软件
UR3,UR5,UR10-CB3.X 3.9.1.64192 最新升级程序
Released: 2019-04-26 Reviewed:
Updated: 2019-04-26 Author: 拓德科技
Downloads: 6094 Dev status: Release
Version: 3.9.1.64192 View:

优傲机器人升级程序3.9.1.64192,支持UR3-CB3.X、UR5-CB3.X、UR10-CB3.X版本的优傲机器人升级,请确认UR是CB3或者CB3.1版本,CB3以下硬件版本升级可能导致不可预估的错误。


Release note Software version 3.7.x.x


Release notes for Universal Robots Software 3.7

The first release note is placed at bottom of this and describes the most important improvements from version 3.6.x.x to 3.7.x.x

The latest software version is at the top of this article.

 This is for CB-Series only


RELEASE NOTES 3.7 - 03/10-2018

Released Versions

  • UR Software: 3.7.0.40195
  • URCap Software Platform:
    • URCap API: 1.4.0
    • URCap SDK: 1.4.4
  • URSim: 3.7.0
  • URSim Virtual Machine: 3.7.0
  • Robot Image CB3.0, CB3.1: 3.7.0
  • Manual: 3.7.0
  • Support Log Reader: 3.6.86

Summary of updated content regarding this release:
User Manual 
Script Manual 
Offline Simulator 
Robot Image Software 
Robot Software 


Note: Full feature list for URCap can be found in the release notes and new SDK can be found on the develop forum

Key Features

  • URCap API:Made URCap API more supportive of naming 'Waypoint' program nodes
  • Timer: A program node that measures the time spent in different sections of a program
  • Smooth Transition:Enabled a smoother transition between safety modes

 

PolyScope GUI

  • Smooth Transition Enabled robot movement to softly transition when switching between the safety modes (i.e., Normal Mode, Reduced Mode, and Safeguard Stop).

  • Added a 'Timer' node which measures the time spent in different sections of a program.

  • Added I/O actions for configurable Inputs/Outputs which were previously only available for standard Inputs/Outputs.
  • Enabled unhandled Java exceptions in Swing-based URCaps to show a detailed dialog with information about the responsible URCap, including a section showing the stack trace from the exception in the URCap code. The dialog box is limited to specific PolyScope versions.  In rare cases, this dialog does not appear and PolyScope reverts to showing the "standard" unhandled exception dialog with a stack trace without indicating the responsible URCap.
  • Added a filter for log entry attachments in the Log Tab and a quick jump feature when Incident Reports are created. The 'Save Report As' button corresponding to the log entry is now disabled until the Incident Report is fully generated and ready to be saved.

Controller

  • Added a script function,get_steptime(), that returns the single robot step time in seconds.
  • Added a script function, get_target_payload(),that returns the weight of the payload in kilograms.
  • Added a script function, get_target_payload_cog(),that returns the coordinates of the center of gravity of the active payload in meters.
  • Added a script function set_configurable_digital_input_action().

 

URCap Software Platform

URCap API

  • Provided support for naming Waypoint nodes:
    • See the new 'createWaypointNode(String)' method provided by the 'ProgramNodeFactory' API interface in the 'program' domain Java package.
    • Introduced a new method, 'createMoveNodeNoTemplate()', in the 'ProgramNodeFactory' interface. This method creates a Move node with a non-default configuration. This means the resulting Move node does not contain a single Waypoint child node. This method can be used for applications where a Move node with a default configuration is not needed, such as in situations where all the child Waypoint nodes should have custom names. 
      Note: At least one Waypoint child node must be under a Move node for the Move node to be valid.
  • Updated Javadoc with more details regarding:
    • 'ContributionProvider' API interface: Javadoc for the 'get()' method now specifies when the method should be called.
    • Javadoc for the following methods now states that an 'IllegalStateException' exception is thrown if the methods are called outside an 'UndoableChanges' scope in URCaps with Swing-based UIs:
      • 'DataModel' API interface: All 'set(...)' methods
      • 'TreeNode' API interface: All methods that manipulate the sub-tree (i.e., the methods 'addChild(ProgramNode)', 'insertChildBefore(TreeNode, ProgramNode)', 'insertChildAfter(TreeNode, ProgramNode)', and 'removeChild(TreeNode)').
      • All "set(...)" methods in API interfaces for built-in PolyScope program nodes.
    • 'KeyboardNumberInput'/'KeyboardTextInput' API interfaces: Javadoc for all 'show(...)' methods now mention the 'JComponent' (Swing GUI component) passed to the method must be visible on the screen.

URCap SDK

  • Updated the Ellipse and Ellipse Swing URCap samples to demonstrate how to assign a custom name to a Waypoint node.

Changed Loading and Copying URCap nodes

  • All modifications to the supplied non-empty data model in the constructor for installation and program node contributions are  ignored during calls to the 'createNode(...)' methods in the installation and program node services in the following situations:
    • When loading a program node contribution
    • When loading an installation node contribution
    • When a program node contribution is copied in the program tree
  • This change is introduced to ensure the original node configurations are properly loaded or copied, and to align with existing behavior when loading and copying program node contributions containing sub-trees where the sub-tree generated in the node constructor is ignored and the original sub-tree is inserted instead.
  • This is introduced for both HTML-based and Swing-based URCaps.
  • Documented changes in the URCap tutorial (both versions) in sections "7.2: Making the Customized Installation Node Available to PolyScope" and "8.5/8.6: Loading Programs with Program Node Contribution"
  • Compatibility notice: This change might affect existing URCaps that make modifications to the data model directly in the installation or program node constructor

Bug Fixes

Controller

  • Fixed issue where 'join' script function worked incorrectly with multiple threads. Thread synchronization when using the script command 'join' works which may affect existing programs.
  • Fixed issue where the controller crashed when deleting MODBUS signals due to race condition.
  • Fixed issue where controller did not detect all scenarios where a compilation error had to be thrown if the URScript statements 'break' and 'continue' were not declared within the scope of a loop.
  • Fixed issue where declaring stand-alone statements whose result is not consumed in a URScript program causes incorrect behavior in the controller. 
  • Improved error reporting for invalid MoveP motions.

PolyScope GUI

  • Fixed the issue where the Pose Editor showed the real robot pose instead of the Waypoint pose when real robot pose is like the edited Waypoint pose.
  • Fixed an issue where a program ran even though it depended on undefined installation features.
  • Fixed issue where the blend radius was reset to zero for variable waypoints.
  • Improved description of auto-initialize function.
  • Enabled the Play button and Speed Slider to appear shaded when the robot is in Freedrive Mode.
  • Fixed issue so auto-initialize is not triggered by a MODBUS signal.
  • Fixed issue in the Init Variables node where the Expression text field header was not translated for non-English languages.
  • Fixed issue for non-English languages where the MODBUS screen in the Installation Tab did not fit the screen when the advanced option section was displayed.
  • Fixed issue where the Expression Editor screen was incorrectly positioned horizontally. 
  • Corrected the tool tip error messages where the valid input range is described as a decimal even though the keypad only accepts whole numbers. This is fixed for the General Limits and Joint Limits Tabs on the Safety Installation screen.
  • Fixed issue where tool tip warning messages were incorrectly positioned and two messages were displayed simultaneously in the General Limits Tab on the Safety Installation screen when n Reduced Mode.
  • Fixed issue where program variables and values were not shown in the 'Variables' table in the 'Run' screen when a program was running.
  • Fixed issue where the paperclip icon did not appear in Log Tab for a log entry containing a generated Incident Report.

Dual Robot Calibration

  • Changed the flow of connecting robots together. Now, the calibration tool is mounted on the master before the robots move toward each other.
  • Added scale results to the Dual Robot Calibration.

URCap Software Platform

  • Fixed issue where adding a Swing JPanel to the JPanel provided by the 'buildUI()' method in the 'SwingProgramNodeView'/'SwingInstallationNodeView' API interface resulted in an "AuthorizationException: Method not supported from URCaps exception.
  • Fixed issue where the first undo operation would not restore an empty data model for values with primitive data types (e.g., integer, double, etc.). 
  • Fixed issue related to the dialog "IllegalStateException: No node currently selected" Java exception appeared when users interacted with the Command Tab screen for a URCap node after loading a program containing URCap program nodes from at least two different URCaps.
  • Fixed issue where the 'setValue(double)' method in the 'AnalogIO' API interface applied an incorrect value to the Analog Output.

Manuals

  • Improved description of the "Critical Section" in the Script Manual.
  • Corrected the maximum voltage value obtained from an Analog Output pin in Current Mode in the User Manual.
  • Improved description of the "Auto Initialization" section in the Software Manual.
  • Added a new section called "Ioconfiguration" in the Script Manual which describes the set of functions used to configure different behaviors in the system through the Input/Output registers. The following functions are now documented in the Script Manual: set_standard_digital_input_action(...), set_configurable_digital_input_action(...), set_tool_digital_input_action(...), set_gp_boolean_input_action(...), and set_input_actions_to_default(...).


Release notes for Universal Robots Software 3.6

The first release note is placed at bottom of this and describes the most important improvements from version 3.5.x.x to 3.6.x.x

The latest software version is at the top of this article.


