crash when right-clicking the point table with no row selected
Opening and closing the point editor without Apply no longer marks the program as modified
Robot 3D View "Add point": no crash without a selected point; correct new point number
ZIP export fixes: crash after OK, wrong VW_User paths, false duplicate-name message, machine data only after confirmation

Fanuc

Improved detection of the Fanuc VW User version from usersdat.va
Changing UT/UF of a joint point no longer changes its position; UT/UF fields disabled for such points
Point table builds much faster in programs with thousands of positions
"Insert motion point" asks whether the new point is XYZWPR or JOINT
Motion numbers in the margin no longer restart at 1 after inserting or deleting a motion
Robot 3D View: "Add point" implemented, starting from the current robot pose, UF/UT and E1
Opening and closing the point editor without Apply no longer marks the program as modified
"Clear selected Name values" moved to the end of the context menu and asks for confirmation

ABB

New functions

New ABB Robot 3D View plugin: 3D model, path of motion commands, axes and E1, Cartesian position, TCP, work objects, axis limits
ABB Robot 3D View: compare with another module, "Touch up" and "Add point" from the current robot pose
New "Compare ABB programs" (ABB Diff) for *.mod/*.sys with robtarget/jointtarget comparison and new tolerance settings
New ABB Archive Diff plugin: compares two ABB backups, reports missing files, compares point coordinates
Point table in Diff windows is read-only
Point table context menu: distance between two points, "Copy coordinates" and "Assign coordinates"
Copy puts the whole declaration on the clipboard; Assign warns when points use different \Tool or \WObj
Point table marks unused LOCAL points (grey italics, warning icon), as in KUKA and Fanuc
New point starts from the neighbouring motion with its tool and work object, keeping its confdata

Point data accuracy

Editing a quaternion component no longer destroys the orientation; quaternion is renormalised, all-zero refused
Values no longer silently rounded by the point table; configured precision used for all numbers incl. orientation
Editing a point (table or point editor) rewrites only the changed numbers; spacing, comments and semicolon kept
Invalid coordinates are refused instead of being written as zero
Point table shows numbers as written in the file; unconnected axes written and shown as 9E+09
Saving reports an error when the file could not be written (e.g. full disk, lost network share)

Kinematics and configuration

Points shown and saved in the arm configuration (confdata) they were taught in
Fixed wrong "optimal" IK solution and wrong joint angles (radians shown as degrees, 90-degree "corrections")
Valid IK solutions no longer rejected; matched solution marked with a star in the solutions list
Linear unit (E1) limits now read from MOC.cfg: correct E1 range, track in 3D and in the documentation generator
Unconnected E1 handled correctly; no false "Invalid E1 value" on robots without a linear unit
Tool and work object data declared in program modules are now found
Missing tool or work object data no longer locks Apply in the point editor

Editor and point table fixes

New motion point: declaration placed at module level, not inside the routine; one undo step
"Edit point" from the context menu works on motion command lines
Next/Previous in the point editor no longer mixes up named and inline targets
"Copy homogeneous matrix" and "Copy joints values" now work (right-click no longer overwrites the clipboard)
Fixed sorting by LOCAL/CONST/PERS, selection after refresh and editable configuration columns
"Quaternions as RPY angles" now matches the checkbox
"Joint multi line commands" joins commands split over three or more lines
Undo/Redo keeps line numbers correct
Completer entries can be added and removed correctly (no duplicates)
Fixed possible hangs in "Declare rob/joint target" and new point name generation
Faster point table refresh and syntax refresh after typing stops, also in large programs
Profinet device panel no longer empty after "Open recent project"

Yaskawa

Comparison

New "Compare Yaskawa programs" (Yaskawa Diff) with folds, point coordinate comparison and PDF export/print
New Yaskawa Archive Diff plugin: compares two backups, reports missing files, compares points and extra files
Archive Diff compares parameter files (*.PRM) value by value, with meaning, filter table and text diff
Archive Diff compares condition files (TOOL.CND, UFRAME.CND ...) entry by entry, with meaning
Point table in Diff windows is read-only

