Tecnomatix 2402

Release Notes
Unpublished work. © 2024 Siemens

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ii Tecnomatix 2402 Release Notes

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Contents
New Release Updates Delivery..............................................................1-1

Tecnomatix 2402 New License.............................................................. 2-1

Dark theme............................................................................................ 3-1

Object Viewer........................................................................................ 4-1

New Robotic Automatic Path Planner....................................................5-1

Performance Improvements..................................................................6-1

Robot Library......................................................................................... 7-1

Robot Center..........................................................................................8-1

Robotic Enhancements..........................................................................9-1

Size Culling.......................................................................................... 10-1

OLP 2402..............................................................................................11-1

Process Simulate on Teamcenter enhancements................................12-1

Define Types for Compound Kinematic Equipment....................................... 12-1
Check-in study on exit....................................................................................12-2
Process Simulate on Teamcenter data authoring validation......................... 12-3
Teamcenter Mapping Configuration Changes............................................... 12-8

Removal of Process Simulate Viewer and Process Simulate Shopfloor13-1

Human 2402 Enhancements............................................................... 14-1

What's New in .NET API 2402...............................................................15-1

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1. New Release Updates Delivery
With version 2402 Tecnomatix launches a new process of delivering updates on top of main releases.
Instead of releasing a separate hot fix for each problem, from version 2402 Siemens delivers the Release
Updates on a monthly basis for the first year.

Each release update contains multiple fixes and improvements for the main release. In addition to the new
content, each update includes the content of all previous updates.

Process Simulate provides a notification that release updates are available for installation.

These are highlights of the new process:

When opening Process Simulate users receive a notification of the availability of a new release update. This
allows them to download and install the release update immediately from Siemens Support Center.

It is also possible to check release update availability through a dedicated command.

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 Administrators can turn off the release update notification from Tecnomatix Doctor.

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 Release Updates are available from Siemens Support Center for manual download and installation.

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2. Tecnomatix 2402 New License
A new license file is required for running Tecnomatix version 2402. It is necessary to reconfigure
Tecnomatix applications to use the updated license.

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3. Dark theme
Process Simulate now supports switching between dark and light themes.

A Themes setting has been added to the Appearance Tab in the Options dialog box. You can use the
Themes setting to select the light (default) or dark UI theme.

To better support the use of the dark theme, many icons in most dialog boxes were redesigned. The
renewed icons also appear in the light theme user interface.

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4. Object Viewer
In this version the Object, Operation and Logical Collection trees were replaced with new trees providing
new capabilities:
• Object Viewer—a generic viewer that can load a user-selected scope of any object types
• Objects—contains most of the object types in the study
• Operations—contains all the operations in the study
• Logical Collections—contains the logical collections in the study

From the Viewers group of the Home ribbon you can open several viewers that are designed to load
specific object types:

All trees are based on common infrastructure which creates standardization in Process Simulate.

The new Object Viewer infrastructure provides greater flexibility and more robust capabilities, and
replaces the old Object, Operation, and Logical Collection trees.

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 The Object Viewer provides a large number of advantages, for example:

• Parallel multiple viewers

• Activate/deactivate sync
• Activate/deactivate auto-expand
• Preserve sub-hierarchy display state
• Column customization
• In-column editing
• Entire line selection with hover indication
• Drag and drop among viewers
• Multiple root tree
• Supports all objects including logical objects and collections

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5. New Robotic Automatic Path Planner
The Robotic Automatic Path Planner is now officially released. It offers you a new way to do path
planning with robotic operations.

Note
For operations with no robots assigned, such as object flow, manual welding, and gun-only operations
(and also load assist operations), use the Assembly Automatic Path Planner. Note that you can still use
the previous Automatic Path Planner (APP) command, Legacy Automatic Path Planner that works both
for assembly and robotic operations. By default, it is not on the ribbon.

To start using the Robotic Automatic Path Planner, click the new Open Robotic Automatic Path Planner
icon in the Path Editor, or use the Open Robotic Automatic Path Planner command from the ribbon.

