Release note Software version 1.3.xxxx
For CB2 only
List of main features
- Support for Modbus protocol over Ethernet, integrated in the GUI
- Possibility to move the robot before power is on the motors (new "backdrive" mode). Requires firmware update
- New languages: Spanish, Dutch, French, Italian, Norwegian, Swedish + updated Danish, English, German
- Button for expanding the program list windows
- Finger-scrolling in all scrollable windows
- Support for loading and creating URScript files into the programs, and a multiline script editor.
- Backup function: Possibility to save all programs to USB stick from the Load/Save screen (scissor-symbol)
- Option for "operator-protecting" outputs so that only programs can change them
- Faster emergency and security stop, and robot stays on the path during deceleration
- Joints never move more than necessary during initialization
Polyscope
- Runstate dependent IO were too easy to toggle by accident. This has been improved and made more visual.
- Button for expanding the program list windows
- Finger-scrolling in all scrollable windows
- Finger-rotating 3D robot views
- Support for loading and creating URScript files into the programs, and a multiline script editor.
- Backup function: Possibility to save all programs to USB stick from the Load/Save screen (scissor-symbol)
- Option for "operator-protecting" outputs so that only programs can change them
- Changed TCP Setup screen coordinates to match the script-level and general robotics convention
- On-screen keyboard now shows correct symbols when "Shift" is pressed.
- Easier to hit "Real Robot" and "Simulated Robot" buttons
- Wider speed slider with more divisions
- Added a (hidden) option for showing the speed slider on the operator screen.
- Added popup messages for powering up or moving robot when safeguard stopped and emergency stopped
- At "Wait for analog value"; '<' and '>' were switched.
- Fixed a bug related to "Duplicate label" in programs using the pallet wizard.
- Fixed bug in tab system when choosing "Menu->Exit" while in a sub-screen, and then returning to programming mode
- Default program start condition digital input value was inverted
- Changed temperature bars on the log screen to match maximum values of 85 deg motor and 125 deg electronics
- Changed wording from "Backdrive" to "Teach", to free up the term "Backdrive" for its technical meaning
- Changed "MOTOR_INITIALIZING" to "BRAKE RELEASE"
- Changed "ADC CALIBRATION" to "BOOTING"
- Fix in the Action screen: The analog outputs was always looking like current outputs, even when in voltage mode.
URControl
- Faster robot stop at pause or program stop. Robot stays in trajectory during deceleration.
- Bug when jumping in long script programs (more than 65536 byte code lines)
- Bug when transforming rotational poses (not translation)
- Bug when returning from subprograms. Bug when returns from function with uninitialized local variables.
- Bug in lists of integers
- Bug, threads could not call subprograms.
- Bugs related to type conversion between <int> and <float>
- General improvements to stability during loading and programming
- Bug: Popups paused all threads. Now only the popup thread is paused.
Script: New functions
- get_list_length, get_controller_temp, get_joint_temp, get_joint_positions, get_joint_speeds, get_joint_torques, and a range of MODBUS commands
Joint firmware: (Not automatically updated)
- Joint firmware upgrade possible from GUI "Expert Mode"
- Improved self-protection of the robot when robot cable is unplugged or cut while in motion
- Increased joint calibration values persistency in microprocessor flash (joints cannot forget their calibration values)
- Improved motor initialization/brake release (never moves more than necessary)
- In-production measurement of permanent magnet strength in joint rotors.
- Added support for "Backdrive" mode at startup
- Added support for not powering down when emergency stopped
- Backwards compatible with old robots (but cannot put old firmware on after new firmware).