Viewer and editors

Robot info tab (SYSTEM.SYS) and CTB data tab (tools, user frames, soft limits, interference areas) from the backup
Tooltips and long-text column with variable names and values, I/O names and macro calls; "Go to" opens the macro job
New point table: all positions with group, type and tool; soft limit check; editing; copy/assign; distances
New motion instruction editor (double-click MOVJ/MOVL...): speed, PL, station part and point values
New point editor: Joint and Cartesian tabs, user frames and tools, RCONF, 3D preview of the robot
Generic kinematics for about 100 Motoman models; pulses per degree and soft limits from the backup (DX100/DX200/YRC1000)
Robot configuration (RCONF) shown in teach pendant order
Robots moved by a base axis (track/gantry) are reported
IF/WHILE/SWITCH/FOR blocks: matching parts highlighted, Ctrl+click jumps, tooltip shows the condition
Code folding for IF/WHILE/SWITCH/FOR blocks
Ctrl+click on called jobs, macros and JUMP labels; "Go to label" and "References" in the context menu
Syntax check of labels (undefined, duplicate, unused) and of blocks (unclosed, crossing)
Syntax check on save / while typing options; improved INFORM grammar with reliable open/save round trip
Syntax markers now update after the last change, e.g. after Ctrl+Z

Long texts

I/O and variable names can be saved as IONAME.DAT / VARNAME.DAT (backup kept) or TXT/CSV
"Load file" accepts IONAME.DAT, VARNAME.DAT and previously exported (e.g. translated) CSV/TXT lists

Parameter files (*.PRM)

Syntax highlighting for *.PRM files
Value tooltip shows address and meaning (soft limits, gear ratio, encoder, about 110 SC.PRM and AP.PRM parameters)
Section header stays visible while scrolling; click jumps to the section

Robot 3D View

New Yaskawa Robot 3D View (OLP): dummy robot, job path, compare jobs, user frames, tools, soft limit check
Yaskawa Robot 3D View: "Touch up" and "Add point" (new PULSE point with MOVJ/MOVL line)

Licence, installer, documentation

Saving long texts requires the Yaskawa licence; without it *.PRM meanings are shown for the first 100 lines only
Installer now includes the kinematics file (fixes "Yaskawa generic kinematics file not found")
Yaskawa manual split into several pages with new screenshots and a link to the YouTube video

Others

Search and project tree

Every file belongs to its robot project: "Open all ... files" and "Find ... calls" work for all files of all robots
"Find ... calls" uses the correct call syntax of each robot type (VKRC, KRC, Fanuc, Yaskawa)
"Search in current project tree" now also for KRC (*.SRC/*.DAT/*.SUB) and Yaskawa (*.JBI)
New search scope "Search in all robot projects (same controller type)"
Search results show a new "Path / Robot" column
A file opened via a differently written path no longer opens a second copy
"Open file for all robots" shows the file name; fixed file pattern of "Open all ... files"

Comparison (Diff)

Expand/collapse all folds (left, right or both) in VKRC, KRC and Fanuc Diff windows
VKRC and Fanuc Archive Diff: new "Interlocks & tech points" tab, fast text-only check after Compare
Checks collision requests, Makro20, releases/locks and station interlocks: removed, moved or changed interlock points
Checks interlock zones (taken later / released earlier) and technology points (spot, glue, process makros)
New-archive rule violations marked [new], [existing] or [resolved]; double-click opens the line; export to HTML, CSV, XLSX
Text comparison windows open faster (no unnecessary highlighting)

Point tables and point editors (several robot types)

New "Path (TCP)" submenu (VKRC, KRC, Fanuc): path length and estimated motion time of selected motions
Path tools: arc information, point deviation, approximation check, long segments, switch point check
Path tools: "Insert point on path at distance..." and export of the path to CSV; demo mode without licence
Points declared in .dat but unused shown in grey italics with a warning icon (KRC option, VKRC, Fanuc)
New motion point inserted after the whole neighbouring fold, not inside it (VKRC, KRC, Fanuc)
New motion point starts from the neighbouring motion with its tool/base or UF/UT instead of zeros
VKRC/Fanuc: closing the point editor of a new point without Apply fully undoes the insertion
VKRC/Fanuc point editors use the correct CAD model instead of dummy kinematics or another robot's model
VKRC/Fanuc "Cartesian distance" fixed for coordinates with different signs

3D view

New "Show TCP" option showing the real tool tip (Robot View plugins and VKRC, Fanuc, ABB point editors)
New look of the kinematic ("dummy") robot model for KUKA, Fanuc and ABB
Help of every Robot 3D View plugin opens its own documentation page

Validators

ANTLR validators (KRC, Fanuc, Yaskawa) write findings to an HTML report with a short summary instead of an oversized window
Summary and a clickable "Report saved" link in the message panel; warnings-only runs reported correctly
Fanuc and Yaskawa validators: new "Report warnings as well" option