RELEASE NOTES 3.6


3.6.1.30595


Release Notes 3.6.0 -- June 18, 2018

Released Versions

  • UR Software: 3.6.0.30507
  • UR Firmware 3.12.3
  • Manual: 3.6.0 
  • URSim: 3.6.0
  • URSim Virtual Machine: 3.6.0
  • Support Log Reader: 3.6.0
  • URCap Software Platform:
    • URCap API: .1.3.0
    • URCap SDK: 1.3.55

 

Key Features

  • Improved feature plane creation
  • Improved Waypoint linking
  • Improved search functions and navigation within the program tree
  • Provided further support for sorting variables in the 'Program' tab and on the 'Run' screen
  • Made three new languages available for the User Manual and PolyScope GUI: Romanian (RO), Hungarian (HU), and Traditional Chinese (ZT).
  • URCap API: Provided support for PolyScope installation and program node contributions with Swing-based user interface

 

PolyScope GUI

  • Made three new languages available on PolyScope: Romanian (RO), Hungarian (HU), and Traditional Chinese (ZT).
  • Made the text field in the 'Assignment' program's 'Assignment' dialog automatically ready for typing input and the 'Enter' key accepts the value. 
  • Improved explanation for 'BeforeStart' and 'AfterEnd' program nodes. These can be added in both 'Pallet' and 'Seek' program nodes. Programs containing 'BeforeStart' nodes created in 3.6 cannot be loaded into 3.5 or earlier.
  • Enabled the 'Freedrive' button to access the 'Backdrive' by pressing the GUI button (located on the Move screen) when the robot is in Idle Mode.
  • Improved the search function and navigation within the program tree when the program tree panel is expanded.
  • Improved the layout of the 'Command' tab screen for the Waypoint Program node.
  • Explicit linking of Fixed and Relative Waypoints: Waypoints are now linked and unlinked using a dedicated button on the 'Command' tab screen for the Waypoint Program Node. In previous software versions, linking of Waypoints was achieved by assigning multiple Waypoints the same name, while unlinking occurred when a linked Waypoint was given a new unique name.
  • Improved mapping of TCP position and orientation to robot movement in Move Tab. Axis labels and coloring are shown when "Show axes" are enabled in the installation.
  • Safe Handling of Installation Files: Ensured that when programs are saved, they contain the safety checksum so users cannot unwillingly run a program with modified safety settings. The following work flows have changed:
    • When loading a program, the installation is automatically loaded. Now, there is no longer a pop-up.
    • If the safety settings in the installation does not match the one in the program, a program can only be loaded in "Programmer Mode" until it is verified to be safe.
    • When applying a new safety configuration or loading an installation with a safety configuration different from the active one (i.e., a configuration with a different safety checksum), a "Safety settings have changed" tooltip is now displayed under the safety checksum in the PolyScope header.
  • Adjusted our interface to show when a program node becomes undefined. A program node with an expression (e.g., an 'If' node) using an installation entity, such as an installation variable or a feature, now becomes undefined when that entity is deleted or missing in the installation. To identify if the program node is undefined, the expression text field is highlighted with a yellow border and the actual expression is shown in italics.
  • Improved feature plane creation. Created steps for users to correctly orient the y-axis of planes.
  • Adjusted the wording of the default TCP selection for a new 'Move' node to 'Use Active TCP' instead of 'Use Tool Flange'.
  • Made variables sortable in the Run -, Program - and Installation screen.
  • Improved and simplified the text in the "Set Installation for Program?" dialog box that appears when loading an installation that differs from the installation used by the current program. This dialog prompt asks the user if they want to update the current program. If the user selects "yes," the current program becomes associated with the new installation which ensures the installation will be loaded simultaneously when loading the program in the future. The text now includes the name of the installation being loaded, as well as the program's active installation.

Controller

  • Added script function get_tcp_offset() which returns the active TCP offset.
  • Extended get_forward_kin() with optional arguments for specifying joint angles and TCP.
  • Extended get_inverse_kin() with optional argument for specifying TCP.
  • Reset revolution counter for UR3 Wrist 3 when the joint position limit switches from "unrestricted" to "restricted."
  • Provided more detailed information regarding the current state of kinematics calibration in both the Controller and PolyScope logs.

URCap Software Platform

  • URCap API:
    • Provided more support for PolyScope installation and program node contributions with Swing-based user interface (as opposed to HTML-based): 
      • See new API interfaces 'SwingInstallationNodeService' and 'SwingInstallationNodeView' in the new 'contribution.installation' Java package.
      • See new API interfaces 'SwingProgramNodeService' and 'SwingProgramNodeView' in the new 'contribution.program' Java package.
      • Provided support for PolyScope undo/redo functionality for program node contributions. All functionality is in the new 'domain.undoredo' Java package. This functionality is only relevant for URCap program nodes with Swing-based user interfaces.
      • Provided support for showing a virtual keyboard (for text fields) and validating user input. See the new 'userinteraction.keyboard' and 'userinteraction.inputvalidation' domain Java packages.
      • Divided the 'URCapAPI' interface into separate application/functional API interfaces: 
        • See new API interfaces 'SystemAPI', 'UserInterfaceAPI', ApplicationAPI', 'InstallationAPI' and 'ProgramAPI' in the domain Java package
        • Introduced new context-specific API providers offering access to API functionality relevant to installation and program node contributions. See new API interfaces 'InstallationAPIProvider' and 'ProgramAPIProvider' in the new 'contribution.installation' and 'contribution.program' Java packages, respectively, as well as the 'ViewAPIProvider' in the 'contrition' Java package.
        • The new API interfaces are only relevant for contributions with Swing-based user interfaces.
      • See new "URCap Software Development Tutorial Swing" document in the URCap SDK for more details
  • URCap SDK
    • Added new sample URCaps demonstrating new API support for installation and program node contributions with a Swing-based user interface (see section "10: URCap examples overview" of the URCap tutorial for more details):
      • User Input: Demonstrates the new API features for requesting user input using the virtual keyboard as well user input validation. The sample uses different types of virtual keyboards.
        • Added the following new sample URCaps which are the corresponding Swing-based versions of the existing HTML-based URCap samples:
          • Hello World Swing
          • My Daemon Swing
          • Script Function Swing
          • Pick or Place Swing
          • Ellipse Swing
          • Cycle Counter Swing
          • Idle Time Swing
          • Localization Swing
    • Aligned the names for each URCap sample (both HTML- and Swing-based) in the following places:
      • The name displayed in the 'URCaps' section in the 'Setup Robot' screen when installing the URCap
      • The name of the URCap in the section "10: URCap examples overview" of the URCap tutorial
      • The name of the button in the 'Structure' corresponding to the URCap program node contribution type
      • The title of the custom 'Command' tab screen for the URCap program contribution
      • The title of the custom screen for the URCap installation contribution
    • Improved user interface layouts and word choices on the URCap sample screens (both HTML- and Swing-based)
    • Documents:
      • Added a new document, "URCap Software Development Tutorial Swing," that explains how to develop a URCap with Swing-based user interface (urcap_tutorial_swing.pdf file)
      • Added a new document, "URCap Converting to Swing," that describes how to convert an existing HTML-based URCap to a Swing-based URCap (converting_to_swing.pdf file)
  • Provided a detailed error description if an error occurs in the binding of HTML widgets to Java backend components in a URCap. When a URCap screen with a binding error is entered, the user interface provided by the URCap is replaced by a screen displaying information about the error.

Manual

  • Made three new User Manual languages available: Romanian (RO), Hungarian (HU), and Traditional Chinese (ZT).

Support Log Reader (SLR)

  • Made log entries display with world time and date. 

Bug Fixes

Controller:

  • Fixed the issue of the controller reporting to PolyScope that the robot is in Normal Mode when it was in Recovery or Reduced Mode.
  • Fixed an issue with MoveJ when moving to the robot’s current pose. In some cases, this could cause the robot to move to a different joint configuration with the same pose.
  • Improved detection of compile errors when the script language statements 'continue' and 'break' are not declared within a loop.

