Release Notes 3.15

Release note Software version 3.15.x.x

for CB-Series only

Date Created: 21th March 2022

Download HERE

SW 3.15.8 Release Notes

Release Versions:

UR Software Update: 3.15.8
URCap Software Platform:
- URCap API: no change
- URCap SDK: no change
URSim Linux: 3.15.8
URSim Virtual Machine: 3.15.8
User Manuals: no change
Support Log Reader: no change

Key Features

PolyScope GUI

Removed a 5 second delay, when unlocking all protective stops through the dashboard server. Delay is applied only to the new 'Too Many Protective Stops Within Last 8 Hours (C163)'.

Controller

Introduced a new error code, C163 - 'Too Many Protective Stops Within Last 8 Hours'. Controller counts all occurrences of C153, C157, C158, C159, and C162 for the last 8 hours. If the limit of 50 for each joint is exceeded the new error code is triggered.

SW 3.15.7 Release Notes

Release Versions:

UR Software Update: 3.15.7
URCap Software Platform:
- URCap API: no change
- URCap SDK: no change
URSim Linux: 3.15.7
URSim Virtual Machine: 3.15.7
User Manuals: no change
Support Log Reader: no change

Bug Fixes

embedded

Fixed an issue where certain joint positions may result in longer brake release sequence or in rare cases causing a protective stop immediately after brake release.

SW 3.15.6 Release Notes

Release Versions:

UR Software Update: 3.15.6
URCap Software Platform:
- URCap API: no change
- URCap SDK: no change
URSim Linux: 3.15.6
URSim Virtual Machine: 3.15.6
User Manuals: no change
Support Log Reader: no change

Bug Fixes

PolyScope GUI

Fixed log4j2 Security Vulnerability CVE-2021-44228.

SW 3.15.5 Release Notes

Release Versions:

UR Software Update: 3.15.5
URCap Software Platform:
- URCap API: no change
- URCap SDK: no change
URSim Linux: 3.15.5
URSim Virtual Machine: 3.15.5
User Manuals: 3.15.5
Support Log Reader: no change

Bug Fixes

PolyScope GUI

Moved "Mold area free" IMMI signals from Safety to Control section of the IMMI IO Tab, to correctly represent that the “Mold area free” signals are not safety-related.

Embedded

Changed C57A1: Brake release failure from a warning to an error.

Manuals

Fixed the missing servoc command in the ScriptManual.
Corrected User Manuals for CB3 robots with Euromap 67 interface and IMMI Installation Guide to correctly represent MAF signal as not safety related.

SW 3.15.4 Release Notes

Release Versions:

UR Software Update: 3.15.4
URCap Software Platform:
- URCap API: no change
- URCap SDK: no change
URSim Linux: 3.15.4
URSim Virtual Machine: 3.15.4
User Manuals: 3.15.4

Bug Fixes

Controller

Introduced script function freedrive_mode_no_incorrect_payload_check() to facilitate application where the user is pushing the robot while entering freedrive mode.

Date Created: 18th June 2021

SW 3.15.3 Release Notes

Release Versions:

UR Software Update: 3.15.3
URCap Software Platform:
URCap API: 1.12.0
URCap SDK: 1.2.0
URSim Linux: 3.15.3
URSim Virtual Machine: 3.15.3
User Manuals: 3.15.0

Bug Fixes

PolyScope GUI

Fixed issue where Polycope would freeze when a program with a certain combination of If-Else/Folder/Popup nodes was running.
Fixed issue where the user in some situations was not requested to auto move the robot to the first fixed position waypoint in the program, if the waypoint was contained under the BeforeStart node.
Fixed issue where PolyScope in some situations would freeze when single-stepping a Waypoint node, if the program only contained Move (and Waypoint) nodes

Controller

Fixed a controller crash on running programs with many threads e.g. continuous-if, pulse output, etc.
RTDE Float output and input registers were sent and received as double precision numbers, but internally stored as single precision

EMbedded

Improved encoder readings
Soft Parking to improve brake release on Size 4 joints

Manuals

Primary interface documentation: data type for field in PopupMessage, and RequestValueMessage corrected.