Editor

Large files (more than 15000 lines) highlighted in portions with a progress dialog and "Stop highlighting"
Files open faster: highlighted once instead of twice
Syntax refresh runs once after typing stops, also after Ctrl+Z/Ctrl+Y; setting changes work without restart
Ctrl+hover underline covers the whole reference (e.g. job names with "-")
Syntax check dialog no longer shows a second "Ok" button
Editor stability fixes in KRC/VKRC/Fanuc (fold visibility, line numbers, undo/redo) after multi-line edits and comparison
Improved KRL, Yaskawa and Fanuc syntax parsers
General stability improvements from a code review

Export to ZIP archive

Export to ZIP archive for all robot types (menu <robot> > More), with remembered options and a result summary
KRC: open programs with their archive paths, Program folder, am.ini or whole archive; machine data only after confirmation
VFanuc: open *.LS programs, optionally *.TP, flat for USB stick or with backup structure
ABB: open modules in backup structure, optional program file (*.pgf) per task
Yaskawa: open *.JBI jobs, flat for loading from external memory or with backup structure
Safe writing: no half-written archive after an error, duplicate names detected
New toolbar button "Export to robot archive (ZIP)"

Menus and plugins

KRC, ABB and Yaskawa menus got a "More" submenu; "Plugins" moved to the main menu bar
Saved reports and generated files are clickable links in the plugins' message consoles

Documentation

New pages: Robot 3D View plugins, ANTLR validators, ABB Diff/Archive Diff, ZIP export, Path (TCP) tools, opening large files
Documentation for Robot Data Spy
Documentation Generator Pro (VKRC, ABB, Fanuc): how to solve a Word/Excel automation issue caused by security software

Changes in the version 6.6 (26.01.2026)

KUKA:

Improved robot VKRC Quick Info
Obtaining VKRC robot name after exporting ASZ project from PNIODriver configuration if empty

Fanuc:

Added robot Quick Info for Fanuc

Others:

Improved VKRC and Fanuc Diff plugins - button to open file from disk works again
Improved session management
Improved license management
Improved management of opening recent files and projects
Improved console logging messages

Changes in the version 6.5 (10.11.2025)

KUKA:

Added JS callback script for VKRC-2-TXT export
Fixed issue with saving commented VKRC BS command
Improved VKRC Diff plugin - added patience files comparison

Fanuc:

Added Fanuc KAREL native (without VW program structure and commands) editing to the editor (beta)
Improved Fanuc Diff plugin - added patience files comparison

Yaskawa:

Added 'Go to' file in Yaskawa viewer

Others:

Detecting UP call inside another UP and potential recursive UP call for VKRC and VFanuc
Improved recalculation of point coordinates after changing tool frame - Kuka and Fanuc
Improved showing of variable description tooltip
Fixed issue with extracting multiple ZIP files
Improved Compare Files plugin - added patience files comparison
Improved VKRC and Fanuc Archive Diff plugins - faster files comparison
Faster loading robots' projects from the last session

Changes in the version 6.4 (04.07.2025)

For Fanuc:

Improved Fanuc source parsing in viewer
Read Fanuc TCP_SPD_OUT table from config
Improved reading longtexts for Fanuc from SUMMARY.DG file
Added OPERAND_MAX_COUNT parameter in fanuc.limits.ini to define allowed number of operands in TC_ONLINE command
Added 'Define Sammelmerker' for VFanuc

For Others:

Improved searching text in robot project and directories
Improved VKRC, Fanuc, ABB Documentation Pro plugin for changes in ActiveX used for communication with Word.Application

Changes in the version 6.3 (28.12.2024)

For KUKA:

Improved VKRC Tech parsing for names with multiple spaces and dots
Improved VKRC Tech. The empty subgroup names are set to default value 'SubN'
Improved saving Makro.src
Improved saving Kuka files with servogun command
Improved robot stations' names for VKRC Quick Info and robot's documentation plugins
Improved commenting/uncommenting text in VKRC viewer
Improved numbering lines in VKRC viewer
Improved saving all types of VKRC makros
Improved checking reference to SPSLabel in VKRC viewer
Improved setting VKRC motion parameters on file loading
Multiple operand allwed in VKRC set bin/i command
Improved showing incomplete point data in VKRC point coordinates browser
Improved checking compatibility of selected VKRC TP version with file header
Improved VKRC Tech Updater plugin. Now the plugin can upgrade given tech command to higher version of VW user.