PolyScope GUI:

  • Fixed program save indicator to not show unsaved changes when declining to load installation.
  • Fixed behavior of the 'Save' button in the Script Editor. The button is now only enabled if there are unsaved changes. On a newly created script, you must click 'Save As' first.
  • Fixed validation error message to include upper limit on 'Pattern' node.
  • Discontinued the ability to paste an 'Elseif' node under an 'Else' node in the program tree.
  • Fixed issue that appears when the 'Program Template' shows error popup in Russian.
  • Fixed issue that occurs when the disabled 'Home' button on the 'Move Tab' becomes enabled after returning from the pose editor.
  • Corrected the value for Imperial units on the 'Speed max' label in the 'Advanced Safety Configuration Tab.'
  • Corrected limits in error message for Imperial units for the 'Tool Speed' limit field.
  • Adjusted the non-ASCII characters in the installation variable name to prevent errors from occurring in a program.
  • Adjusted the 'suppressed assignment' node to remove a variable after undoing creation of the Assignment node.
  • Modified the blend radius to update after changing a Waypoint node type.
  • Changed the button in the Structure Tab and the node title in the program tree to English for the Conveyor Tracking Program node when there is a non-English system language and the 'English programming' option is selected in the language settings in the 'Setup Robot' screen.
  • Fixed a bug where switching the type of Script node would not be reflected in the program tree.
  • Fixed Restart in language and time setup screens to only become enabled when there are changes.
  • Adjusted the Set Waypoint button to display 'The Robot Cannot Proceed with Normal Operation' in a popup dialog box when the robot is in Power Off Mode.
  • Fixed a bug where a program could not run if saved using special characters in the filename.
  • Fixed multiple Event nodes so that the code generation order is no longer incorrect.
  • Adjusted the installation to be marked as having unsaved changes when a URCap removes a key from its data model.
  • Modified the 'programState' to correctly return the result for long-named programs when running a program through the DashBoard Server.
  • Adjusted the effects of calling "quit" on the DashBoard Server to return the expected response string.
  • Fixed the issue with the navigation arrows within the Online Help.
  • Adjusted the screen to remain on the Installation Tab instead of switching to the Welcome screen when resolving safety errors. 
  • Fixed the issue of the missing robot shadow when returning from the Pose Editor.
  • Resolved the issue of the Protective Stop not allowing the process to continue while performing Dual Arm Calibration.
  • Resolved the issue where a program variable is missing from the installation causes an error dialog.
  • Ensured the search field properly clears a search when a new program is loaded.
  • Increased robustness for missing Serial Number when loading PolyScope.
  • Ensured the order of Event nodes is correctly represented in the script.
  • Ensured Program nodes update when analog inputs/outputs change.
  • Restricted the linking of non-matching waypoint types to only be able to link with the same types.
  • Restricted the threads from being defined within subprograms.
  • Resolved the issues that occur when loading a program with installations where installation variables are used.
  • Fixed the issue where a Java exception could occur when saving a program with a subprogram containing URCap Program nodes.
  • Corrected the indentation of the content list on the Online Help.

URCap Software Platform:

  • Fixed a bug that prohibited a Waypoint node added to a MoveL with a selected variable to update when the feature changed.
  • Fixed a bug in the Ellipse Sample in the URCap SDK that demonstrated caching a value from the data model.
  • Fixed a bug where the URCap API instance was not available immediately (in the activator) when a URCap starts.
  • Fixed the issue where a Java exception could occur when saving a program with a subprogram containing URCap program nodes.
  • Modified the installation to be marked as having unsaved changes when a URCap removes a key from its data model.

Manuals:

  • Fixed the incorrect return value description for 'pose_dist()' script function in the Script Manual.


Release note Software version 3.5.x.x


Release notes for Universal Robots Software 3.5.x.x


RELEASE NOTES 3.5.4

Release notes 3.5.4 Date: 30/04-2018
Released Versions:

  • UR Software: 3.5.4.10845
  • URSim: 3.5.4
  • Safety A firmware: 3.5.2
  • Safety B firmware: 3.5.4 (no changes)
  • Support Log Reader: 3.5.4 


Bug fixes

Fixed 2 issues that prevents proper robot initialization, and results in C201 error:

  • Robot tries to recover from error C200A7(not always captured in log file as initializing process fails), robot needs complete reboot to recover. It has been fixed so complete reboot is not required.
  • Fixed C201A0, and C201A1 when SCB Processor A fails to initialize (LED "A" on SCB is not blinking). NOTE: Requires manual update of SCB firmware in the control box.

 


RELEASE NOTES 3.5.3


Released Versions:

  • UR Software: 3.5.3.10825
  • URCap SDK: 1.2.41 (available from the Developer forum)
  • URSim: 3.5.3
  • Safety Firmware: 3.5.1
  • Support Log Reader: 3.5.3
  • Manuals: 3.5.3


New Features

  • New timeout parameter for script functions socket_read_ascii_float, socket_read_binary_integer, socket_read_line, socket_read_byte_list and socket_read_string.
    The user can now specify the timeout for the read action. The default parameter remains at 2 seconds. Please refer to section 5.1 of the Script Manual for more information.

 

Bug Fixes and Improvements


UR Software:

  • Fixed problem with the behavior of wait function on analog input when configured to currents.
  • Improved conversion of old programs to new software versions.
  • Improved support for calling script functions containing positional and named parameters simultaneously.
  • Improved display of safety error pop-ups by including explanation and suggestion messages, which previously were only available from the Log Tab.
  • Improved error messages by adding more explanations and suggestions.


URCap Software Platform:

  • Improved the formatting of scripts generated from URCaps.
  • Improved robustness in the SCB communication when multicast packets are used. Example: URCaps using zeroconf library.


Manuals:

  • Corrected analog input/output function descriptions in Script Manual.
  • Updated Script Manual to include indentation requirements for scripts sent directly to the controller, primary, secondary, or real-time socket.

 


RELEASE NOTES 3.5.2


Released Versions:

  • UR Software: 3.5.2.10778
  • URCap SDK: 1.2.41
  • URSim: 3.5.2
  • Safety Firmware: 3.5.1
  • Support Log Reader: 3.5.2
  • Manuals: 3.5.2

New Features
Error reporting and data collection tool.
A report will be generated whenever a violation or exception occurs that causes a change in the robot mode, for example, a protective stop.
In the Log tab, a paper clip icon will be used to indicate that there is a report available for an event. Tapping on the log entry will provide the user with the option of saving a copy of the report to a selected USB drive. 
Please refer to sections 11.3.1 and 13.15 of the User Manual for more information.

Bug Fixes and Improvements

UR Software:

  • Fixed German translation of "Momentum" in Polyscope and the User Manual.
  • Freedrive mode can now be used in the Automove screen. In addition, freedrive mode now causes the robot to enter "real robot" mode directly if the robot was in simulation.
  • Enabled interpretation of escape sequences in suffix and prefix for socket_read_string function.
  • Improved Norwegian translations in Polyscope and the User Manual.
  • Improved support for the use of threads in programs.
  • Improved reporting of joint speed limit violation. Now the error contains information about which joint it refers to. [Requires update of SCB software]
  • Improved number formatting when entering values to TCP Center of Gravity fields.
  • Improved program tree validation after a new installation is loaded.
  • Improved error messages by adding more explanations and suggestions.

URSim:

  • Removed "dummy" field from the Edit Pose screen.


User Manual:

  • Corrected maximum ethernet speed in section 5.5
  • Added Index section.
  • Removed test certificate from "What Do the Boxes contain" section.

 


 

RELEASE NOTES 3.5.1

Released Versions:

  • UR Software:   3.5.1.10661
  • URCap SDK:    1.2.41
  • URSim:           3.5.1
  • Safety Firmware:      3.5.0
  • Support Log Reader: 3.5.1
  • Manual:                   3.5.1

 

Bug Fixes and Improvements

UR Software:
  • Waypoints from a List Pattern node can be suppressed. The pattern node will be marked as undefined, when all waypoints are suppressed.
  • The Move tab displays joint position limits according to the active robot mode (Reduced, or Normal).
  • During program execution, the popup title matches the selected popup type.
  • Fixed a problem with the operator assignment popup. The accept/green button will remain deactivated as long as the input field is empty.
  • Automove will always move to the first fixed waypoint used in a program. Fixed an issue where the second waypoint was being wrongly selected as the first waypoint due to naming.
  • Reduced the time taken to load and start large programs.
  • Previously-used variable names that are not currently being used, can be reused by the same variable and other variables.
  • The selected feature in the Move tab will be persisted when moving to the Pose Editor, and vice versa.
  • While freedrive mode is active, no motion commands will be processed by the controller. The user will get a runtime exception when attempting to run a program that uses move, speed, servo and conveyor tracking functions while freedrive mode is active.
  • Improved error message for C201A0 and added a new error code (C103A3) for Ethernet initialization failure at startup.
  • Fixed issue with C104A0 flooding the log history if the confirmation of user parameters is delayed.
  • The robot moves smoothly when performing circular conveyor tracking with tool rotation enabled.
  • Users can modify array type variables (e.g List, Pose) passed as parameters to a script function. Example added to Script Manual.
  • PolyScope will display a number of revolutions and angle in the Move tab for UR3 wrist 3.
SCB:
  • Fixed issue that prevented the robot from entering Recovery Mode when the robot is started in Reduced Mode and is in violation of the Reduced Mode joint position limits.
    NOTE: This fix requires manual update of SCB firmware in the control box.
URCap Software Platform: 
  • The "Set center point" action (under an Ellipse node) can be undone with a single click of the undo button below the program tree.
  • Fixed rendering problem with <hr> tag not showing when size was not specified in css. The width/thickness of the lines can be customized.
  • The red borders used to highlight an error with a URCaps node have been resized to avoid displacing other components in the GUI.

Manuals:
  • Improved the description of the movej command in the Script Manual.
  • Corrected maximum input voltage specification in the User Manual.
  • Improved the explanation of safety modes in the User Manual (section 2.4).
  • Fixed screenshots for the safety section of the User Manual.

