Release note Software version 1.6.xxxxx
For CB2 only
This version supports joints with new motor type. Also -
- This upgrade might affect the function of existing robot programs on UR10 robots
- Improved dynamics model and friction model for UR10 (improves Force Limit Protective Stop issues)
- Improved teach-mode feeling for UR10
- Reduced vibrations in Size_4 joints in UR10
- Improved communication stability between control box and robot joints at robot powerup
List of Main Features from the original 1.6 release
- Force control / Compliance mode
- Added a “Force mode” in which the robot can adjust its position based on experienced forces
- Requires that robot joint firmware is upgraded to 1.6
- Robots produced before 1.6 release will have larger tolerances in force control
- Modbus server: Modbus units can connect to the robots. We provide a portmap of the available information on the support site.
- Support for multiple TCP/IP sockets from URScript programs
- Various improvements to the DashBoard-server, including functions to load a program from a socket connection. Find it on the support site.
- Chinese language and character support in GUI
- Added the ISO-10218 certificate (robot collaborative mode) to the manual (last pages)
- Manual: An example where multiple UR robots share their emergency stop function using 24V is added to the section "Connecting Emergency Stop to Other Machinery"
- The log file now has windows-compatible line endings
- Added showing waypoint coordinates when selecting "advanced options" in a waypoint
- New script functions, see the script manual for details. Find it on the support site under the download.
- force_mode()
- end_force_mode()
- tool_pose()
- binary_list_to_integer()
- integer_to_binary_list()
- point_dist()
- read_register()
- write_register()
- socket_read_string()
- socket_send_line()
List of Bug Fixes
- Fixed a bug where the robot would often go into security stop after having been safeguard stopped. This was especially a problem when restarting after a stop at high speed.
- Fixed bug in “movel(p_x, a=0, v=0, t=0, r=0)”, hard crash
- Fixed bug when using lists of Booleans with length 3 or 6
- Fixed bug related to showing variable values when running in thread (not tracking program execution)
- Fix bug in “Set name” on IO setup screen, when no IO was selected
- Fixed bug when editing a name, and pressing OK without changing anything
- Waypoint names now correctly updated in tree view when changing waypoint type
- Fixed Exception when cut/copy/pasting a MoveP? containing only a CircleMove?
- Fixed bug where the robot could be stuck in Security Stopped mode in the initialization screen
- Fixed bug with very many “security stop” messages were written in the log
- Fixed logical error in “While” with “Check expression continuously” when the expression was false the first time
- Renaming an IO to an empty name resulted in the name “x”. Fixed by using the default name
- Fixed bug where loading older installation files could cause problems with undefined tool and base view
- Fixed bug with "no error message" when powering on a robot with communication cable problems
- Fixed bug when using relative waypoints in a pallet function; "Duplicate label"
- Backup to USB did not handle folder-names with spaces
- Fixed bug in "reset safeguard" illustration in the user manual
- Fixed bug where error messages from simulated runs could affect real robot runs
- Sometimes buttons on the move screen were stuck. Including the teach button. This has been cleaned up
- Fixed updating the program tree symbol correctly when selecting "check expression continously" in while commands
- The program tree is no longer always expanded when the program tab is entered
- Time on the Run screen is updated much more often
- The IO power consumption now calculated and shown correctly on the log screen
- It was possible to copy/paste the "Initialize variables" command
- Settings for "Analog 2" and "Analog 3" was not saved/used correctly in the installation file
- Fixed a bug where USB directories would reappear after a USB key had been removed.