Release note Software version 5.20.x.x

Applicable for e-Series and UR20/UR30

Date of release: January 8th 2025.

Download HERE

SW 5.20.0 Release Notes

Release Versions:

UR Software Update: 5.20.0
URCap Software Platform:
- URCap API: 1.16.0
- URCap SDK: 1.16.0
URSim Linux: 5.20.0
URSim Virtual Machine: 2.0.336
User Manuals: 5.20.0

Key Features

Added support for UR12e robot

URCap Software Platform

URCap API:

Added support for new UR12e robot

Extended the exiting RobotType enum in the RobotModel interface with the new UR12e robot type

Controller

The amount of resistance in Freedrive can now be varied by adjusting the speed slider in PolyScope. Lowering the speed slider value will increase the resistance, allowing for more precise movements to e.g. teach waypoints.

Ethernet/IP service

Fixed an issue which caused the Ethernet/IP service unable to re-connect to controller after controller was restarted.

Embedded

Slightly improved startup time for arms, especially Gen6 arms
Whitelist G4 in TP mainapp

BugFixes

Controller

Fixed issue where pausing, protective-stopping or safeguard-stopping in combination with enabling or disabling force- or Freedrive-mode would lead to wrong states after resuming the program. This would manifest as e.g.
- the robot resuming in Freedrive, even though Freedrive was disabled in the program
- the robot resuming in position control, even though Freedrive was enabled in the program

URCap Software Platform

Fixed issue where a URCap would get an incorrect call to RobotPositionCallback.onCancel() after the URCap called UserInteraction.getUserDefinedRobotPosition(RobotPositionCallback2) to request the end user to define a position of the robot. This could occur when the system was under heavy load.

previous RELEASE NOTES: