Release Notes

SmoothTool v1.4.2 release notes

Released on Mar 14, 2022


  • Improved the ending of the Circles pattern. Transitions between linear or circular segments where both have Circles weaving applied should also be better.
  • Changed the default blend for circular and linear segments to 1 mm.


  • Weld parameters nodes didn’t get copied with the rest of the program when offsetting.

SmoothTool v1.4.1 release notes

Released on Mar 9, 2022


  • Increased the maximum travel speed (for linear and circular segments) to 3000 mm/min.
  • A GUI tweak to ESAB welding parameters.


SmoothTool v1.4.0 release notes

Released on Mar 8, 2022

New features

  • Circles weaving pattern
    • A new pattern, Circles, has been added to the software.
    • When weaving with the Circles pattern, the robot will perform circular movements with the torch as it moves along the linear or circular segment.
    • The shape of the circle movements can be customized.
  • Toolbar functionality (only for the Universal Robot’s e-series)
    • The toolbar is accessible from anywhere when programming.
    • The toolbar offers quick access to wire inching, wire retraction, gas test, air blow, simulation control, and more. Which of these functionalities are available depends fully on the specific power source and the chosen method of integration.
  • Kemppi A7 integration
    • Kemppi A7 can now be selected among the preconfigured power sources using Ethernet/IP.
    • By activating Kemppi A7 the weld parameters node can be used to configure the parameters during program execution.
    • Kemppi enables several functionalities in the Toolbar.
  • Weave and stitch parameter validation
    • The software validates the selected parameters for weaving and stitching on the fly as they are entered.
    • Helpful errors and warning messages are displayed when inappropriate parameters are entered.
  • License information
    • License type (subscription/lifetime) and days left (if relevant) are displayed in the installation node.

Improvements / Changes

  • The MoveJ – Init_point is now a point the user must manage manually.
  • Renamed some nodes to make their purpose clearer.
    • Renamed “Item” to “Weld” and “Path – Start Point” to “Weld Start”.
    • Air points before “Weld Start” are now called “Approach” -points, and air points after “Weld Start” are now called “Exit” -points.
  • Removed parameters (for linear and circular segments).
    • Acceleration (an appropriate value is now calculated automatically behind the scenes)
    • Max speed
  • Changed the travel speed unit (for linear and circular segments) to mm/min.
  • Tweaked some parameter limits.
  • Tweaked the sizes of position spheres and orientation arrows in the 3D viewer.
  • Various backend improvements.

    SmoothTool v1.3.0 release notes

    Released on Dec 16, 2021

    New features

    • Crescent weaving pattern
      • A new pattern, Crescent, has been added to the software. See video demo
      • The pattern supports both concave and convex crescent patterns with customizable arc depth and amplitude.
      • The pattern can also be used to generate a simple Zigzag-pattern.
      • Crescent also supports dwell left and dwell right.
    • Offset relative to plane
      • Offset by coordinates now supports offset relative to other planes than the Base.


    • The Zig Zag weaving pattern
      • The specified linear speed of the Zig Zag weaving pattern is followed more accurately.
    • Power source integrations
      • More stable connection handling.

      SmoothTool v1.2.0 release notes

      Released on Oct 11, 2021


      • 3D viewer
        • More accurate replication of the robot movements.
        • The 3D viewer takes robot blends into account.
        • Massive performance improvement. It is capable of handling more dense paths.
        • Via points are now visualized in the 3D viewer, unless a pattern is applied on the circular segment.
      • Backend for path generation
        • More robust backend architecture, that makes it easier to introduce new patterns in the future.
      • The Zig zag pattern
        • Zig zag now has its own blend parameter seperated from the segment’s blend.
        • Zig zag now uses MoveL in the URscript, instead of MoveP, in order to achieve more predictable motion path with lower fail rate.
      • Stitch
        • Stitch now uses MoveL in the URscript, in order to achieve more predictable motion path with lower fail rate. This applies for both weld seams and air movements.
        • The blend in air moves during stitch is now automatically calculated according to the defined path. This means smoother and shorter air moves while stitching.
      • Run time estimation feature
        • Stability improvements and more robust backend architecture.
        • Countdown feature has been removed in order to improve stability.
      • Default parameter values
        • The default parameters have been updated to provide a better starting point for new programs.
      • Torch angle in circular movements
        • The robot will now interpolate from the start orientation to the end orientation along the motion path.
      • Power source integrations
        • SmoothTool is now capable of identifying the make and model of power sources and thereby achieve more stable connection handling.
      • Ability to execute program without welding (dry run)
        • On e-series: Check/uncheck Simulation in the toolbar to enable/disable dry run.
        • On CB-series: In the installation node, activate/deactivate the configured power source to enable/disable dry run.


      • Loss of backward compability
        • Unfortunately, SmoothTool 1.2.x does not support programs made with earlier versions of the software