 


RELEASE NOTES 3.5.0

Software 3.5.0.10584 has a lot of new features, which includes a major set of new possibilities in the URCaps SDK and API. 
Please consult the release notes, for a complete set of new features in the API. 
Some of the URCaps API related key features are: 
• Support for configurations of "built-in" PolyScope program nodes
• Support for getting a robot position defined by the user through the 'Move' tab
• Support for accessing, creating and storing variables
• Support for capturing click/touch pixel positions in GUI elements
• Support for getting the selected language, programming language and unit type settings


Release note Software version 3.4.x.x


Release notes for Universal Robots Software 3.4.x.x

The first release note is placed at botton of this article and describes the most important improvements from 3.2.xxxxx to 3.3.x.x

The latest software version is in the top of this article.


version 3.4.5

Released Version:

     UR Software:3.4.5-100

version 3.4.3

Released Versions:

  • UR Software: 3.4.3-77
    • Joint firmware: 3.10.0-118 (no changes)
    • Polyscope: 3.4.3-361
    • Controller: 3.4.3-386

Bug fixes

PolyScope:

  • Fixed problem with dashboard server not responding when sending play command to a robot that is safeguard stopped.
  • It is now possible to create list of poses as installation variable.
  • It is now possible to use scientific notation without explicit sign on exponent (i.e. 1e3), and fractional values starting from '.' instead of digit (i.e. .5) in installation variables
  • Fixed issue where register value was not updated on modbus setup tab when it exceeded 32767. Value returned from modbus script functions was correct - programs were not affected.
  • Improved rendering of Japanese font and fixed issue with the assignment operator "=" not being displayed in the program tree.
  • Fixed issue with the program execution indicator arrow being hidden permanently after a running program is interrupted (stopped or paused).
  • Modbus client:
    • Added option to send signal requests sequentially (required by some fieldbus devices)
    • Added signal statistic for monitoring actual response frequency.
    • Fixed issue when pressing "refresh" button on modbus client setup tab disconnects signals permanently with some servers.
  • Added "do not convert" option when loading program that was created with a robot calibration different from the current robot calibration.

Manuals:

  • Added the correct labels and diagrams for the tool I/O in the User Manual.
  • Modbus documentation improvements.
  • Fixed issue with copying text with underscores from user, and script manuals.
  • Updated the PolyScope manual with improved information on safety limits tolerances
Release notes 3.4.2

Released versions:

  • UR Software: 3.4.2-65

Bug fixes

PolyScope GUI

  • Fixed issue with float installation variables in non-English languages that use a comma as decimal separator.

Manuals

  • Added a more detailed explanation of the position_deviation_warning() function to the Script Manual.
Version 3.4.1

Release notes 3.4.1

Released versions:

    UR Software: 3.4.1-59

Bug fixes

PolyScope GUI

    Fixed issue that the save icon in the Installation tab is enabled right after loading an installation, if the new installation has a different safety configuration.
    Fixed issue that debug comments will not be shown in case of a syntax error in the last line of the script.
    Fixed issue that the Software Update screen shows an incorrect message.
    Fixed issue with input validation of float numbers in the Installation Variables tab.
    Fixed issue with the z-axis direction of features in the 3D View.
    Fixed issue that features are not visible on the 3D View after switching multiple times from the Move tab to the TCP screen.
    Fixed issue with timestamp of version message in the Log tab and log_history.txt.
    Fixed issue that the voltage/current selection in the IO tab is not always properly updated to reflect the currently loaded installation.
    Fixed issue that the dashboard server will not process commands when certain popup messages are visible.
    Fixed issue that tool tips in the Log tab would not close automatically. With the fix runtime errors will stay open, but other tool tips will close automatically.
    Fixed issue that Wait nodes can behave unexpectedly when modifying multiple Wait nodes in a program.
    Fixed issue that some variables in the Variables tab are not updated correctly and the user interface can flicker.

URCap Software Platform

    Fixed issue that URCap implementations of InstallationNodeService.createInstallationNode(..) are called too frequently.

Linux OS

    Fixed issue with missing video output when connecting additional monitors after the controller has already been started. The video output will now automatically be reconfigured when connecting additional monitors on a CB 3.1 controller. Note that this fix is only available when getting a new robot or replacing the system USB stick - e.g. it is not enough to upgrade with an update file.
    Fixed issue that misleading "upgrade failed" messages can appear at the end of a software upgrade on a CB 3.0 controller.

Improvements

PolyScope GUI

    Modbus setup has been improved with better support for connection diagnostics. It can be enabled by navigating to Installation->Modbus and selecting "advanced options". The following diagnostics data is supported:
        Reconnect count: Number of times the TCP connection was closed and connected again.
        Connection status: TCP connection status.
        Response time [ms]: Time between Modbus request sent and response received - this is updated only when communication is active.
        Modbus packet errors: Number of received packets that contained errors (i.e. invalid length, missing data, TCP socket error).
        Timeouts: Number of Modbus requests that didn't get a response.
        Requests failed: Number of packets that could not be sent due to invalid socket status.

Manuals

    The technical specifications in the User Manual are updated with new noise values.
    Script Manual is updated with information about the upper limit (300N) for force values exerted at the TCP.

Version 3.4.0.39

UR Software: 3.4.0.39


  • UR Firmware (no changes):
    • Joint firmware: 3.3.3.22
    • Safety A firmware: 3.3.3.69 [URSafetyA 504]
    • Safety B firmware: 3.3.3.41 [URSafetyB 256]
    • Tool firmware: 3.3.0.10
    • Screenboard firmware: 3.3.0.11
    • Euromap67 firmware: 3.3.0.24
  • Manual: 3.4.0
  • Support Log Reader: 3.4.0.220
  • URCap Software Platform: 1.1.0-76


Key features

  • Improved support for debugging/troubleshooting of runtime and compile errors when running programs in PolyScope
  • General purpose register integration in PolyScope (the registers can be accessed by e.g. a fieldbus such as Profinet and Ethernet/IP)
  • URCap API support for script function contributions
  • URCap API Support for creation of "template" program node contributions containing a predefined sub-tree of child nodes

PolyScope GUI

  • Program tab:
    • Changed the 'Set' program node with respect to the 'Perform Action Now' button. This is now only enabled when an action can actually be performed (i.e. the node is defined and either an output action, payload setting or TCP has been selected).
    • Removed the 'Recalculate motions' and 'Set TCP' checkboxes from the 'Move' program node and replaced them by two new items in the 'Set TCP' drop-down menu:
      • 'Use Tool Flange': Makes no adjustments (i.e. motions are with respect to the tool flange)
      • 'Use Active TCP': Adjusts motions with respect to the active TCP (corresponds to having the only the 'Recalculate motions' checkbox ticked in previous PolyScope versions)

Software 3.3 (old version)

 

 Software 3.4 (new version)

  • Installation tab:
    • The maximum allowed length of the name of a safety plane in the 'Boundaries' tab in the 'Safety' Installation screen has been extended to 32 characters
    • The 3D graphics in 'Features' in the 'Installation' tab now supports zooming

    • 'I/O Setup' screen:
      • Screen layout has been improved
      • I/O signals configured with an I/O action are now shown in italics and the signal's default name (e.g. "digital[0]") is displayed together with the action name (e.g. "Start program") in the 'Input' and 'Output' sections
      • In the 'Input' and 'Output' lists, the signals are now divided into sections (by separators) based on I/O type
      • Added filtering on the type of I/O to allow the user to limit the number of signals listed in the 'Input' and 'Output' sections, so it is easier to locate specific signals
      • Added input validation in the 'Rename' text field for the length of a user-defined name

    • Integrated all 64 boolean, 24 integer and 24 float general purpose registers (registers can be accessed by e.g. a fieldbus such as Profinet and Ethernet/IP) in the 'I/O Setup' screen:
      • Added support for input and output I/O actions for boolean registers
      • Registers can be assigned a user-defined name.
      • All named registers will be available the 'Wait' and 'Set' nodes as well as any expression (e.g. the conditional expression of an 'If' node) in the program. The named registers can be found in the 'Input' or 'Output' selector in the 'Expression Editor' screen

    • Added support for auto starting the default program and auto brake releasing the robot with boolean general purpose registers in the 'Default Program' screen

  • Improved feedback when loading programs and/or installations which depend on one or more URCaps that is not installed:
    • Affected URCap 'Installation' tab nodes are marked with a yellow border (on the left side of the 'Installation' tab). In previous versions of PolyScope, the unresolved URCap Installation tab nodes would be ignored during load, and the information stored in the node would be lost, if the installation was resaved.
    • The affected URCap program nodes become undefined (yellow) and in the program tree, the title of each node will reflect what type of URCap node that is missing (for previous PolyScope versions the node title was "undefined"). Compared with previous versions of PolyScope, the part of the tree contained in an unresolved URCap node is now shown in the program tree, and if the program is resaved, the information stored in the unresolved node is not lost.
    • Introduced new screens displayed when an unresolved URCap node is selected in the program or in the 'Installation' tab:
      • Displays information about node type, URCap and URCap developer
      • Provides the user suggestions on how to resolve the issue

    • When loading a program, a new dialog will be shown, if the associated installation depends on one or more URCaps, which are not installed. The dialog informs the user about the specific missing URCaps and refers the user to the 'Installation' tab for inspection of the problem

  • Keypads, keyboards and Expression Editor
    • All remaining full screen keyboards and keypads have been replaced with the popup version
    • Pressing and holding down the delete key ('<<') on the popup keypad and keyboard as well as in the 'Expression Editor' screen, now allows the user to delete several characters at a time
    • Added a text field to the popup keypad and keyboard, in which the user enters the input while still being able to see the current value in the original text field. This change also makes it easier to enter input using a physical keyboard