Robotic Automatic Path Planner offers the Interlock solving algorithm option to synchronize robots
associated with operations nested in the compound operation and prevent collisions.

Officially released this version, the Robotic Automatic Path Planner has additional features compared to
the beta version, with better handling for:

• Self-collisions—you can allow the Automatic Path Planner to automatically handle the collisions
between the robot and the gun (default behavior of APP) or you can use the active collision sets only.
• Smart gun tips collision detection—you can choose to always run Automatic Path Planner with smart
gun tips collision detection on, even if the option is not enabled in the Process Simulate settings. This
allows you to benefit from the safety of the feature without any performance impact when running the
simulation with collision detection on.

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 You can modify these options in the General Parameters section of the Robotic Automatic Path Planner
settings.

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6. Performance Improvements
The following commands underwent significant performance improvements in version 2402:

• Enhanced responsiveness for Undo and Redo of complex actions

• Load Study—faster load time of large data in the environment of Process Simulate Standalone (eMS
only)
• Robot Jog offers faster loading time and robot manipulation performance is also improved when
moving joints and changing the frame of reference
• Faster loading of operations in Sequence Editor and faster loading and clearing of data
• Improved display speed for Zoom to Fit using large scale data
• Enhanced speed and responsiveness when using Placement Manipulator on object locations
• Objects selection—accelerated execution of selection processes working with large numbers of objects
• Performance of Deleting many objects is greatly improved
• Snapshot creation is faster and more efficient
• Multi-sections—optimized performance when working with complex and large-scale operations

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7. Robot Library
You can now download robots from the Robot Library accessible from Process Simulate and insert them
in your study. The Robot Library contains a large selection of robots from a variety of vendors, and the
selection is continually updated. You can use filtering to streamline robot selection.

The Robot Library can also be accessed online here.

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8. Robot Center
Several important enhancements were added to Robot Center functionality this version:

• Setup commands for additional controllers are supported: Kawasaki and Yaskawa.
• Modules and parallel tasks are displayed in different branches.
• All functionalities available from the Robot Modules dialog box can now be performed from the Robot
Center.
• The Refresh button is added, enabling you to manually update the tree with modifications that are not
automatically refreshed in the trees and Graphic Viewer.

Note
This button is temporary and will be removed when all refreshing events are supported in subsequent
versions.

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9. Robotic Enhancements

Conveyor Improvements
• Detach Part / Skid from Conveyor on Stopper—when a part or skid moving on a conveyor stops by
hitting a stopper type control point, Process Simulate internally marks it as a pickable part. Now other
devices attempting to grip it can do so without the conveyor attempting to reattach it to itself. For
example, at conveyor intersections, parts can be grabbed by the next conveyor smoothly and moved in
another direction.
• Part and skid stacking on separate conveyors (ER 10309848 / ER 9403471)—in this version, when
several parts (or skids) flow from one conveyor to the next and collide with each other while on the
different conveyors, they stack up one after the other in the same way they do when the parts are on
the same conveyor.

• The conveyor application now offers simulation performance improvements reaching 10% or better.

Additional Enhancements
• Move location to TCPF (ER 8438719) is now a standalone command that you can add to the ribbon
from the customization menu. Because it is not contained in the Robot Jog dialog box, you can create

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 hot key shortcuts for it and use it in conjunction with other tools such as Path Editor without needing
to open Robot Jog. The Move location to TCPF command enables you to move a specified location to
the Tool Center-Point Frame (TCPF) of the assigned robot. You select a location and run the command,
which is available from the Customize dialog box.
• Robot packages that you clone in the eMServer Navigation Tree or with a Teamcenter planning
application now load smoothly to Process Simulate, including the robot's setup information (for
example, the robot's frame).

Note
This is fully implemented only when the cloned robot's information is created (or refreshed) in
Tecnomatix version 2402 EAP (Early Adopter Program) or later.

