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Release note Software version 5.18.x.x

Applicable for e-Series and UR20/UR30

Last modified on Oct 25, 2024

Date of release: 25th October 2024.

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SW 5.18.1 Release Notes

Release Versions:

  • UR Software Update: 5.18.1
  • URCap Software Platform:
    • URCap API: 1.15.0
    • URCap SDK: 1.15.0
  • URSim Linux: 5.18.0-12.9.767
  • URSim Virtual Machine: 2.0.327
  • User Manuals: 5.18.0
  • Support Log Reader: x.x.x

 

Fixed issue relating to the combination of 3PE and PROFIsafe. Please see safety notice: https://www.universal-robots.com/articles/ur/safety/safety-notice-profisafe/

 

Platform/Operation System

Secure by default initial configuration

Please consult the following article for information regarding the consequences of the new "Secure by default" configuration on the robots with 5.17 and onwards and how to configure security settings in an appropriate way with this new default configuration.

https://www.universal-robots.com/articles/ur/cybersecurity/securely-enable-external-access-to-services-on-ur-cobots/

 

The ssh access keys generated using RSA/SHA1 algorithm are no longer supported since software 5.17.

You may loose ssh access to the robot after upgrading to software 5.17 (or later) if you used RSA/SHA1 ssh key to access ssh and have not selected username/password access.

Before updating to 5.18 you should either activate ssh access with username/password or create a new key based on a supported algorithm:

ssh-keygen -t ed25519

or

ssh-keygen -t rsa-sha2-512 -b 4096

Both commands will generate valid keys that can be added following regular procedures.

If you already updated to software 5.17 and lost ssh access, you should connect the Teach Pendant directly to the control box and enable ssh access with username/password from PolyScope.

 

​

Date of release: 4th October 2024.

SW 5.18.0 Release Notes

Release Versions:

  • UR Software Update: 5.18.0
  • URCap Software Platform:
    • URCap API: 1.15.0
    • URCap SDK: 1.15.0
  • URSim Linux: 5.18.0-12.9.767
  • URSim Virtual Machine: 2.0.320
  • User Manuals: 5.18.0
  • Support Log Reader: x.x.x

Key Features

URCap API

Added support for custom speeds in robot movement requests:

  • URCaps can now optionally specify the speed by which the robot will auto-move when requesting the user to move the robot to a desired target position through the AutoMove screen.
  • It is not possible to set the speed to values higher than the default value used by PolyScope.
  • This feature could be utilized in applications where it is important that the robot is moving towards the target position with sufficiently low speed.
  • API changes (package com.ur.urcap.api.domain.userinteraction.robot.movement):
    • New methods requestUserToMoveRobot(PoseMovementConfiguration, RobotMovementCallback) and createPoseMovementConfiguration(Pose) in the existing RobotMovement interface
    • New PoseMovementConfiguration interface

 

Controller

  • Added time() script function. Function can be used to get monotonic controller time with 2ms resolution, or system time.
  • The minimum blend radius of the movec() and movep() commands has been reduced from 1mm to 0.05 mm.

 

Platform/Operation System

Secure by default initial configuration

Please consult the following article for information regarding the consequences of the new "Secure by default" configuration on the robots with 5.17 and onwards and how to configure security settings in an appropriate way with this new default configuration.

https://www.universal-robots.com/articles/ur/cybersecurity/securely-enable-external-access-to-services-on-ur-cobots/

 

SSH security aspect

The ssh access keys generated using RSA/SHA1 algorithm are no longer supported since software 5.17.

You may lose ssh access to the robot after upgrading to software 5.17 (or later) if you used RSA/SHA1 ssh key to access ssh and have not selected username/password access.

Before updating to 5.18 you should either activate ssh access with username/password or create a new key based on a supported algorithm:

ssh-keygen -t ed25519

or

ssh-keygen -t rsa-sha2-512 -b 4096

Both commands will generate valid keys that can be added following regular procedures.

If you already updated to software 5.17 and lost ssh access, you should connect the Teach Pendant directly to the control box and enable ssh access with username/password from PolyScope.

 

Bug Fixes

PolyScope GUI

  • Fixed issue on the Initialize screen were selecting a payload (defined in the installation) in the "Active Payload" drop-down list would only apply the payload mass, while the payload's Center of Gravity (CoG) and inertia was ignored. Now, the selected payload gets fully applied.
  • Increased the timeout on loading of a toolpath to 120 seconds in the Remote TCP and Toolpath URCap to allow loading of complex toolpath files.
  • Fixed the issue in Remote TCP where Part Coordinate System could be calculated incorrectly using the four reference points on part’s surface method.

Controller

  • Force mode gain scaling now throws an exception if a value out of range is used.
  • Fixed an issue where the error message for a secondary program can be truncated so short that it's hard to understand. Introduced workaround: full message text is provided in controller log in flight report. The message length is increased to 63 characters maximum, instead of 31 previously.
  • Fixed an issue where "NO CONTROLLER" error would appear after loading a program containing a move command within the blend radius of the next waypoint.

URCap Software Platform

  • Fixed an issue where it was impossible to deploy any of the SDK's URCap examples to a locally running URSim using Maven (with the ursim profile)
  • Fixed an issue where moving/copying a program in the File Manager would unnecessarily ask any URCap with program nodes that were part of the program to load its program nodes (by invocations of SwingProgramNodeService.createNode(...))

Ethernet/IP

  • In software versions 5.15.0 and above the following functions were occasionally not working when triggered through general purpose input bits: start program, stop program, initialize arm, auto start default program, auto initialize arm. This was only observed when Ethernet/IP fieldbus was enabled. Workaround for software 5.15.0 to 5.17.3 is to use dashboard server, or digital inputs. Issue is fixed in this release.

User Assistance

Manuals

The section Securing the Robot Arm in the Mechanical Interface chapter in the User Manual has been updated to show the force and moment values needed for securing the robot arm.

Updated maximum joint torques for the normal operation and during the robot stops.

 

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