  • Improved support for debugging/troubleshooting of programs:
    • The responsible URCap or PolyScope built-in program node, which generated the "faulty" URScript code, is marked in the program tree with a red border
    • The responsible URCap Installation tab node, which generated the "faulty" URScript code, is marked in the left side of the 'Installation' tab with a red border. Installation tab nodes can cause errors in program execution through contribution to the preamble of the generated script code for the program
    • New error dialog for compile and runtime errors with more details:
      • Lists the "faulty" PolyScope built-in/URCap program node or Installation tab node and it's type. For URCap nodes the responsible URCap and developer is also shown
      • Provides an advanced view detailing the position of the error in the generated script code (of the program) in terms of the exact line and column number as well a small snippet of the script code including highlighting of the line where the error occurred

      • For 'Script' program nodes the relative line number (of the script code) within the node is shown as well

      • Allows the user to jump directly to the "faulty" node in PolyScope in the program tree or in the 'Installation' tab
      • All the details of the error dialog are viewable at a later time in the 'Log' tab or the Support Log Reader

    • Introduced a new "Program xxx starting..." message, which is added (by PolyScope) to the log just before the script code is send to the controller:
      • Contains the full program name including folder names, e.g. "folder1/program_name"
      • Contains a time stamp for last save. If the program contains unsaved changes "Unsaved" is shown (instead of a time stamp)
      • The message's purpose is to help debugging/troubleshooting (at a later time). It is especially relevant when a compile error occurs, in which case the "Program xxx started" message from the controller is not received making it difficult to determine which program had that particular failure.

    • Added debug comments surrounding script code generated by a URCap. See the "URCap Software Platform"section of these release notes for more details.
  • Added the "Maximum of 'n' characters." validation error message when the user enters too long names for I/Os (in the 'I/O Setup' Installation screen), MODBUS signals, sub programs, waypoints and variables. This changes the previous behavior where the entered name was automatically truncated to the maximum allowed length.
  • When clicking the 'Shutdown Robot' button in the 'Welcome' screen, it is now also possible to restart the robot (besides the previous option to power off the robot)
  • The "Applying Safety Configuration" progress bar is now no longer displayed while PolyScope is booting up
  • Now, the "The Robot cannot proceed with normal operation" dialog is shown when clicking one of the text fields in the 'Move' tab (to access the 'Pose Editor' screen) and the robot arm is, e.g not brake released or powered on

Program Correction

  • The top level 'Program correction' node in the program tree (on left hand side of the screen) has been renamed to 'Correction model'
  • Added visual indicator in the program tree for waypoints which have been redefined:
    • Redefined waypoints have a green icon
    • Unmodified waypoints have a yellow icon and the name is shown in italics
    • Other program nodes are grey indicating that no actions can be performed on them. This applies for all nodes which are not fixed waypoints.
  • The 'Overview' and 'Setup' tabs have been merged into one screen that is accessible through the 'Correction model' top level node in the program tree

  • When the 'Calibration' tab is selected, the 'Save As ...' option in the top 'File' menu is now disabled
  • Improved the layout of the screen displayed when the root of a loaded program is selected in the tree
  • Improved the layout of the screen shown when a 'Waypoint' node is selected in the tree. In this screen it is now also possible to move the robot to the new redefined position using the new 'Move robot here' button.

Dashboard server

  • Improvements to the correctness of return values to reflect when the execution of commands fail
  • Updated the 'load' command, so it will return until after loading both the program and the associated installation has either completed or failed. The return values remain the same, but "Error while loading program: <program.urp>" will now also be returned, if loading the installation fails.
  • Updated the 'load installation' command, so it will return until after loading of the installation has either completed or failed. The return values remain the same, but "Failed to load installation: <default.installation>" will now also be returned, if e.g. the controller rejects the installation.

URCap Software Platform

  • Added API support for script function contributions in PolyScope:
    • A URCap can add URScript functions contributed to the program preamble to the 'Expression Editor' screen
    • The contributed script functions will be available in the '<function>' drop-down menu in the 'Expression Editor' screen where they are displayed with the supplied named hints about the parameter types (same as for script functions supplied by Universal Robots)
    • In the 'Expression Editor' screen, the contributed script functions are grouped by the URCap "owner" in terms of the name of the URCap and its developer

Added API support for creation of sub-trees:

    • URCaps can create simple "template" program node contributions containing a pre-defined sub-tree of child nodes
    • When creating sub-trees for a program contribution developers can:
      • Create "built-in" PolyScope program nodes in the "default" configuration and insert them into the sub-tree. The "default" configuration of the nodes is equivalent to the user inserting the nodes through the 'Structure' tab. Most node types are supported except for: 'Thread', 'SubProgram', 'Script Code', 'Switch', 'Event' and 'Conveyor Tracking'
      • Create and insert other URCap nodes into the sub-tree
      • Remove any child contained in the program node contribution
      • Lock the immediate child sequence (i.e. the sub-tree) for modifications to ensure that once the node contribution has been inserted in the program tree, the immediate child nodes cannot be moved, deleted, cut or suppressed by the user
    • A URCap can contribute a program node type, which cannot be inserted by the user via the 'Structure' tab (not shown)

  • URCap SDK:
    • Installation of the SDK now includes all released versions of the API. It is also possible to select which API version to target when creating a new URCap. Sections 3 and 11 in the URCap tutorial have been updated with relevant information.
    • Removed the script manual from the SDK. Section 2 ("Prerequisites") in the URCap tutorial has been updated with information on how to get the script manual from the Universal Robots support website.
    • Added two sample URCaps, 'PickOrPlace' and 'ScriptFunction', demonstrating the new API features for creating sub-trees and adding script function contributions
    • Added a new section, "10: URCap examples overview", which lists all the URCap samples shipped with the SDK. For each URCap example this section provides a short description containing:
      • A short summary describing the URCap and the API features that it uses
      • List of main API interfaces used by the code of the URCap
      • The first version of the URCap API and PolyScope which supported the specific feature
    • Added the section "8.5: Loading programs with Program Node Contributions" which describes the interaction with the code of a URCap during load of program node contributions (from a persisted program) including information about how the data model and sub-trees are handled
    • Added the section "8.4: Undo/redo functionality" which details how the Undo/redo functionality of PolyScope affects program node contributions from a URCap.
    • Added the section "12: Compatibility" describing the rules for compatibility around URCap API versions and PolyScope versions.
  • URScript code generated by a URCap is now annotated to aid debugging/troubleshooting of programs, that use URCap program and Installation tab node contributions. Each contributed script code block is surrounded with comments, so that e.g. the URCap, which provided erroneous script code, can easily be identified. For more details, see section A ("URCaps and generated script code") in the URCap tutorial
  • Real-Time Data Exchange (RTDE) interface:
    • Extended RTDE protocol and increased protocol version:
      • The new version (v2) must be explicitly requested for each socket connection, otherwise the RTDE expects version 1 (original) communication. The RTDE can serve both protocol versions simultaneously over different sockets.
      • The update frequency for the data output package from Controller -> RTDE client is now configurable. The frequency must be between 1 and 125 Hz. The output rate will be according to floor(125 / frequency).
      • The RTDE_TEXT_MESSAGE package has been unified for Controller <-> RTDE client communication.
      • Updated Python client reference implementation with new features
    • Added four new data fields: tool_temperature, joint_position_deviation_ratio, elbow_position and wrench_calc_from_currents.
    • Fixed mistakes in RTDE protocol documentation.

URSim (Offline Simulator)

  • Leafpad text editor added to the URSim virtual machine (for non-Linux systems)

Manual

  • User manual:
    • Improved the description of the concept of Features (in the 'Installation' tab) and how to use them in PolyScope including information about how features can be used in relation to the robot motions in a program
    • Improved the content and structure of the description of the 'I/O Setup' screen in the 'Installation' tab
    • The Attestation of Conformity EMC assessment from Delta in section B.4 has been updated due an update to the EU EMC directive
    • Added cleanroom certificates in section B.5
    • The serial number of the robot does not longer appear on the front page and in the "B.1 CE/EU Declaration of Incorporation" section. Instead the serial number can be found in the test report carried out for the specific robot. The test report follows the printed manual.
  • Added a How-To Guide on the UR Support website explaining how to set payload and center of gravity when using multiple TCPs in programs including descriptions of relevant script functions as well as two program examples

Bug fixes

Controller:

  • Set upper limit for Force values on each axis (x,y,z) to 300N to avoid that script functions related to force return extremely high values around singularities
  • The mass, center of gravity (CoG) and inertia matrix of the tool flange is no longer intermixed with the user-specified mass and CoG of the payload. This will in some extreme cases have an effect on the speed of robot motions, e.g. in situations where the CoG is very far away from the tool flange and the payload is very low.
  • Improved precision of the 'speedj()' script function for very small time intervals.
  • Conveyor tracking:
    • Fixed a bug in conveyor tracking that could cause protective stops when enabling circular conveyor tracking
    • Fixed a bug in conveyor tracking that could cause protective stops when disabling tracking while the conveyor is moving at high speed
  • Fixed bug where (script function) 'rpc_factory("xmlrpc", <IP>)' direct socket connections to offline target hosts would cause Controller communication faults.