• Safety Robots Manager—support was added for Kawasaki Cubic-S. A new Operations check report is
available (in Beta version).

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10. Size Culling

The Enable automatic usage of cull parts option improves graphic performance dynamically by hiding
smaller objects from the display. When you zoom in, the system recalculates the data, and previously
hidden objects may become visible. Conversely, zooming out may hide additional objects, as determined
by the percentage value.

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11. OLP 2402
• Default controller
◦ ER10750005—support for the following new dynamic parameters:
◊ Object Frame.X, Object Frame.Y, Object Frame.Z, Object Frame.RX, Object Frame.RY, Object
Frame.RZ
◊ Tool Frame.X, Tool Frame.Y, Tool Frame.Z, Tool Frame.RX, Tool Frame.RY, Tool Frame.RZ
◦ ER10750007—enhancements in Default Controller:
◊ Ability to download with a different program template tag format ({Body} instead of <Body>)

◊ Ability to select .xml as target program file in the Download dialog box
• Fanuc
◦ ER10736760—support partial EmergencyStop reset (do not reset simulation variables such as
registers after an Emergency Stop)
◦ Robot Setup
◊ ER10777270—wherever data is read from SYSTEM.VA, also attempt to read from SYSVARS.VA with
least priority
◦ Simulation
◊ ER10790511—support numerical register values in the "JMP LBL" command
• Kawasaki
◦ ER10734662—support motion to HOME Pose:
◊ Add Import Home Poses facility in Robot Setup
◊ Support the following instructions in simulation:
‒ SETHOME <accuracy>, HERE
‒ SET2HOME <accuracy>, HERE
◦ Support for ACCEL and DECEL commands
◊ ACCEL <acceleration> <ALWAYS>
◊ DECEL <deceleration> <ALWAYS>
<acceleration> and <deceleration> are in % from 0.01 to 100

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 <ALWAYS> is optional. If used, the command is applied to all subsequent motions. If not, the
command is applied to the next motion only.
• KUKA
◦ Simulation
◊ ER9928267—support device names with spaces in simulation keywords such as ${ActiveGun},
${Gun[i]}, ${ActiveGripper}...
◊ ER10513297—support Motion type SPTP_AXIS
◦ ER10781681—support new v8.3 C_PTP controller version, same as v8.3 while still supporting C_PTP
zones for PTP motions
• NACHI
◦ Simulation
◊ ER10851935—servo weld compensation offset direction is changed from +Z to -Z for Remote TCP
configuration (now, same direction as in Mounted Tool configuration)
◊ ER10746402—adjust J6 turn to minimize J6 motion when running through servo gun approach
and retract motions
◊ Support servo weld mop motion in MOP
• STAUBLI
◦ ER10835864:
◊ add controller version choice between CS8 and CS9
◊ adjust motion line instruction to match the syntax from the real controller
moveL (via1,t1,Mdesc_via1) --> movel(via1,t1,Mdesc_via1)
◊ when controller version is set to CS8, check the generate program name length and abort
download if the name exceeds 15 characters
• Yaskawa
◦ Simulation
◊ ER10529785—support new MOVC simulation sequence via new CREATE_MOTION RRS service (this
feature requires the new RCS release)
◊ ER8678694—support SDA/SIA 7-axis robots
◦ Robot Setup
◊ ER10735068—in Settings, add Download option to remove/comment # simulation commands
• New Chinese OLPs—SIASUN, ESTUN and EFORT robots now supported

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 Define Types for Compound Kinematic Equipment

12. Process Simulate on Teamcenter

enhancements
Define Types for Compound Kinematic Equipment
You can define dedicated resource types using Tecnomatix Doctor mapping configuration to enable you to
create new Compound Kinematic Equipment (for example, robot assemblies, fixtures and other custom
tools and fixtures in Process Simulate on Teamcenter).

The image below illustrates how to define the Fixture Assembly Root (Mfg0MEFixtureRootRevision) as a
compound Kinematics Equipment using the Tecnomatix Doctor mapping configuration.