For Fanuc:

Improved Fanuc Archive Diff plugin - automatically unzipping english.zip file

For Others:

New button "New search" for dialog with search results
Improved session management
Improved loading long texts
Improved progress bar for VKRC, Fanuc and ABB documentation's plugins
Showing multiple long texts
Showing 'red flag' in long text widget if the loaded variable list is not synchronized with current VKRC or VFanuc editor
Improved search / replace panel
Improved copy & paste in VKRC and VFanuc viewers

Changes in the version 6.2 (9.07.2024)

Improved renumbering and cleaning VFanuc points
Set wider range for external axes in VKRC and Fanuc point editor
Removed bug for VKRC and Fanuc point editor when changing E1 linear axis value
Improved KRC point widget

Changes in the version 6.1 (7.05.2024)

For KUKA:

Fixed important bug for VKRC tech command. Editor recognized wrong TP version if the header file contains TP > 8.1.0 and TP < 8.3.0
Remove empty lines in the Kuka file header

Changes in the version 6.0 (26.03.2024)

For KUKA:

Added VKRC5 v.8.7 controller
Integrated WoV Script Runner to manually upgrade edited programs to ensure high compatibility with VKRC controller.
Learn more https://dramat.eu/doc/vkrc_manual_upgrade.html
Added editable VEXPERT fold for VKRC viewer
Automatically restores original text of VKRC motion command after inline changes.
Any changes to the parameters of a motion point are made only by the point editor.
Allowes inline point editing in VKRC viewer.
Some of the motion point parameters can be changed now directly in the editor if the suitable setting flag is selected.
To change the parameter value please select first the old value with mouse.
Shows VKRC PDF documentation for selected command on pressing F1 in SumatraPDF reader
User can comment instructions (single SPS instruction too) in VKRC programm for TPVW 8.6 and higher
Improved warning messages on loading langtexts from WVS project
Improved restoring VKRC file - loading DAT file correctly
Improved saving backup file
Improved generating TPVW version string in VKRC SRC and DAT files' headers according to selected TPVW in editor
Improved renumbering VKRC glue Schaltpunkt parameter. Add/modify comment above point.
Improved makrostep KRL parser
Improved VKRC tech editor
Improved VKRC point editor - set correct VB range
Improved importing VKRC TXT files and showing in VKRC viewer
Improved chaning tool/base for selected points in VKRC viewer

For Fanuc:

Calculates cartesian distance for joint positions in Fanuc points' coordinates widget
New pattern for Fanuc VW user parameter implemented. Now accepted numeric variables with the range e.g.:
N05 = "No.ValveTerminals":(1~4):'1'
Added new Fanuc command to the parser: SPOT, Sample Start, Sample End, GUN DETACH, more complex system variable
Reading lang texts from Fanuc SUMMARY.DG
Fanuc - parameterizing joining split command on file load.
Point command will be always joined on loading even if it was split in original file.
Improved Fanuc viewer block formatting
Improved reading & displaying Fanuc payload data
Improved Fanuc command 'PAYLOAD[1:C-ZANGE]' - now with description accepted
Improved geting variable for Fanuc tooltip shown in editor
Improved loading Fanuc long texts from CSV file
Improved reordering operands in Fanuc TC_ONLINE - works only for TC_ONLINE with simple AND logic
Improved reading Fanuc point UT and UF for 2,3,4,5 group

Others:

On drag & drop of file in Project Tree Widget opens robot project instead of opening file in text mode
Added action 'Copy as plain text & format' text in viewer.
The copied text can be formatted through JavaScript callback. The formatted text is copied to the clipboard.
Added 'Next' and 'Previous' buttons to jump to the point in VKRC and Fanuc point editors
Improved Windows installer
Improved saving app settings in system register.
Editor can be run now without '-i' option for multi instances except custom VW distribution.
Improved reloading all files function - now reload even when file is not modified
Improved cutting text in VKRC and Fanuc viewers
Improved commenting text in VKRC and Fanuc viewers
Improved undo/redo in VKRC and Fanuc viewers
Improved calling PowerShell callback script for VKRC, Fanuc, ABB and Yaskawa
Improved visible debugging console output
Improved code highlighting

Changes in the version 5.9 (1.06.2023)

For Yaskawa:

Saving Yaskawa JBI files
Checking INFORM syntax
New plugins YaskawaAntlrValidator to bulk validating of a large number of files
Added syntax highlighting for Yaskawa JBI files
Added Yaskawa settings panel to the global settings

For KUKA:

New plugin VKRC Data Integrity
VKRCDocGeneratorPro - added new robot attribute 'used_coll' to insert table with used collisions in UPs and Folgen
Improved VKRC tech editor for 'num1=Zange=Nr1' - value with two = characters
Improved VKRC Tech Updater plugin - shows X,Y,Z values for process point and the first comment text above point
Improved showing VKRC inconsistent point data warning
Improved VKRC point editor for E1 value
Allows VB real value for VKRC motion point
Allows binary value for Kuka S and T E6POS, T 19 corresponds to T 'B010011'
Asks for VKRC programm comment on file save if empty
Shows VKRC point's S and T values in coordinates' widget
Some of Kuka E6POS structure's parameters in DAT file can be omited. For example S,T,E1. But such point cannot be properly edited or displayed in 3D viewer.
Values X,Y,Z,A,B,C are still mandatory for E6POS.

