# Release History

Software Environment Support:

AlignPlus | VisionPro | Cognex Designer
--- | --- | ---
3.0 | 9.1 SR1/SR2 | 2.6
4.0 | 9.2 | 3.0
4.0.1 | 9.5 SR1 | 4.2
4.2.0 | 9.6 | 4.3.1
4.3.0 | 9.6 SR2 | 4.3.2

## AlignPlus 4.0

New functionality added in AlignPlus 4.0 include:

- Camera Simulator
- Screenshot Saving
- Part-based Hand-eye Calibration
- Part-based Cross Calibration
- Manual Calibration
- Disk Cleanup

### Known Issues

1. Operation in features finder sometimes froze A+ program that lead to task forceful close.

2. CDB image player sometimes cannot play saved CDB files.

### Fixed Issues

1. Error messages are very difficult for operators to understand.

2. Cognex Designer crashes by opening PatMax "All setting".

3. In runtime user interface, no recipe saving reminder before closing the application if there is any change in recipes.

## AlignPlus 4.0.1

New functionality added in AlignPlus® 4.0.1 include:

- Improved Operator Interface include HMI customization and tree view navigation
- User Interface to manual set a feature finder Origin
- Support for live mode
- Camera connection status indicators
- Camera Position Adjustment in Home2D after Calibration to avoid re-calibration if camera shuttled for different work size
- Improved image playback and image archiving
- Enhanced logging features
- Camera acquisition disable/enable function in feature finding task.

### Known Issues

1. Program developed in older version cannot run in this version.

2. Configuration wizard rerun compatibility issue:

   - Changes in tasks are overwritten

   - Some page layouts disposition

   - Calibration and alignment recipes cannot be loaded.

### Fixed Issues

1. Feature finding tool block often causes processing time increase.

2. Memory increase when $LogData function is frequently called.

3. Recipe loading/unloading takes more than 1 minute during test mode which makes debugging in field too time-consuming.

4. Custom feature finder hang and crash occasionally in test mode.

## AlignPlus 4.2.0

New functionality added in AlignPlus® 4.2 include:

1. Enhanced Recipe Management
2. Master Image Display
3. Exporting and Importing Setup wizard Configuration.
4. Manual Control Buttons

5. Many side functions including:

   - L-Check
   - Enhanced Image Saving and Playback
   - Motion Analysis
   - Manual trigger buttons
   - Offset Compensation
   - Placement Limit Check
   - Camera Simulator Advanced Mode
6. Localization
7. Hand-eye calibration result judgment and moving path graphic display

### Fixed Issues

1. Recipe corruption after IPC is cut off electricity while AlignPlus program was running.
2. Image Corrector's cycle time increases by 2-3 times after user reconfigures scripting in custom tool block feature finder.
3. AlignPlus program developed under older version cannot run in new version.

4. Configuration wizard rerun compatibility issue:

   - Changes in tasks are overwritten

   - Some page layouts disposition

   - Calibration and alignment recipes cannot be loaded.

5. Camera reconnection issue

### TCP/IP Commands Changes

1. New commands added in this release

   Command Key | Application | Description
   --- | --- | ---
   LFA | Alignment/Assembly | Run feature fining task in asynchronous mode
   GPA | Alignment/Assembly | Run pose computer task in asynchronous mode
   LFGP | Alignment | Run feature fining task first, and then pose computer task synchronously

2. EncodedID definition is changed as below

   - EncodedID in A+ 4.0.1

   - EncodedID in this release

   Execution Mode | EncodedID
   --- | ---
   Acquire Only | StepID + 1000
   Acquire and Process | StepID
   Process Only | StepID + 2000

## AlignPlus 4.3.0

New functionality added in AlignPlus® 4.3.0 include:

1. Multi-Part Pickup

   Supports single camera and single acquisition applications.

2. Inspection

   Supports measurement and gauging applications

3. One Time Calibration
4. Using Camera Center as Golden Pose
5. Independent Calibration Plate Configuration for different stations
6. Supports image acquisition from Basler USB 3.0 cameras, Hikvision GigE and USB 3.0 cameras
7. Documentation about AlignPlus Concept, user manual and communication protocol. (Complete documents for new features above will be released in next A+ release)

### Improved Features

1. Enhanced manual trigger button for auto calibration

2. Enhanced recipe management for safety check

3. Improved layout of navigation tree

4. Added more exception messages for user to identify acquisition issues

5. Improved L-Check usability

6. Improved Offset compensation usability

7. Mechanism to avoid rerunning a on-going deployed application

8. Added ACB, AC commands to exported command sequence

9. Added a warning when left-handed coordinate is detected after hand-eye calibration

### Known Issues in This Release

1. Issues related to calibration when separate calibration plates are used

   Cross calibration computation error.

   Hand-eye calibration result could be unreliable.

2. Program regeneration with wizard configuration changes takes as long as 5-10 minutes.

3. Part based calibration accuracy could be lowered when using a sparse/single feature tracking with an inaccurate motion device.

4. Feature finding task cannot run properly when feature finder component is configured to connect to more than one calibration components in configuration wizard.

5. Switching to display page whose live mode is on takes long time and could lead to an application freeze.

### Fixed Issues

1. LFGP Command execution error: alignment task is executed before feature finding task finishes execution

2. GP command is supposed to run synchronously but runs asynchronously

3. Camera enable/disable status for feature finding task sometimes is not updated during recipe change.

4. ACB command execution error when real part is used for a vision guided hand-eye calibration.

### TCP/IP Commands Changes

New commands add in this release:

Command Key | Application | Description
--- | --- | ---
MEA | AOI | Run inspection task synchronously after feature fining
MEAA | AOI | Run inspection task asynchronously after feature fining
LFMEA | AOI | Run feature fining task first, and then inspection task synchronously
MGP | Multiple Parts Pickup | Run multiple part alignment task synchronously after feature fining
MGPA | Multiple Parts Pickup | Run multiple part alignment task asynchronously after feature fining
LFMGP | Multiple Parts Pickup | Run feature fining task first, and then multiple part alignment task synchronously

### Additional Documentation Online link

3rd Party Acquisition Development SDK

https://support.cognex.com/en/downloads/alignplus/3rd-party-camera-support