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Check-in study on exit

Note
The system still supports Compound Kinematic Equipment created in Teamcenter from non-workarea
types regardless of these mapping file definitions.

Check-in study on exit

When you close Process Simulate on Teamcenter or unload a study, if the study is checked out by the
current user, now a message displays to remind the user to check in the study contents. You can block this
message from displaying from the Teamcenter tab in the Options dialog box.

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 Process Simulate on Teamcenter data authoring validation

Process Simulate on Teamcenter data authoring validation

To ensure that data created by the simulation engineer is successfully saved to Teamcenter, it is important
to validate that the modified data complies with the server logic. To achieve this, enhancements were
introduced in this version.

Process Simulate now fully applies the server configuration of permitted types (TcAllowedChildTypes) for
both resource structure and process structure authoring. Process Simulate ensures that all commands or
actions that impact the hierarchy of either the process structure or the resource structure follow these
configurations. It applies to both adding an object below the selected process or resource and to assigning
a resource, MFG, or part to an operation.

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Process Simulate on Teamcenter data authoring validation

In addition, two new options were added to the Teamcenter Settings in Tecnomatix Doctor to further
enforce server restrictions:

• Enforce Object Checkout (Beta)—When a number of users (of Process Simulate or other applications)
work on the same project and have an overlapping data scope, it is important to ensure there is only a
single author at one time. In this version, you can configure Process Simulate so that a user can modify
objects only if they are checked out by that user.

• Validate write access (Beta)—activate this option to ensure users can modify only objects that they
are authorized to change in order to ensure the server can be updated with these changes. Objects that
users cannot modify are marked as read-only because they are released, or are checked out by another
user, or privileges are insufficient.
When the access state of a workarea (compound-resource) or a process or operation is read-only or
checked out by others, any command or action that modifies those objects or the structure below is
deactivated.

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 Process Simulate on Teamcenter data authoring validation

This applies to move/copy-paste/delete actions as well as to other commands that add or modify objects
in resource and process structures, for example New Object, New Human, Move Weld Location,
Modify Operation Properties. The read-only state of the object may be due to its released status, lack
of permissions, site ownership, or being checked out by others.
To ensure successful update to Teamcenter, activating the Validate write access option makes sure that
users can only modify objects that they are authorized to change.

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Process Simulate on Teamcenter data authoring validation

Note
• This capability applies to both Process Simulate on Teamcenter and Process Simulate on Teamcenter
Standalone (the state of the objects in the study is according to their state at the time they were
loaded to Process Simulate).
• New capabilities do not fully apply to previously saved psz-tc files.

New overlays and tooltips to indicate authoring access status

In version 2402 the Object and Operation viewers now provide clear indications about the access state of
objects. The following overlay icons may appear next to resources and processes:

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 Process Simulate on Teamcenter data authoring validation

Locked

Checked out by current user

Checked out by someone else

When a command is inactive due to the resource or process being locked, a tooltip displays explaining the
root cause.

Enforce Object Checkout and Validate write access options do not apply to authoring resource instances
(resource occurrence information) such as position, global mount and attach, robot setup.

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Teamcenter Mapping Configuration Changes

Note
This is a Beta version and the improved capability does not yet fully apply to those commands that
manipulate weld/via locations—these are still pending.

Teamcenter Mapping Configuration Changes

In this version some elements no longer in use were removed from the schema of the mapping file. You
must upgrade existing mapping files in order to successfully work with version 2402 of Process Simulate.
You can accomplish this easily by opening the mapping file schema one time in Tecnomatix Doctor.

A message displays with the option to upgrade the file.

Clicking Yes updates the mapping file with the latest changes.

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13. Removal of Process Simulate Viewer and
Process Simulate Shopfloor
Starting in version 2402, Tecnomatix no longer offers the Process Simulate Viewer and Process Simulate
Shopfloor platforms.

