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Release note Software version 5.19.x.x

Applicable for e-Series and UR20/UR30

Last modified on Oct 31, 2024

Date of release: 31st October 2024.

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SW 5.19.0 Release Notes

Release Versions:

  • UR Software Update: 5.19.0
  • URCap Software Platform:
    • URCap API: 1.15.0
    • URCap SDK: 1.15.0
  • URSim Linux: 5.19.0
  • URSim Virtual Machine: 2.0.328
  • User Manuals: 5.19.0

Key Features

UR20/UR30 Increased payload +5 kg

We are excited to announce a significant improvement to our UR20 and UR30 products available with this update: their maximum payload capacity for palletizing applications will be increased by 5 kg. The new maximum payload capacity will allow UR20 and UR30 handling of an additional 5 kg payload will result in increased flexibility and wider range of applications requiring only one robot. It will also boost efficiency, in some cases allowing robot to pick more than one box at a time, while maintaining safety standards. With this update, we will release new payload charts and obtain new TÜV certifications at 25 kg and 35 kg respectively.

UR20 UR30

Extended payload is available in entire reach range of the robot arm, but within limited offset of the payload's center of gravity. Above charts indicate increased payload availability and center of gravity offset. Payload weight in kilograms and offset in millimeters.

 

Tool Flange Adapter for UR20 and UR30

The Tool Flange Adapter with a maximum payload capacity of 20 kg will be discontinued and no longer shipped with UR20 and UR30

Do not use the tool flange adapter with payloads more than 20kg on UR20 and UR30

Serious injury can result from the use of the 20 kg Tool Flange Adapter with UR30 if the payload is above 20 kg. Overloading can cause the end-effector (tooling) and workpiece to break loose while the robot is moving.

 

There are now end-effectors (tools) that can be directly mounted to UR20 and UR30. This list will continue to increase, see the latest information:

https://www.universal-robots.com/articles/ur/safety/product-alert-20-kg-tool-flange-adapter-faq/

 

Updated User Manuals

Starting from software release 5.19 robot User Manual will no longer include PolyScope 5 software section, reflecting wider acceptance of PolyScope X. User can choose to download PolyScope 5.19 Software Handbook or PolyScope X User Manuals from https://www.universal-robots.com/manuals

 

PolyScope GUI

  • The buttons for selecting the robot type on the Serial Number screen have been removed to simplify the screen. The robot type must now be entered manually when specifying the serial number in the input field.

Controller

  • URScript function tool_wrench_limit_set has been added. This function allows limiting wrench (forces and torques) in a coordinate system relative to and rigidly attached to the tool flange, providing an easy way of reducing the risk of dropping items held by grippers or damaging objects held. The feature is in effect during normal and reduced mode operation, as well as during protective stopping, 3PE stopping, safeguard stopping and emergency stopping. To allow gentler safety stops, the robot will move at a sufficiently low speed to satisfy both safety settings and tool wrench limitation.
  • URScript function tool_wrench_limit_disable has been added, disabling the effect of tool_wrench_limit_set.

 

Bug Fixes

Controller

  • Fixed issue where incorrect "Protective stop C150A0 Position close to joint limits" is reported when the robot is not close to a joint limit, and not close to the maximum torque of the joints.
    • This enables customers to use the robots closer to the maximum payload and CoG
  • Fixed an issue where movel blending into movej could make an unexpected motion. The issue only occurred in corner cases of script code where movel had a waypoint argument of joint angle type.

 

 

 

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