For Fanuc:

New plugins FanucAntlrValidator to bulk validating of a large number of files
FanucDocGeneratorPro - added new robot attribute 'used_coll' to insert table with used collisions in UPs and Folgen
Improved Fanuc Tech Updater plugin - shows X,Y,Z values for process point and the first comment text above point
Improved Fanuc parser
Improved showing points' coordinate widget in Fanuc SUCHL program
Improved Fanuc tech command for KS28 - additional 3 parameters in the command
Improved SKIP condition for Fanuc motion point
Added change tool and base action for all selected points to Fanuc menu
Added new file type SUCHL to Fanuc viewer
New documentation for Fanuc Antlr Validator and Yaskawa Antlr Validator plugins
Reading Fanuc VW user DT file in new format for KS28
Reads long texts to the Long Text widget from Fanuc csv file

Others:

Improved showing missing licenses warning
Improved searching files recursively - added progress dialog
Improved handling PDF in certain plugins
Improved sessions' manager dialog
Improved pasting text in Fanuc and VKRC viewers
Improved capturing robot image in VKRC, Fanuc, ABB point's editors
Included lightweight SumatraPDF reader to the installer
Shows Fanuc/Yaskawa PDF documentation for selected command on pressing F1 in SumatraPDF reader
Single F6 shortcut to check full syntax in current file for all viewer types
New attribute 'wildcard' for building robot project tree
Added action to recent projects - Open All
Added 'Show viewer settings' action in every viewer context menu

Changes in the version 5.8 (20.01.2023)

For KUKA:

Shows indicator in the project file comment if VKRC Folge is added to the cell.src and is runnable
VKRC Documentation Pro plugin has a new attribute for reference table to exclude certain longtexts
For OLP Process Simulate compatibility do not add space at the beginning of comment with location name.
Writes comment --$$ location_name -- instead of -- $$ location_name -- in the first point's subfold.
Displays tool name for tool load data in CTB tree
Improved operands' condition for (SPS)Label
Improved VKRC Tech editor
Improved VKRC Robot Check plugin, check tool 32 and base 32
Reads long texts from WVS project if the modification date is newer as current set and used ASZ project

For Fanuc:

New VFanuc code parser
Editabled Fanuc makrostp, motn, makrosp files
New plugin Fanuc Archive Diff compares robot archives
FanucDiff and FanucArchiveDiff works with Fanuc makrostp, motn, makrosp files
Improved long text variables sorting for VFanuc Documentation Pro plugin
Shows additional information for Fanuc Tech validation on debug console
Improved Fanuc checking mixed logic
Added GO as allowed operand to Fanuc PS command
New documentation for Fanuc tech command
Reads tool and base names from Fanuc longtext.csv
Sets default value for an empty Fanuc tech parameter if an empty value is not acceptable
Improved pasting text into Fanuc program
Configurable comment character ! or // for Fanuc
If Fanuc command contains error, the user can configure if the command should be commented or left without changes on saving file
Improved index for PR[...] Fanuc, PR[ (GPk:) i ] and PR[ (GPk:) i , j ] available
Improved Fanuc checking mixed logic
Improved copying and pasting Fanuc points with indirect indexes
Reads and shows Fanuc points with UF:F and UT:F what means that the coordinate system of the currently selected tool coordinate system number is used
Improved processing Fanuc motion points with direct/indirect indexes

Others:

Faster showing program in VKRC and VFanuc viewer
Faster loading long text for Kuka and Fanuc
Prints on debug console all process calls in background
Adjusted width of find text dialog
Improved zooming text in the viewer
Improved Windows installer
Improved sent event processing
Improved syntax highlighting for files with incorrect VASS file name
Improved printing longtexts for VKRC and Fanuc Documentation Pro plugins. User configurable variables' range
Improved searching text in current robot project
Improved showing current file name and session name in app title bar

Changes in the version 5.7 (5.05.2022)

For KUKA:

New plugin VKRC Archive Diff compares robot archives
Improved checking default value for invisible (inactive) parameters in VKRC technology commands
Shows tool and base number in VKRC coordinates' widget

For Fanuc:

Displays cursor tooltip with Fanuc position register from posreg.va

Others:

Unzipping robot archives with 7za - keeps the original creation and modification date of the file
Improved VKRC, VFanuc, PlainText Diff plugins
Improved reloading files in viewer
Improved VKRC and Fanuc point editor - do not restore 3D preview after crash

Changes in the version 5.6 (23.01.2022)

For KUKA:

Detecting Kuka *.asz active project
Opening VKRCDiag zip files and showing it as a VKRC robot project
Check and compare VKRC TPVW version in header file with current selected in editor on file saving
Position singularity check on selection in KRC and VKRC point coordinates' widget
New VKRC documentation template for AUDI projects
New 'date' tag for VKRC, Fanuc and ABB Documentation Pro plugins to insert current date
New 'cell' tag for VKRC Documentation Pro plugin to insert structure of programs
Improved VKRC Tech Updater plugin
Improved inserting VKRC Schritt and Trigger

For ABB:

Opening ABB TAR archive and showing it as a ABB robot project
ABB Documentation Pro plugin can generate documentation from ABB TAR robot archive
Improved ABB semantic check - shows more detailed error message

For Fanuc:

New plugin Fanuc Tech Updater
Reading long texts from Fanuc CSV file
Improved Fanuc tech editor
Improved VFanuc Simple Viewer - reading multiple line commands
Improved Fanuc Doc Generator plugin for new CSV long text file format

Others:

Used robot name for output directory for unziped robot archive (optional)
Improved IK for Kuka, Fanuc and ABB
Improved restoring last session
Improved showing profinet tree
Improved buildng tree for workspace directories' structure
Improved Windows installer

Changes in the version 5.5 (18.08.2021)

VKRC Tech widget is not blinking any more when saving program
VFanuc Tech widget is not blinking any more when saving program
Added comment pattern to the available Fanuc APPL commands and 'repeatable' attribute for the command
Added "Download CAD library" action to the Help menu
Improved splitting and saving Fanuc comment text
Improved loading and saving APPL section in Fanuc program
Improved setting active groups for Fanuc new file
Improved 'copy and paste' of commands in VKRC and VFanuc viewers, now the user can copy and paste data between few instances of DReS editor

Changes in the version 5.4.3 (29.07.2021)

Added configurable default value for invisible (inactive) parameters in VKRC technology commands
Checking if the value of invisible (inactive) parameter in VKRC tech command is equal with the default value

Changes in the version 5.4.1 (27.07.2021)

Important update for VKRC tech editor

Changes in the version 5.4 (20.07.2021)

New plugin VKRC Tech Updater
Added "Reload" option to the editor context menu
Added "Remove/add variable long text from/to viewer on opening/saving" to the Fanuc viewer's context menu
Shows selected text length in editor status bar
Updated VKRC and VFanuc Calibration plugins - selecting reference point optimized
Opening VKRC files is not indicating automatically file changes any more
If the cursor moves over vw user file name in the VKRC reference list file the corresponding file can be opened by mouse click
Added list of open source libraries and copyrights
New image rotation angle attribute in VKRC, VFanuc and ABB Documentation Generator Pro plugin
Improved VKRC tech editor
Fixed 'Find' and 'Find and replace' actions in context menu of plain text editor
Fixed crash with syntax highlighting
Fixed crash on showing tooltip in VKRC viewer when VW user has been imported
Fixed copy and paste different mime data to the clipboard

Changes in the version 5.3 (5.06.2021)

3D visualization of ABB arm position in point editor
Improved IK for ABB with linear unit axis
Changed items' indentation in project tree view
Displays more information about Fanuc robot
New item sorting and selecting options in context menu for ABB Rename Multi-Point plugin
Configurable files and directories of Kuka, ABB and Fanuc robot archive to show in project tree
Improved importing Fanuc VW user
Update VFanuc 30iB+ tech command text on language version change in tech command editor and through option in editor context menu
New option "Deactivate robot" in the project tree context menu for forcing saving tech command with the selected VW user version instead of current robot project VW user (only for Fanuc)
New option "Open file for all robots" in the project tree context menu
Shows folded code in a tooltip
Select robot project after file selection changed
Fixed setting the new UT for all Fanuc point's groups
New option 'Do not inherit' for VKRC and VFanuc 'Add / remove FB PSPS'
Enabled undo/redo for VFanuc document (experimental)
Fixed 'Move up/down' selected text in VFanuc document
Improved ABB Documentation Generator Pro, displays robot collisions, releases and FM's

