Created Date: October 20th 2021.

Introduction

This Tech Note documents how to update your ActiNav URCap and Autonomous Motion Module to the latest version of ActiNav software. Note that the update method changed with the release of ActiNav 1.5.0; this describes the new method.

For more information about this process and general ActiNav installation instructions, refer to the ActiNav Quick Start Guide (Link).

Version compatibility

NOTE: It is necessary to update PolyScope, sensor server and sensor firmware to the following versions for ActiNav 1.6.0 to have optimal performance.

• PolyScope v5.11.7 (Download link) – See the Settings section on PolyScope’s manual for instructions on how to update PolyScope
• Sensor server v1.2.31 (Download link) – Tech note on how to update the sensor's server
• Sensor firmware v1.2.31 (Download link) – Tech note on how to update the sensor firmware

Prerequisites

1. ActiNav USB Drive
2. Updated Polyscope to the specified version given with the new update. 
3. UR controller, AMM, and 3D Sensor plugged in, powered up, and wired correctly.  The AMM should be paired and communicating with the robot.
4. We recommend that any remote monitoring or control hardware, such as an Ixon IXRouter, be disconnected from the UR controller and AMM before performing the update.

NOTE: Part instances created in 1.6.0 are NOT backwards compatible with earlier ActiNav URCap versions.

Setup Procedure

1. Download the ActiNav installer package (Link).
2. Unzip the 4 files and place the ActiNav URCap, .deb and md5 files on a USB drive at the root level.
3. Uninstall the old ActiNav URCap.
   1. Go to System → Settings → Select ActiNav and click ‘-‘ to uninstall the previous URCap. PolyScope will prompt the user to reboot the robot.
4. Plug the USB stick into the teach pendant and install the ActiNav URCap.
   1. Go to System → Settings → Click ‘+’ and navigate to the URCap file on the USB drive and select Open. PolyScope will prompt the user to reboot the robot.
5. After rebooting, the AMM installer will automatically begin. You can view the AMM installation progress bar by navigating to ActiNav's system page.
   1. Go to Installation → URCaps → ActiNav
   2. If the USB drive contains the AMM .deb file at the root directly, installation will begin automatically
   3. If the AMM .deb file is not found, a browse button will appear. User can navigate to the AMM .deb file.

There are 4 steps to the AMM installation (automatically performed at step 5 above):

1. Identify ActiNav Installer
2. Prepare Installation
3. Install ActiNav
4. Installation Completed

At each step, a progress bar will indicate progress and completion.

Troubleshooting

If an error occurs during steps 2 or 3, the user is prompted with a retry button. If necessary, the installation log can be exported and sent to UR Support for further analysis and troubleshooting.