Date created: 31st March 2021

RELEASE NOTES 3.15.1 - 04/2021

Release Versions:

UR Software Update: 3.15.1
URCap Software Platform:
- URCap API: 1.12.0
- URCap SDK: 1.12.0
URSim Linux: 3.15.0
URSim Virtual Machine: 3.15.0
User Manuals: 3.15.0
Support Log Reader: 3.10.33

Bug Fixes

PolyScope GUI

Optimized disc usage to free up more space for 3rd party applications

Controller

Fixed memory leak under high-load scenario using textmsg/varmsg. If the high load scenario is encountered a warning 'GUI Communication High Load' will be displayed in the controller log

Date created: 13th March 2021

RELEASE NOTES 3.15.0 - 03/2021

Release Versions:

UR Software Update: 3.15.0
URCap Software Platform:
- URCap API: 1.12.0
- URCap SDK: 1.12.0
URSim Linux: 3.15.0
URSim Virtual Machine: 3.15.0
User Manuals: 3.15.0
Support Log Reader: 3.10.32

Key Features

Validation of URCaps: Users are prevented from installing incompatible or corrupt URCaps
Improved handling of URCap startup errors: Helps user diagnose and resolve issues with URCaps

PolyScope GUI

Improved error handling for URCaps

Prevention of installation of incompatible/erroneous URCaps

Users are prevented from installing URCaps that will not work with their robot.

A URCap will not be installable from the URCap Setup screen in the following cases:

The URCap requires a higher version of the URCap API (than the version provided by PolyScope)
The URCap is not compatible with the robot series (generation) of the user's robot
The URCap package file (.urcap file) has an internal error or the file is not a valid URCap package file
An identical URCap is already installed with a different file name
The URCap cannot be installed due to file or file system related issues (such as not enough available disk space)

Note: It is only possible to prevent the installation of a URCap, which is incompatible with the robot series of the user's robot, if the URCap has specified its compatibility. This might not be the case for all URCaps.

Improved feedback for URCap startup errors

Provided better feedback when a URCap fails to start after it has been installed. Information about the startup error appears in the following places inPolyScope:

An error dialog is displayed when PolyScope starts
The Log tab contains a corresponding log entry
In the URCap Setup screen, the URCap with the startup error is indicated with an error status icon in the "Active URCaps" list and the error message is provided in the top of the "URCap Information" panel.

Log tab improvements

Improved the layout and information provided in the Log tab when an error occurs in a URCap.

Changed how URCap information is displayed (i.e. URCap name, URCap version, etc.) for the following type of errors:

An unhandled/uncaught Java exception in a URCap
A compile/runtime error in the script code generated by a URCap

Changed the information displayed for unhandled/uncaught Java exceptions in URCaps:

The log entry text is now "Unhandled exception occurred in URCap '<URCap name>' (where "<URCap name>" is the name of the URCap) instead of showing information about the exception
In the tooltip (that appears when the log entry is pressed), information about the exception is provided in the "Explanation" section and a "Stack Trace" header is added for the section showing the stack trace

URCap Software Platform

URCap API

Added support for getting joint positions of Waypoint Nodes

URCaps can access the joint positions of a Waypoint Node corresponding to the defined Cartesian location of the waypoint
See the new getJointPositions()method in the existing FixedPositionDefinedWaypointNodeConfig interface (in the
ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode package)

Added configuration support for the "Hide Folder Program Tree" option on Folder Nodes

URCaps can configure the "Hide Folder Program Tree" option thereby controlling whether or not the subtree of the Folder Node is hidden (i.e. whether or not the child nodes under the Folder Node are visible in the Program Tree in PolyScope)
URCaps can read the configuration of the "Hide Folder Program Tree" option
See the new isSubtreeHidden() and setSubtreeHidden(boolean) methods in the existing FolderNode interface (in the com.ur.urcap.api.domain.program.nodes.builtin package)

Added @since tag to Javadoc

Introduced the @since tag in Javadoc for API interfaces/classes and their members, such as methods and enums. The @since tag specifies which version of the URCap API a particular API functionality was added. This enables a developer to identify from which version a given functionality is available.