Changes in the version 5.2 (10.04.2021)

New Plugin ABB Documentation Generator Pro
New Plugin ABB Rename Multi-Point
Semantic check for ABB programs read more
Forward and inverse kinematics for ABB 6 DOF robot robtarget and jointtarget
Converts quaternions to rotation angles for ABB point widget
Displays all available IK solutions for ABB robtarget
Displays more information about ABB robot
Displays real ABB robot image - requires ABB Robot Studio to be installed
Displays tool and base data for ABB robot
Displays tooltip with basic information about robot in project view
Displays ABB point editor on jointtarget or robtarget or motion command double click
Displays procedure information tooltip in ABB viewer for predefined procedures
Indent ABB program
Joint/split ABB multiline commands
Define ABB robtarget/jointtarget from direct position in the motion command
Added progress bar for VKRC and VFanuc Documentation Generator Pro plugin
Added command autocompleter for ABB
Added template menu and combobox for ABB
Added VFanuc template menu
Undo / redo text changes in ABB viewer
New ABB code highlighting styles
New VKRC code highlighting styles to mark invalid values for VE and SPSTrig
New Fanuc code highlighting styles to mark invalid values for point termination and TB
New context menu GOTO M or F assignment in VFanuc viewer
New option to copy and assign multiple coordinates in VKRC point list widget
Improved VKRC template menu
Improved VKRC point editor
Improved copying and assignment point coordinates in VKRC point list widget
Improved creating temporary file for VKRC & VFanuc Documentation Generator Pro
Improved Fanuc point editor, added 3D robot preview
Updated documentation

Changes in the version 5.1 (10.01.2021)

Multiline find and replace text
PowerShell callback script for VKRC, Fanuc and ABB read more
Find all global/local KRL variables for the current robot project in all DAT files
Adding custom files and directories to the VKRC project tree from robot archive directory
Improved KRL code parser
Improved importing Kuka VW user
Improved VKRC Documentation Pro plugin - inserts variable translation text for given language from WVS project

Changes in the version 5.0 (29.09.2020)

New plugin ABB WPS - read more
New plugin VFanuc WPS - read more
Improved importing VFanuc VW user for 30iB+ multiple files
Improved VFanuc VW User tech editor
Improved renumbering and cleaning VFanuc points
Improved VFanuc APPL validation
Improved 'Ok & jump' to the next tech command for VKRC and VFanuc viewer
Acceptable scientific notation for VFanuc point coordinates
Fixed parser syntax for VKRC LIN SUCHEN
Fixed 'Save selected' files on closing editor

Changes in the version 4.9 (20.07.2020)

Added VKRC controller v.8.5
Optional removing variable long text from the command in Fanuc viewer on file opening
Optional adding variable long text to the Fanuc viewer on file saving
Calculating forward kinematics for Fanuc points
Shows Fanuc robot preview image on the robot info tab
Set allowed length of Fanuc variable longtext - if exceeds mark item with red background and tooltip
Improved longtext highlighting
Improved text and points highlighting for VKRCDiff and VFanucDiff
Improved Fanuc variable description shown in statusbar
Improved simplifying TC_ONLINE for Fanuc
Improved recognition of file type for auto highlighting style
Improved A33 plan reader

Changes in the version 4.8 (28.04.2020)

Process Simulate PSZ file viewer read more
KRC-2-VKRC path converter plugin
Opens KRC archive, shows file in the KRC viewer with syntax highlighting
Checks KRL syntax (limited)
3D visualization of Kuka joints position for KRC programs
Improved calculation of VKRC inverse kinematic for robot with linear axis
Improved VKRC SmarPad
Improved VKRC tech widget (escape tech version name with special QRegExp characters)
Improved VKRC Long Text plugin - search for EA's files (*.xml *.csv) recursively, load VASS6 long text templates
Improved VKRC point editor - linear axis visualization
Improved VKRC Robot View plugin
Shows tooltip with VW user tech command for VKRC program
Faster opening of multiple VKRC robot archive
Shows debug output on the program console
Sets the last active file as current file after start
Tile windows horizontally and vertically
Drag & drop a file for VKRCDiff and VFanucDiff plugins

Changes in the version 4.7 (4.01.2020)

