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Release note Software version 5.21.x.x

Applicable for e-Series and UR20/UR30

Last modified on Feb 04, 2025

For latest release notes of PolyScope X, please refer to Release note Software version 10.7.x

 

Date of release: February 4th 2025.

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SW 5.21.0 Release Notes

Release Versions:

  • UR Software Update: 5.21.0
  • URCap Software Platform:
    • URCap API: 1.17.0
    • URCap SDK: 1.17.0
  • URSim Linux: 5.21.0
  • URSim Virtual Machine: 2.0.336
  • User Manuals: 5.21.0

Key Features

OptiMove: The MoveJ and MoveL program nodes are updated with OptiMove motion parameters.

  • Easier tuning of robot motions for improved cycle time
  • Less vibration when settling
  • Improved motion performance

Cable Extender Support: Support for new robot cable extender for UR3e, UR5e, and UR7e

Added support  for new UR7e robot

 

PolyScope GUI

OptiMove motion parameters robot motion

Introduces a new motion control type for certain move nodes and waypoint nodes that allows for optimizing the speed and acceleration based on a percentage scale of the robots maximum capabilities.

OptiMove computes the fastest possible speed and acceleration within hardware limits and payload setting, which user can then scale down to the desired percentage.

The OptiMove logic allows for a more dynamic acceleration and deceleration, and creates smoother moves with less jerk. The more fluent acceleration and deceleration also allows for higher travel speeds while reducing vibrations and loads on the robot and mounted equipment. The combined effect generally results in improved cycle times with more fluent motion and reduced strain on the robot.

As OptiMove computes the optimal motion profile for the robot given the positions and the loads, it is often not necessary to manually optimize speed and acceleration settings for cycle time improvements.

The OptiMove settings are specified in percent to simplify the usage and setup. The percentage settings used for calculating:

  • Speed - Sets the target travel speed as a percentage of the robot's maximum speed capability.
  • Acceleration - Sets the target torque limits during acceleration and deceleration as a percentage of the robot's maximum power.

New or existing programs can be adapted to replace classic motion with the new OptiMove motion.

 

Classic Motion

The "Absolute Values" motion control option for waypoint nodes, have been renamed to "Classic". Classic motion is still the default behavior for new move nodes and waypoint nodes.

 

OptiMove motion parameters for MoveL and MoveJ

This software release introduces a new motion controls dropdown, which allows for toggling between the Classic motion parameters and OptiMove.

After choosing the OptiMove, new slider controls the speed percentage and applies a scaled acceleration, adjusting this slider is the default way of setting OptiMove parameters.

Greater control over OptiMove parameters can be enabled by checking the "Custom values" checkbox, which allows setting speed and acceleration percentages individually.

The OptiMove parameters will be applied to waypoint nodes under the move node if they are configured to use "Shared parameters".

 

OptiMove motion parameters for Waypoint

The new motions control dropdown is also available for a single waypoint, which allows to choose OptiMove for this specific waypoint node.

The slider controls the speed percentage and applies a scaled acceleration, adjusting the slider is the default way of setting OptiMove parameters.

Greater control over OptiMove parameters can be enabled by checking the "Custom values" checkbox, which allows setting speed and acceleration percentages individually.

 

URCap Software Platform

URCap API:
Added support for OptiMove parameters

  • URCaps can now read and apply OptiMove speed and acceleration percentages to move nodes and waypoint nodes.
  • OptiMove can be used to improve the motion performance of the robot movements, potentially allowing for better cycle times and improved robot motion.
  • The speed and acceleration are represented in as a percentage and allows values in the range (0,1]
  • API changes (package com.ur.urcap.api.domain.value.simple):
    • New Percentage interface for defining a new value object representing a percentage value. This can be used for specifying OptiMove speed percentages or OptiMove acceleration percentages.
    • New method createPercentage(value) in the existing SimpleValueFactory for creating Percentage value objects.
  • API changes (package com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode.optimove):
    • New OptiMoveMotionParameters interface for retrieving the OptiMove speed and acceleration percentage from waypoint nodes.
  • API changes (package com.ur.urcap.api.domain.program.nodes.builtin.configurations.waypointnode):
    • New methods createOptiMoveMotionParameters(speed, acceleration) and createOptiMoveMotionParameters(speed) in the existing WaypointNodeConfigFactory for creating waypoint configurations with OptiMove motion parameters
    • New enum OPTI_MOVE_MOTION in the existing WaypointMotionParameters.ParameterType
    • New exception IncompatibleMotionParameters thrown when attempting to apply motion parameters to a waypoint which does not support that motion parameter (E.g applying OptiMove to a waypoint under a MoveP)
  • API changes (package com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.optimove):
    • New OptiMoveMotionParameters interface for retrieving the OptiMove speed and acceleration percentages from move nodes.
    • New OptiMoveMoveNodeConfig interface for retrieving the move node configuration for nodes with OptiMove.
  • API changes (package com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.optimove.builder):
    • New OptiMoveConfigBuilder interface for creating move node configurations with OptiMove motion parameters.
  • API changes (package com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.builder):
    • New method createOptiMoveConfigBuilder() in the existing MoveNodeConfigBuilders for getting an instance of OptiMoveConfigBuilder
  • API changes (package com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode):
    • New enum OPTI_MOVE in the existing MoveNodeConfig.ConfigType

Added support for new UR7e robot

  • Extended the existing RobotType enum in the RobotModel interface with the new UR7e robot type.

 

URcap SDK:

Controller

OptiMove script commands:

  • optimovej(goal, a=0.3, v=0.3, r=0)
  • optimovel(goal, a=0.3, v=0.3, r=0)

The new move commands are similar to movej() and movel(), but with smoother motion and velocity and acceleration specified as ratios between 0 and 1 of the robots capability.

In accordance with UL 1740 Standard for Safety for Robots and Robotic Equipment a drive power indicator compliance is implemented, to set output high when the robot arm has voltage and low otherwise. All runstate dependent outputs, except for tool flange output can be used as drive power indicator. See URScript manual for details.

Minor adjustments to motion profiles for UR5e and UR7e to enable 7 kg payload.

 

Embedded

Robot correctly reports "URCap Safeguard Stop" to indicate that the robot stopped due to a condition detected by the safety plugin. Previously status "Booting" might be displayed when the safeguard stop was active.

 

New Hardware Support

Base-Mounted Range Extender 40m for UR3e and UR5e with OEM AC control box

This software release adds support for the Base-Mounted Range Extender 40m product, for extending the robot to control box range for UR3e and UR5e with OEM AC control box to 40 meters.

 

BugFixes

PolyScope GUI

Fixed misleading exception when executing programs using palletizing and changing the active TCP, which causes unreachable poses.

Prevent the 3D graphics from failing with an uncaught exception.

Controller

Fixed issue preventing remote start, pause, or stop when Ethernet/IP or PROFINET fieldbus is enabled.

Fixed issue when program sometimes pauses immediately after it is started. This was observed only in remote control scenarios.

Fixed the secondary program queue handling, which could possibly lead to the robot becoming non-responsive in the 'Confirming Safety' state.

 

 

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