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14. Human 2402 Enhancements
Posture Monitor: Real time Figure Highlighting

The Posture Monitor is a simple yet powerful way to assess ergonomic compliance in real time. It enables
you to quickly identify if task demands are within recommended limits. Numeric values for each joint
are presented in the Posture Monitor dialog box, and now for version 2402, postural warnings are
highlighted directly on the human in your scene. Colored spheres display on individual joints when they
fall outside of the preferred posture ranges.

Human postures can be monitored in real time with the Posture Monitor enabling you to avoid
uncertainty when evaluating human postures by turning on real time figure highlighting for continuous
feedback about the tasks being performed.

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 Force Solver: Enhanced Analysis Focus

New options have been included in the Force Solver, allowing you to tailor results for each scenario. If an
analysis pertains to the upper body only, you can now exclude portions of the lower body from an analysis.
Optionally, when assessing the strength demands of a task, you can remove:
• Ankles
• Ankles and knees
• Ankles, knees, and hips

This supports focused analysis results and avoids confusion when sharing findings with others.

Task Simulation Builder

The Task Simulation Builder (TSB) now supports creating a custom motion library, which is a powerful
utility for building realistic simulations. You can record real human movements and organize them into
categories for later viewing and inclusion in a simulation. This new feature can save you time during
simulation creation and improves the realism of your simulations by inserting motions captured from real
humans.

You can create library entries in several ways, including recording motions from a motion capture tool or
whole body virtual reality tracking session, or by recording portions of an existing simulation. You can add
or remove library contents, and libraries can be shared among colleagues for mutual benefit.

When you create a new simulation with TSB, you can insert motions from the library. This is especially
valuable when you need to include a common task motion in a new simulation, avoiding re-work and

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 enhancing analysis consistency. Basic editing options are also available to fine tune the motion to new
scenarios.

Additionally, the motion library framework can serve as a valuable resource when you populate it with
recordings of typical operator motions. Such a repository can serve as a reference for how operators
execute specific actions, helping to guide simulation authoring.

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15. What's New in .NET API 2402
Ui Controls
• The TxPopupWindow class is added. The class represents the WPF Window without borders. The new
window behaves as a popup but also has the capabilities of the WPF Window class.
• The TxScaling class exposes the new ScaleByDPI method. The method returns a value scaled according
to current System DPI.

Path Planning
• The ITxPathPlanningContext interface has two new methods, OperationRecorder and
SequenceRecorder, which return a recorder (ItxPathPlanningOperationRecorder) that can save and
restore the state of an operation or a compound operation respectively, typically before and after a
ITxPathPlanningCalculator.Run call.
• The ITxPathPlanningOperationParameters interface exposes the new
ShouldHandleSelfCollisionsAutomatically property allowing to specify whether collisions between the
robot and its mounted parts should be automatically handled or if the active collision sets should be
strictly considered.
• The ITxPathPlanningOperationParameters interface exposes the new
SmartGunTipsCollisionDetectionMode property allowing to specify whether Smart Guntip collision
detection mode should be forced during calculations even if deactivated on the Process Simulate level
(the current defined range is used if forced).
• The ItxPathPlanningSmartPlanningQuery interface exposes the new
ShouldOnlyInsertJointMotionLocations property allowing to specify whether automatically inserted
via locations should use the motion type of the next fixed location or if only joint motion via locations
should be inserted.
• The ItxPathPlanningOperationCollisionCheckingQueryResult interface exposes the new
IsCollisionCheckComplete read-only property allowing to know if the entire operation has been tested
for collisions. Usually false if the entire operation cannot be properly simulated.
• The ITxPathPlanningSequenceInterlockSolvingQueryResult interface exposes the new
BlockingOperations read-only property allowing to know which operations were problematic and
caused a failure of the corresponding ITxPathPlanningSequenceInterlockSolvingQuery.
• The ITxPathPlanningSequenceInterlockSolvingQueryResult interface exposes the new
BlockingOperationReport method which allows retrieving more information on why a specific
operation was blocking for the corresponding query (see BlockingOperations) through the new
TxPathPlanningSequenceInterlockSolvingBlockingOperationReport class.
• The ITxPathPlanningZoneAssignmentQueryResult interface exposes the new
TxPathPlanningZoneAssignmentFailureCause read-only property allowing to know what is the cause
of failure of the corresponding ITxPathPlanningZoneAssignmentQuery.
• The ITxPathPlanningBasicPlanningSegmentResult interface exposes the new Succeeded read-only
property allowing to know whether the segment was successfully handled by the calculator. The