Enabled undo/redo for VKRC viewer (experimental) read more
User configurable VKRC variables' limits in templates/kuka.limits.ini file
Improved importing Kuka VW user
Improved VKRC2TXT
Added custom comment box in the VKRCDiff window, accessible in the context menu over document
Shows VKRC process parameter value in tooltip and variable description
Implemented VW User for VFanuc 30iB+
Add / remove TC_ONLINE for VFanuc program
Check VFanuc program comment's length
Saving VFanuc point with register index R[]
Sorting VFanuc point options according to defined rules
New VFanuc code highlighting style
Improved VFanuc parser, check L and C point syntax
New actions in Tools menu for text manipulation: uppercase, lowercase and capitalize
Additional highlighting styles for longtext widget, accessible in the context menu
Improved PlainTextDiff, VKRCDiff and VFanucDiff
Improved text search
Printing highlighted text
Updates long text array on variable name/description change

Changes in the version 4.6 (7.08.2019)

VKRC Calibration plugin
Fanuc Calibration plugin
Copy selected points in the VKRC coordinates' widget as plain text to the clipboard
Added change tool and base action for all selected points to VKRC menu
New section APPL in VFanuc viewer
Add APPL commands in the VFanuc -> Commands -> APPL menu
Set active groups for current VFanuc program
Export long texts from selected VFanuc files
Add / remove variable description in selected VFanuc files
Selection box with VFanuc vw user in toolbar
Template combobox for VFanuc viewer
Edit and jump to the next VFanuc tech fold
Added command autocompleter for VFanuc viewer
Import VFanuc vw user from argname.dt file
Set custom background for long text variables
Improved VKRC and VFanuc documentation pro plugins - new 'comment' attribute for filelist
Ctrl+R shortcut for Windows to find & replace
Ctrl+Shift+W shortcut to close all files
Disable warning for FB PSPS with + sign
Improved VKRC templates
Improved VFanuc syntax parser
Improved GOTO Label / Label / GOTO SPSLabel / SPSLabel in VKRC viewer

Changes in the version 4.5 (13.6.2019)

VKRC E-Plan reader plugin
Draw box with debug message in the editor
Improved restoring last session
Show/hide quick information on workspace tab for robot projects
Drag & drop directory on the file and project view indicates search for all zip files recursively and open all valid robots' archives
Scalable image size for recursiveimg tag in all VKRC and VFanuc documentation plugins
Close all messages for interrupted HASP session with one button
Fixed bug with LIN SUCHEN point type in VKRC point editor

Changes in the version 4.4 (16.04.2019)

Save makrostep[N].src and makrosps[N].src
Add padding zero characters to the UP and Makro call for VFanuc programs
Split VFanuc comment into multiple lines if text length exceeds given number of characters
Improved SmartPad plugin and communication with RF::RobSim from EKS InTec GmbH
Exportable / restorable highlighting styles
New hihglighting style for tech and servozange, EIN and AUS
Improved VKRC viewer
Improved importing VW User
Improved VKRC Robot View plugin - new button to add new point to the path and update program in the editor
Improved VFanuc parser

Changes in the version 4.3 (19.02.2019)

New tab 'Workspace' shows tree with all files in the workspace directory sorted by stations' names
Added VW user combo box to the editor toolbar
Improved importing VW User - new option to compare ini files
Draggable tabs on the left tabs' panel
Improved Plain Text Diff - check in binary or text mode

Changes in the version 4.1 (14.01.2019)

Open Kuka WVS project - accessible files and long text (under Windows only, requires WorkVisual)
Open Kuka ASZ project - accessible files (under Windows only, requires WorkVisual)
Improved VKRC Diff, VFanuc Diff, Plain Text Diff
VKRC Mount Share requires none license any more
Set path for WorkVisual executable file from Windows registry

Changes in the version 4.0 (19.12.2018)

Added SERVOZANGE command for VKRC >= 8.3
New PlainTextDiff plugin available if VKRCDiff license present
Show tech parameters only instead of readable text in the VKRC viewer
Making backup file while importing already existing VW user version
Split VKRC comment into multiple lines if text length exceeds given number of characters
Added 'Copy full path' and 'Copy file name' actions to the file tree context menu
Added 'Save copy of file' action to the file menu and file tree context menu
Close all robot projects when changing session
Automatically adds code viewer to the backup file
Compare VKRC file with the backup file
Restoring file from the backup
Create ABB file backup on save
Improved VKRC tech editor
Improved Fanuc Documentation Pro plugin, new robot attribute: ip, applications
Improved GOTO Label command, acceptable multi-operands for Kuka system >= 8.3
Improved override cursor
Improved points' coordinate widget
Improved VKRC Documentation Pro plugin