The following changes has been introduced:

The Javadoc header for all interfaces/classes now contains the @since tag with the version in which the interface/class was introduced
The Javadoc for any member (e.g. a method or enum) added to an interface/class after it was introduced now contains the @since tag with the version when the new member was added

Note:

Javadoc for a member of a interface/class will only contain the @since tag, if the member was added to the interface/class in a later version than when the interface/class was introduced.
If the Javadoc for an interface/class member does not contain the @since tag, the member was available from the version specified by the @since tag in the Javadoc header for the interface/class.

PolyScope support for URCaps

Robot Series Compatibility

Enabled URCaps to specify their compatibility with Universal Robots robots from the e-Series and CB3 robot series.

This functionality is introduced to provide a good user experience for the URCap installation process by ensuring that users cannot install a URCap that is not compatible with their robot (and/or Universal Robots offline simulator). Users will be prevented from installing an incompatible URCap. When specifying the robot series compatibility for a URCap, it should be considered, if the URCap depends on specific hardware and/or software functionality, which is only available on a specific robot series (e.g., only available on e-Series robots).

The following new functionality is introduced:

A URCap must now mandatorily specify which robot series the URCap is compatible with (i.e. which robot series the URCap can run on)
A URCap can specify its compatibility using two new boolean compatibility flags which are defined as properties in the pom.xml Maven configuration file in the URCap project
More detailed information is available in the URCap SDK:

See the new "12.1: Robot Series Compatibility" section in the (Swing- and HTML-based) URCap tutorial
See the new upgradeURCap.sh script for updating an existing URCap to support the new compatibility flags

Note:

A URCap must specify its compatibility with both the e-Series and CB3 robot series
URCaps depending on URCap API version 1.12.0 (which is included in this release) or higher will be prevented from starting or being installed, if the compatibility flags are not present/specified. Existing URCaps using older URCap API versions will not be affected.

Improved URCap error handling

When an unhandled/uncaught Java exception occurs in a URCap, a "filtered" stack trace (only showing code lines in the URCap) is now provided in the console output for the exception. Previously, the stack trace contained internal code lines from PolyScope.

Better feedback is now provided when a URCap fails to start during PolyScope startup after it has been installed/deployed, e.g. using Maven. The following type of errors are detected:

The URCap requires a higher version of the URCap API (than the API version provided by PolyScope)
The URCap is not compatible with the (robot series of the) user's robot
The URCap needs a 3rd party dependency which is not available or not available in the correct version
The required robot series compatibility flags are missing (not specified) in the URCap's pom.xmlfile
An invalid value has been specified for a required robot series compatibility flag
The URCap encountered an exception in the Activator
The URCap file (.urcap file) has an internal error or the file is not a valid URCap file. Typically the OSGi bundle manifest file (META-INF/MANIFEST.MF) is invalid, e.g. due to wrong/missing data or invalid syntax.
Wrong Activator path specified in the URCap's pom.xml file
An identical URCap with same symbolic name and version is already installed with a different file name

Many of the errors detected at startup can also be detected when installing a URCap from the URCap Setup screen in PolyScope. If such an error is detected during installation, the URCap will be prevented from being installed. The following errors can be detected at install time:

The URCap requires a higher version of the URCap API (than the API version provided by PolyScope)
The URCap is not compatible with the (robot series of the) user's robot
The required robot series compatibility flags is missing (not specified) in the URCap's pom.xml file
An invalid value has been specified for a required robot series compatibility flag
The URCap file (.urcap file) has an internal error or the file is not a valid URCap file.
The URCap cannot be installed due to file or file system related issues (such as not enough available disk space)

Information about the startup error is provided in the following places:

An error dialog is displayed when PolyScope starts
The Log tab in PolyScope contains a corresponding log entry
In the URCap Setup screen in PolyScope, the URCap with the startup error is indicated with an error status icon in the "Active URCaps" list and the error message is provided in the top of the "URCap Information" panel
The error is logged to the console

Note: All JAR files ( .jar files) in the .urcaps folder will be considered a URCap and attempted to be started when PolyScope boots up. This implies the following minor behavior changes for files present in the .urcaps folder:

Any "regular" JAR file (a file which is not a URCap) will generate a startup error when PolyScope starts up
Any non-JAR file will be ignored, i.e. it will not be attempted to be started

URCap SDK

Documentation

Changed how section references are displayed in all SDK documents:

Section references are now shown in blue with both the section number and title, e.g. "14. Troubleshooting".

Updated the (Swing- and HTML-based) URCap tutorial:

Added information about robot series compatibility for URCaps:

Updated section "11. Creating new thin Projects using a Maven Archetype" and added new section "12.1. Robot Series Compatibility" with description of robot series compatibility and how to specify a URCap's compatibility

Updated section "11. Creating new thin Projects using a Maven Archetype" with images of the dialogs that appear when the newURCap.sh script is used
Corrected the reference to the Universal Robots+ website in section "2. Prerequisites"

Updated the "URCap Gripper Driver" document (gripper_driver.pdf file) and "URCap Screwdriver Driver" (screwdriver_driver.pdf) documents:

Added new section "2. General Information about URCap Development" which provides references to general information about development of URCaps in the URCap tutorial.

Updated the "Using a Device in a Template" document (using_device_in_template.pdf file):

Added new section "4.1: Capability Support" which describes how to access and configure a capability supported by a PolyScope device from a template program node

Scripts

Added new upgradeURCap.sh script which provides a convenient way of updating existing URCap to support the new robot series compatibility flags
Updated the newURCap.sh script:

Added a new "URCap Compatibility" dialog where the new URCap's compatibility with the e-Series and CB3 robot series can be specified
The script will automatically add the corresponding robot series compatibility flags to the pom.xml file in the generated new URCap project
Updated the text in the list in the "API Version" dialog to reflect the compatibility chosen in the new "URCap Compatibility" dialog

URCap Samples

Specified robot series compatibility for all URCap samples:

Updated all URCap samples to support the new robot series compatibility flags.
All samples specify that the URCap is compatible with both e-Series and CB3 robots

The HTML-based Ellipse URCap sample now configures the TCP setting of the Move node to "Use active TCP" instead of "Ignore active TCP".

Controller

Added option for specifying payload inertia matrix using the URScript-function set_target_payload(). This will improve performance and reduce risk of protective stops in applications where payload center of mass is close to the z-axis of any of the wrist joints.
Using the servol URScript command no longer causes a controller segmentation fault

Bug Fixes

PolyScope GUI

Fixed issue where features with an undefined position was selectable in the Move tab and the Pose Editor screen
Fixed issue where the "Unsaved Installation Changes" dialog would be displayed every time just before the robot was restarted/powered off, if the auto initialize (auto brake release) of the robot arm was enabled (under Startup) in the installation
Fixed issue where it was possible to add a Folder node at the top level in the Program Tree (i.e. at the same level as the Robot Program root node). Now, when the Robot Program root node is selected in the Program Tree and a new Folder node is added, the new Folder node will automatically be inserted under the Robot Program node
Fixed issue where an incorrect position in some situations would be shown for a linked Waypoint node instead of the position of the Waypoint node it was linked to.

Controller

Fixed issue where resuming a program could immediately result in a protective stop.
Fixed issue where calling the set_payload() URScript-function without offset parameter, would make all subsequent calls to set_tcp() modify payload center of gravity even if payload center of gravity had been set in another way since the call.
Fixed issue with single row matrix multiplication.
Fixed issue where RTDE joint mode data would incorrectly contain the joint mode of the Base joint in the fields for all joints.
When resuming program or increasing speed with the speed slider, acceleration will now be less aggressive, with less risk of triggering a Protective stop.
Robot brakes more softly when releasing the Freedrive button during movement. Before the robot was braking with maximum deceleration, which caused very hard stopping behavior.
Fixed issue where Controller inputs for Safeguard Stop and Operational Mode where not properly read while robot arm was powered off.
In older versions, detecting wrong payload (like dropped payload during the movement) may require considerable robot movement before the robot stops. From this version, in the same scenario, robot stops after a minimal movement.

Support Log Reader (SLR)

Fixed issue where messages logged when the safety mode changed were incorrect decoded ("Safety Mode changed to Normal Mode" was always shown)
Fixed issue where unexpanded log entries for errors in URCaps were displayed with HTML tags (such as <p> and <b>)

URCap Software Platform

Fixed issues with the "Unhandled exception in URCap" error dialog displayed when an unhandled/uncaught Java exception occurred in a URCap's implementation of the GripperContribution or ScrewdriverContribution interface:

Some of the information about the URCap could sometimes be incorrect or missing
Sometimes the shown stack trace contained internal code lines from PolyScope instead of showing a "filtered" stack trace (with only code lines from the URCap

Fixed issues with tooltip error messages for validation of the input fields for configuring gripper capabilities (such as width and force) in the Gripper node:
A tooltip error message was incorrectly displayed when the input field was cleared on the keypad
A tooltip error message was not displayed when an invalid value was entered with the keypad
Fixed issue where PolyScope would fail to start, if an installed URCap's implementation of the getTitle() method in the ProgramNodeService / SwingProgramNodeService interface returned the value null. Now, an error dialog with a runtime exception is displayed once when PolyScope starts up.
Fixed issue where the installation would be become inaccessible due to a recurring unhandled null pointer exception, if an installed Swing-based URCap's implementation of the getTitle() method in the SwingInstallationNodeService interface returned the value null. Now an error dialog with a runtime exception is displayed once when PolyScope starts up.
Fixed issue where the UI provided by a URCap was not replaced by the "There is an error with the URCap that contributes this node" error screen (which displays information about URCap errors), if an installed HTML-based URCap's implementation of the getTitle() method in the InstallationNodeService interface returned the value null.
Fixed issue where there was a small delay before child nodes appeared under their URCap parent node in the Program Tree the first time the URCap node inserted children into its sub-tree
Fixed issue where a URCap would still appear in the "Active URCaps" list in the URCap Setup screen after it was manually deleted from the .urcaps folder

Release note Software version 3.15.x.x

SW 3.15.8 Release Notes

Release Versions:

Key Features

PolyScope GUI

Controller

SW 3.15.7 Release Notes

Release Versions:

Bug Fixes

embedded

SW 3.15.6 Release Notes

Release Versions:

Bug Fixes

PolyScope GUI

SW 3.15.5 Release Notes

Release Versions:

Bug Fixes

PolyScope GUI

Embedded

Manuals

SW 3.15.4 Release Notes

Release Versions:

​Bug Fixes

Controller

SW 3.15.3 Release Notes

Release Versions:

​Bug Fixes

PolyScope GUI

Controller

EMbedded

RELEASE NOTES 3.15.1 - 04/2021

Release Versions:

​Bug Fixes

PolyScope GUI

Controller

RELEASE NOTES 3.15.0 - 03/2021

Release Versions:

Key Features

PolyScope GUI

Improved feedback for URCap startup errors

Log tab improvements

URCap Software Platform

URCap API

Added support for getting joint positions of Waypoint Nodes

Added configuration support for the "Hide Folder Program Tree" option on Folder Nodes

Added @since tag to Javadoc

PolyScope support for URCaps

Robot Series Compatibility

Improved URCap error handling

URCap SDK

Documentation

Scripts

URCap Samples

Controller

Bug Fixes

PolyScope GUI

Controller

Support Log Reader (SLR)

URCap Software Platform

previous RELEASE NOTES:

Bug Fixes

Bug Fixes

Bug Fixes