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 information was already available through the Status property but Succeeded is a more convenient
method if the only information required is to know if the run was successful on the specific segment.
• The ITxPathPlanningSegmentResult interface exposes the new Succeeded read-only property
allowing to know whether the segment was successfully handled by the calculator for the corresponding
query. The information was already available through the Status property but Succeeded is a more
convenient method if the only information required is to know if the run was successful on the specific
segment.
• The TxPathPlanningSequenceInterlockSolvingBlockingOperationCause enumerations that indicate
the cause of the interlock being blocked by the operation. The two statuses are UnsolvableCollision
and SimulationError.
• The TxPathPlanningSequenceInterlockSolvingBlockingOperationReport is a new class containing
the report with information useful to understand the reason why the sequence interlock resolution is
blocked.

OLP
• The GetRobotProperty method which returns a given robot property by name (returned type depends
on the input property name), was added to the ITxRoboticControllerServices interface.
• The GetOperationKeyWordsControls method which gets all operation keywords controls for a certain
template and for a specific operation, was added to the TxOlpDownloadTemplateServices class.
• TxOLPUtilities exposes a new method, CalcTaughtFrame, which calculates the absolute location of the
taught location.

Model Objects
• The ITxRobot interface exposes the ControllerChanged event which notifies the robot when the
controller is changed.
• The ITxSafetyZoneObject interface exposes the BreachingObjects property which gets the currently
breaching safety objects.
• The ITxLogicalCollection interface exposes the new CanBeRemoved method allowing to check if a
specified object can be removed from the collection. The classes that implement the interface are
TxLogicalCollection, TxLogicalGroup, TxLogicalRoot.
• The TxTcProcess interface implements the new AddObjectAfter method allowing to check if an object
can be added after a specified child.
• The ITxObject interface exposes the new IsTransientChanged event. The event is fired when the
IsTransient state of the object is changed.
• The ITxOrderedCompoundOperation interface exposes the new Reversed event. The event is fired
when the order of operation locations in a path becomes reversed.

Data Authoring Validation

To support Process Simulate on Teamcenter, the data authoring validation feature was introduced in this
version. A series of .NET API additions were made to enable custom applications to implement authoring
validation.

15-2 Tecnomatix 2402 Release Notes

Unpublished work. © 2024 Siemens
 Commands infrastructure
• The new ITxAdvancedDescriptionResource interface enables command implementations to show
advanced information as tooltips.
• The new ITxEnableStateDescriptions interface enables command enabler implementations to provide
descriptions of their Enable state.

Input validation
• The new TxCompositeValidator and TxComposableValidator classes were introduced to enable the
use of more than one validator per control.
• The new TxObjectAccessValidator, TxObjectAssignmentValidator and TxObjectRelationValidator
classes provide specific data authoring validation.

Validation messages management

• The new TxCallMessages class enables the collection of text messages describing validation failure.

Other
• TxCompoundOperationCreationData now supports the ITxObjectBehaviorCreationData interface.
This enables the creation of Compound Operation objects with Display behavior.
• ITxTcAnyServicesProvider was extended with more properties. For one of them, a change event was
introduced in ITxTcServicesProvider.
• The new TxCommandTypeFilterEnabler provides a selection enabler that enables the commands if
there is exactly one object in the selection and that object passes the filter.

Tecnomatix 2402 Release Notes 15-3

Unpublished work. © 2024 Siemens