PolyScope GUI:

  • I/Os:
    • When using an I/O action to start a program (configured in the 'I/O Setup' Installation screen) and toggling the input rapidly, the robot could exhibit a jerking motion before starting as well as display multiple consecutive progress bars. This issue has been fixed.
    • Fixed issue where the header title (displaying the name of the selected I/O signal) located above the 'Rename' text field in the bottom of the 'I/O Setup' Installation screen was not completely visible. The issue is fixed due to a change in the layout of the screen where the header title has been removed.
    • Now user-defined names for I/O signals also support language specific characters from the supported countries, which fixes issues where strange characters would be displayed in signal names in, e.g. the 'I/O' tab.
    • The signal names in the 'I/O' tab is now showing the name of the assigned I/O actions as defined in the 'I/O Setup' Installation screen instead of the user-defined name
    • Fixed issue in the 'I/O' tab where the 'Analog Output' panel title was partially covered
    • Fixed issue where reloading an installation with the 'High when not running' I/O action configured for a configurable output (in the 'I/O Setup' Installation screen) and starting and stopping a program would not set the specific configurable output high
  • Dialogs:
    • Modified the runtime error message that is displayed when running a program where a position is out of range. The error message has been changed from "getInverse: Function did not find a solution" to read as follows: "getInverse: Unable to find a solution. The robot can't reach this position".
    • When a robot is safeguard stopped and a program is started, a dialog is now displayed which informs that the robot is safeguard stopped. In previous version, the "The Robot cannot proceed with normal operation" dialog was displayed reporting the "Robot: Ok" state
    • After boot-up of PolyScope, the "The Robot cannot proceed with normal operation" dialog is shown. This no longer reports "NO CONTROLLER" which is misleading
    • Fixed the width of the dialog with information about unhandled Java exceptions, so that it now fits the screen
    • Fixed issue where a dialog saying 'Not an Installation File' would appear on the 'Initialize Robot' Screen when it should not. This would occur if a .urcap file was selected in the 'Load Robot Installation' file dialog (activated using the 'Load Installation' button) in the 'Initialize Robot' Screen, and then the dialog would show every time the 'Initialize Robot' Screen was selected.
    • Fixed the height of dialogs. If a dialog contains more information than what can fit on the screen, then a vertical scrollbar will be shown.
    • Fixed issue where renaming a file in the load/save file dialog could overwrite another file, if a file with the new name already existed. If e.g. two files, a.urp and b.urp exist, then an attempt to rename the file b.urp to a.urp would in previous versions result in the file being renamed and a.urp would be overwritten (a dialog is also shown that states that a file with that name already exists).
    • Fixed issue when using help in the load file dialog, where it would select the file situated underneath the question mark (when the question mark was clicked to access the help) and afterwards display the help content.
  • Programs:
    • Fixed issue in the 'Expression Editor' screen where the content of the '<input>' and '<output>' drop-down menus would not be fully displayed (cut off) on the screen resulting in the user not being able to select all available I/Os. This issue would occur when the drop-down menus contained a lot of e.g. MODBUS signals. Fixed by reducing the maximum number of rows that are displayed before the scrollbar is enabled.
    • Fixed an issue where running programs with certain names could result in a runtime error. This occurred because the name of the main function in the generated script code for the loaded program collided with the name of a UR built-in script function
    • Fixed issue that allowed features in the 'Installation' tab and relative waypoints in the program to be edited with the 'Move' tab while a program was running. Any currently executing program is now stopped when using the 'Move' tab for editing. It is still possible to use the 'Move' tab for viewing purposes without stopping a running program.
    • In the 'Init Variables' program node, the 'Keep value from previous run' checkbox is now updated (ticked/unticked) independently for each variable (the check box now correctly reflects if the option is selected for the each variable)
    • Copy, cut & paste operations:
      • Fixed an issue where a program with two 'Stack' or 'Destack' nodes ('Seek' node types) would use the same "interpolate_x" variable, which in some situations could cause a runtime error when the program was run. This issue would occur, if one of the nodes was a copy of the other.
      • Insert operations of multiple program nodes (e.g. copy/paste) are now gracefully interrupted when an error is encountered. When inserting a 'Waypoint' node outside of a 'Move' node "scope", the proper Waypoint name is shown in the error message and no dialog with an unhandled Java exception is displayed.
      • Fixed issue with cutting and pasting of a suppressed program node. In previous PolyScope versions, the node would become unsuppressed when pasted.
      • Fixed issue where cut and paste of a program node would unsuppress any of its child nodes, which might have been suppressed before. Say we have a 'Move' command with two waypoints where one of the waypoints is suppressed, then after cut and paste of the 'Move' command both waypoints would be unsuppressed
    • The "Remember traversal position..." option for the 'Pattern' program node in the 'Pallet' wizard is now preserved when copy/paste is used in program tree or a program is saved and loaded from file.
    • Variable naming:
      • Fixed issue where attempting to insert an 'Assignment' node in the 'Init Variables' node (not allowed) would not "release" the auto-generated default variable name.
        Example: Inserting a new 'Assignment' node in the robot program after trying to insert an 'Assignment' node in the 'Init Variables' node would assign the new variable the name "var_2" instead of "var_1"
      • Fixed issues with names of counting variables not being "freed up" when a program node containing a suppressed node with a 'Loop' or 'Pallet' node inside is not removed from the 'Structure' tab. Nodes that can be deleted without use of the 'Structure' tab include the 'Case', 'ElseIf' and 'Else' nodes as well as the 'BeforeStart' and 'AfterEnd' nodes under a 'Pallet' or 'Seek' node.
        Example: Removing a 'Case' node from the 'Switch' node containing it where the 'Case' node contains a suppressed 'Folder' node with a 'Loop' node with counting variable "Loop_1" inside would not "release" the "Loop_1" name, so when a new 'Loop' node is added, its counting variable would be named "Loop_2".
    • Loading of programs:
      • Program loading process has been optimized, so that large number of MODBUS signals in the installation no longer affects the load time.
      • Fixed issue where PolyScope was unresponsive while loading large programs
      • Fixed issue with loading of programs which caused the user-defined names of I/Os (configured in the 'I/O Setup' Installation screen) to get the wrong mapping in the program tree whenever a program's installation file uses similar I/O names as in the default/current installation.
        Example: The currently loaded installation has the 'digital_out[0]' I/O signal assigned the user-defined name "test". Loading a program containing a 'Set' node with 'Set Digital Output' option configured to use the 'digital_out[2]' signal would result in that the configuration of that 'Set' node would have changed to using the 'digital_out[0]' signal (and the name of the node in the program tree would be "DO[0]=Off"), if the program used an installation file where the 'digital_out[2]' signal had the identical user-defined name, "test".
    • Undo/redo:
      • Fixed an issue where it was not possible to undo the auto-correction of the blend radius of a waypoint. The auto-correction is performed, if blending is enabled and the next waypoint is too close
      • Fixed an issue where undoing the deletion of a program node containing one or more suppressed child nodes would result in the previously suppressed child nodes becoming unsuppresed and not possible to suppress again. This issue occurred for any node which can contain child nodes, e.g. 'Move', 'Folder', 'Loop' etc.
        Example: Deleting a 'Folder' node containing a suppressed 'Wait' node and subsequently undoing the action will result in a 'Folder' with an unsuppressed 'Wait' node, which cannot be suppressed again
    • 'Script' program node:
      • Fixed an issue where cancelling a file selection in a 'Script' node would clear the previous file content
      • Now the error message displayed when saving a file fails in the 'Script' program node will always fit the screen.
    • Fixed an issue where clicking a 'Waypoint' node in the program tree could result in a dialog with an unhandled exception, if the 'Command' tab was selected. This would occur after saving a program with an unsuppressed 'MoveJ' command containing a waypoint that was assigned to a variable elsewhere in the program.
    • Fixed issue where the save button icon (indicating the program contains unsaved changes) sometimes would not get enabled
    • 'Seek' program node ('Stack'/'Destack'):
      • Fixed issue where it was possible to delete the "required" 'StartPos' and the 'FromPos' and 'ToPos' waypoints (under the 'Direction' node) in the 'Stack'/'Destack' program node. This was possible from the waypoint themselves through the 'Remove this waypoint' button as well as adding new waypoints using the 'Add waypoint before' or 'Add waypoint after' buttons. These actions are not allowed from the 'Structure' tab. If a program with a 'Seek' node without a 'StartPos' waypoint was played, PolyScope would freeze.
      • Fixed an issue where a 'Stack'/'Destack' program node in certain circumstances would not be rendered as defined (yellow) in the program tree until the node was clicked again.
    • Fixed an issue for German language where some of content of the 'Command' tab was pushed off the screen when the 'Move' program node was selected.
    • Fixed an issue where the content of the 'Variable' drop-down box in a 'Assignment' program node would not be fully displayed (cut off) on the screen resulting in the user not being able to select all available variables. This would occur, if e.g. the program contained a lot of variables.
  • Installation:
    • Fixed problem that in rare cases could result in a corrupt installation file after editing safety settings. A corrupt "default" installation file would cause a "Safety Checksum Failed" dialog to be displayed when booting the robot, and the corrupt installation file would automatically replaced by a new default installation.
    • Fixed an issue with MODBUS names not being "freed up" when a MODBUS unit was removed. Say there was a MODBUS unit with a MODBUS signal named "Modbus_1" and the MODBUS unit was removed then a newly created MODBUS signal would not be named "Modbus_1" even though there was no signals is use with the name Modbus_1.
    • 'Boundaries' tab:
      • Fixed an issue where the name of the safety planes in the 'Boundaries' tab in the 'Safety' Installation screen was replaced with the string "???" after the installation file was saved. This issue could occur e.g. with Japanese language.
      • Fixed an issue in the 'Boundaries' tab in the 'Safety' Installation screen where the first safety plane ("Safety plane 0") was not drawn in the '3D View' panel when entering the tab. This would occur, when the first safety plane was configured, the robot was rebooted and the 'Boundaries' tab was selected. To get the plane visualized, one of the other planes has to be selected before switching back to the plane again.
      • Fixed an issue in the 'Boundaries' tab in the 'Safety' Installation screen where the selected safety plane was not highlighted when another plane was made visible. This would occur, when two safety planes were configured, one plane selected and the visibility toggle button for the other plane was pressed. Both planes were shown but the selected was not highlighted.
      • Fixed an issue where the value of the 'Displacement' text field was set to "0.0" and not "0" in the 'Boundaries' tab under the 'Safety' installation screen, even though the 'Displacement' text field only accepts whole numbers. This would occur, when the content of the 'Copy Feature' drop-down box was "reset" (after a feature had been selected) by choosing the top "<undefined>" item.
    • Fixed an issue where the save icon (unsaved changes indicator) of the 'Load/Save' node in the 'Installation' tab would be activated when selecting the 'PROFINET' or the 'Ethernet/IP' screen. This would occur, if an installation where either 'PROFINET' or 'Ethernet/IP' is enabled was reloaded.
    • Fixed French translations of the options for the encoder configuration in 'Conveyor Tracking' in the 'Installation' tab ("Progressif" -> "Incrémental", "Montée" -> "Front montant", "Descente" -> "Front descendant") and the name of top level program node ("Programme de robot" -> "Programme robot").
  • 'Setup Robot' screen:
    • Fixed an issue where the static IP address setting configured under 'Setup Network' would be lost. This would occur, if robot was rebooted when network is disconnected.
    • Online help for 'URCaps' is now available in PolyScope
    • Fixed an issue where files were not cleaned up on disk after an update of the Robot Software was cancelled. A new attempt to load any update would fail because of not enough available disk space.
  • Fixed an issue in the 'Move' tab where the name of the currently active TCP displayed above the coordinate value text fields (and below the feature selector) in the right side of the screen would be displayed as "Undefined". This would occur, if the offset position of the active TCP in the controller did not match the offset of any of the TCPs defined in the 'TCP Configuration' installation screen. Now, when this occurs "Active TCP" will be shown as a name in the 'Move' tab instead of "Undefined".
  • Fixed issue that could cause a "C203A0: PolyScope detected a mismatch between the shown and (to be) applied safety parameters" safety fault on startup.
  • Fixed issue where it was possible to enter (and submit) decimal numbers in text fields, which only accept whole numbers (e.g. in the 'Safety' installation tab), using a physical keyboard.
  • When saving a program or an installation with (unresolved) nodes from non-installed URCaps, the nodes now retain their configuration (instead of being lost).
  • Fixed issue on some screens where clicking the delete ('<<') key on the popup keyboard or keypad when editing an existing value in a text field would clear the existing value instead deleting one character at a time.
  • Fixed an issue where the balloon tip displayed when clicking entries in the 'Log' tab would not reappear when clicking the already selected item.
  • Fixed an issue in "Calibration" mode (accessed from the Welcome screen through the "Calibrate Robot" button) where the associated installation was not loaded when loading a program in the 'Program' tab. The purpose of loading a program could be to correct it when using the Program Correction functionality.

Dashboard Server:

  • Program run buttons (Play, Stop, etc.) are now not hidden, when the user role is changed from 'Restricted' to 'Programmer' through 'setUserRole' dashboard server command, and 'Program Robot' is selected.
  • Fixed commands 'play', 'stop' and 'pause' to always return failure, if the command could not be executed ("Failed to execute: <command>"), e.g. if no program was loaded before sending a 'play' command.

URCap Software Platform:

  • PolyScope will not fire input events on disabled UI widgets
  • Fixed an issue where the 'openView()' and 'closeView()' methods (of the 'InstallationNodeContribution' interface) are called multiple times for installation node contributions when switching between the 'Program' tab and 'Installation' tab.
  • Added Javadoc (code documentation) to clarify method behavior in the URCap API. Added Javadoc for the 'set(String,String)' method in the 'DataModel' interface.
  • Fixed wrong width when using a number input field in a URCap. The number field would be smaller than what was specified in the corresponding HTML layout.
  • URCap SDK:
    • Fixed a bug around using the empty string as the popup title in the 'MyDaemon' URCap example. Trying to set an empty string will now revert to the default value for the field (which is "HelloWorld").
    • Fixed a bug around using the empty string as the popup title in the 'HelloWorld' URCap example. Trying to set an empty string will now revert to the default value for the field (which is "HelloWorld").
    • Resolved an issue in the "Hello World" URCap sample. First time a loaded program was run, the text in the popup was empty

Manual:

  • URScript manual:
    • Fixed erroneous examples for 'set_runstate_standard_digital_output_to_value()', 'set_runstate_tool_digital_output_to_value()', 'set_runstate_standard_analog_output_to_value()' and 'set_runstate_configurable_digital_output_to_value()' as well as inaccurate parameter ranges for these script functions
    • Updated Threading examples in section 1.8 to comply with parsing rules of the script compiler. Empty return statements are not allowed.
    • Added missing description for the 5th parameter, 'blocking', of the 'popup()' script function
  • User manual:
    • Improved the documentation in sections 2.5.1, 5.3.2.3, 10.13.1 and 10.13.2 regarding forwarding the Emergency Stop state through a System Emergency Stop output (configurable output) when an external E-stop device is used.
    • Added a description of the Backdrive feature to the "10: Safety Configuration" chapter (as the 10.7.1 subsection of the "10.7: Freedrive Mode" section).
  • Client communication interfaces documentation:
    • Added tag "unused" to the documentation of the Secondary client interface "Force Mode" fields (X,Y,Z,Rx,Ry,Rz) to indicate that they are currently not used to convey any force data and therefore always have a value of Zero (0).


Bugfixes during Software version 3.3

A summary of all bug fixes since first release of Software Version 3.3

Controller:

  • Fixed issue with the speedj() script function, so that it now will only run the acceleration phase when no time parameter is specified.
  • Fixed issue that could cause program errors when XML-RPC functions with different number of parameters are concurrently called from different threads.
  • Improved precision of SpeedJ for very small time intervals.
  • Fixed issue causing an accumulating position error when tracking a linear conveyor.
  • Fixed issue that could cause unexpected behavior when tracking a circular conveyor with reduced program speed.
  • Fixed issue that could cause temporary unexpected behavior when stopping, pausing or resuming conveyor tracking.
  • Fixed problem with unexpected error C155A0 when entering the safeguard safety mode with a heavy payload.
  • The state of digital outputs configured with an IO action will no longer be affected when using the move tab to jog the robot or to put it in freedrive.
  • Improved feedback to users when the robot is unable to power on due to joint communication issues - e.g. if cables are not connected properly after replacing a joint.

PolyScope GUI:

  • Fixed issue where loading a program containing a Sub Program node, which is accessing the same installation variable as the main program and has the "Keep SubProgram File Updated with this Program" option selected, would result in a dialog asking if the variable should be renamed.
  • Fixed issue regarding French translation in the Command tab when a Move program node was selected. In the drop-down box in the top right corner, where the movement type is selected, the text "Déplacement J" has been replaced with "Déplacement A".
  • It is now possible to auto start the Default Program using an input I/O when the 3-Position Switch is enabled and Operational Mode is configured and set to "running mode".
  • Fixed issue in the Pose Editor screen, where using the "+" or "-" button to add or subtract an amount from the current value would add or subtract the entered value twice.
  • Fixed issue where the Dashboard server command "programstate" would falsely report the current program state as "PAUSED" instead the correct "STOPPED" after loading a new program through the "load" command, if the previously loaded program was paused.
  • When a program is loaded using the Dashboard server, it is now ensured that the robot arm stops moving immediately.
  • Fixed issue that prevented certain programs created in SW 3.1 from being loaded.
  • Fixed the problem that the screens for setting or editing a waypoint could update the waypoint even if the user clicked cancel.
  • Fixed problem when loading a program file in several Sub Program nodes where file names are longer than 10 characters and "similar". The file loading would cause name clashes between the Sub Program nodes, which would result in a "the subprogram is already loaded" error message, an unhandled exception and "freezing" of the Command tab.
  • Fixed copy and paste of Sub Program and Thread program nodes, so that the pasted node now gets a different name.
  • Changed the automatically assigned default node name from "Sousxprogramme" to "Sous_Prog" when adding a new Sub Program node to a program and using French language.
  • Fixed issue where applying a safety configuration could result in the "C203A0: PolyScope detected a mismatch between the shown and (to be) applied safety parameters" fault in some situations.
  • Now a Cancel button is always shown on the Move tab when setting a point during teaching of the TCP position or orientation in the "TCP Configuration" in the Installation tab. Furthermore, a point is no longer unintentionally set when the Cancel button is clicked in the Move tab.
  • Now the save icon on the "Load/Save" tab in the Installation is enabled when removing a TCP in the "TCP Configuration" screen which is not set as default.
  • A Sub Program call within suppressed nodes is no longer lost if saving and reloading the program.
  • Fixed issue causing the stopping condition "Stop when" in the Direction node, inside the Seek wizard, to work with opposite logic, e.g. "x=5" would actually mean "x!=5". This fix could lead to unexpected behavior in existing programs using this stopping condition. Therefore, customers are advised to go to the Direction node inside the stack or destack operation and reverse the logical expression in "Stop when".
  • The "infinite loop" error message has been improved (only in English).
  • Fixed issue causing a unhandled Java exception when changing values for Modbus output registers.
  • Fixed problem with degrading performance when using the dashboard server to continuously load and play new programs. The fix involves no longer showing the popup progress bar when loading or playing a program via the dashboard server.
  • Fixed problem where a program node for calling a newly created sub program would forget its configuration.
  • The correct unit for tool acceleration is now being shown in the user interface for MoveL.
  • Fixed issues with broken characters and incorrect translations in the Korean and Japanese versions of PolyScope.
  • Improved German translation of error codes C193 and C194.
  • Fixed the graphical layout of the run screen. It now handles switching between languages much better.
  • Fixed problem with programs being undefined when using installation variables assigned with pose values in scientific notation (e.g. p[0.2,0.3,5E-4,0,3.14,0]).
  • Fixed problem with circular conveyor tracking when center point is not variable.
  • Fixed problem with the move tab that caused the freedrive button and the manual robot movement buttons to continue their action despite being released. The problem could occur if a popup was raised (e.g. by the dashboard server) while one of the buttons was pressed.
  • Fixed issues with broken characters and incorrect translations in the Korean and Japanese versions of PolyScope.
  • Fixed problem with the Edit Pose screen that could corrupt the pose values of a waypoint.
  • Fixed issue with the assignment of variables in the Japanese version of PolyScope.
  • Fixed problems that affected the behavior of adding and defining waypoints when running PolyScope in certain languages such as Polish or Russian.

Ethernet/IP & Profinet:

  • The digital outputs in the tool can now be set through the Profinet and Ethernet/IP interfaces. It works similar to the functionality for setting standard and configurable digital outputs. The "tool digital output mask" and "tool digital output register" has been added to a reserved area of the existing package formats for full compatibility with previous versions.

Dual Arm Calibration:

  • In Dual Arm Calibration, a SW 3.3 master robot can now calibrate a SW 3.2 slave robot.
  • Fixed issue regarding the manual verification of the alignment of the two robot tools, where the plastic "Go" and "No Go" tools are inserted between the two tools. This verification step was using a tool pose in the "vertical" axis, which has now been corrected to be in the "horizontal" axis, as it was in previous software versions.

URScript:

  • Variables, functions and threads may no longer share the same name in the same scope.
  • A runtime exception will now be generated when the parameter "qnear" in get_inverse_kin() is not provided as a list of joint positions.

URCap Software Platform:

  • The installation script now asks whether it should attempt to install the native tool chain.

Manual:

  • User manual:
    • Fixed table formatting in the Japanese version.
    • Fixed minor typographical and phrasing errors.
    • Fixed various typographical errors in the manuals and PolyScope.
    • Improved documentation of default program settings in the software manual.
  • URScript manual:
    • The Modbus script function modbus_get_signal_status() was not working as described. The misleading passage, "For all signals: -1 for inactive signal, check then the signal name, addresses and connections", has been removed.
    • Corrected the default values in the signature of the get_inverse_kin() function.
    • Corrected spelling mistakes.
    • Removed references to the deprecated C-API.
  • Service manual:
    • Updated the Safety Control Board startup sequence in the service manual.
    • Added description of error code C71A12 in the service manual.

Joint firmware:

  • Implementation of anti-vibration.

Safety processors:

  • Fixed issue that could occasionally trigger a false safety fault "C192A11: TCP orientation disagreement".
  • Reduced startup delay between paired configurable outputs when an external I/O power supply is used. From seconds to less than 8 milliseconds.
  • Fixed issue that could cause a safety violation (C191A24) when a safety plane is configured to trigger Reduced Mode and update a configurable output.

Version 3.3.4.310

  • UR Software: 3.3.4.310
  • Manual: 3.3.4
  • URCap Software Platform: 1.0.1-8

Bug fixes

Controller:

  • The state of digital outputs configured with an IO action will no longer be affected when using the move tab to jog the robot or to put it in freedrive.
  • Improved feedback to users when the robot is unable to power on due to joint communication issues - e.g. if cables are not connected properly after replacing a joint.

Polyscope:

  • Fixed problem with the Edit Pose screen that could corrupt the pose values of a waypoint.
  • Fixed issue with the assignment of variables in the Japanese version of PolyScope.
  • Fixed problems that affected the behavior of adding and defining waypoints when running PolyScope in certain languages such as Polish or Russian.

Manuals:

  • Updated the Safety Control Board startup sequence in the service manual.
  • Added description of error code C71A12 in the service manual.
  • Fixed various typographical errors in the manuals and PolyScope.
  • Improved documentation of default program settings in the software manual.

URCap Software Platform:

  • The installation script now asks whether it should attempt to install the native tool chain.


Version 3.3.3.292

    UR Software: 3.3.3.292
    Safety A firmware: 3.3.3.69 [URSafetyA 504]
    Safety B firmware: 3.3.3.41 [URSafetyB 256]
    Manual: 3.3.3

Bug fixes

Controller:
    Fixed problem with unexpected error C155A0 when entering the safeguard safety mode with a heavy payload.

Polyscope:
    Fixed problem with programs being undefined when using installation variables assigned with pose values in scientific notation (e.g. p[0.2,0.3,5E-4,0,3.14,0]).
    Fixed problem with circular conveyor tracking when center point is not variable.
    Fixed problem with the move tab that caused the freedrive button and the manual robot movement buttons to continue their action despite being released. The problem could occur if a popup was raised (e.g. by the dashboard server) while one of the buttons was pressed.
    Fixed issues with broken characters and incorrect translations in the Korean and Japanese versions of PolyScope.

URScript:
    A runtime exception will now  be generated when the parameter "qnear" in get_inverse_kin() is not provided as a list of joint positions.

Script Manual:
    Corrected the default values in the signature of the get_inverse_kin() function.
    Corrected spelling mistakes.
    Removed references to the deprecated C-API.

Safety Control Board:
    Reduced startup delay between paired configurable outputs when an external I/O power supply is used. From seconds to less than 8 milliseconds.
    Fixed issue that could cause a safety violation (C191A24) when a safety plane is configured to trigger Reduced Mode and update a configurable output.

User Manual:
    Fixed table formatting in the Japanese version.
    Fixed minor typographical and phrasing errors.

Version 3.3.2.266

  • UR Software: 3.3.2.266
  • Safety A firmware: 3.3.1.61
  • Safety B firmware: 3.3.1.32

Bug fixes

Controller:

  • Improved precision of SpeedJ for very small time intervals.
  • Fixed issue causing an accumulating position error when tracking a linear conveyor.
  • Fixed issue that could cause unexpected behavior when tracking a circular conveyor with reduced program speed.
  • Fixed issue that could cause temporary unexpected behavior when stopping, pausing or resuming conveyor tracking.

Polyscope:

  • Fixed problem with degrading performance when using the dashboard server to continuously load and play new programs. The fix involves no longer showing the popup progress bar when loading or playing a program via the dashboard server. 
  • Fixed problem where a program node for calling a newly created sub program would forget its configuration.
  • The correct unit for tool acceleration is now being shown in the user interface for MoveL.
  • Improved German translation of error codes C193 and C194.
  • Fixed the graphical layout of the run screen. It now handles switching between languages much better.

Firmware:

  • Implementation of anti-vibration.


Version 3.3.1.237:

  • UR Software: 3.3.1.237
  • Safety A firmware: 3.3.1.61
  • Safety B firmware: 3.3.1.32

Bug fixes

Controller:

  • Fixed issue with the speedj() script function, so that it now will only run the acceleration phase when no time parameter is specified.
  • Fixed issue that could cause program errors when XML-RPC functions with different number of parameters are concurrently called from different threads.

URScript:

  • Variables, functions and threads may no longer share the same name in the same scope. 

Ethernet/IP & Profinet:

  • The digital outputs in the tool can now be set through the Profinet and Ethernet/IP interfaces. It works similar to the functionality for setting standard and configurable digital outputs. The "tool digital output mask" and "tool digital output register" has been added to a reserved area of the existing package formats for full compatibility with previous versions.

PolyScope:

  • Fixed issue where loading a program containing a Sub Program node, which is accessing the same installation variable as the main program and has the "Keep SubProgram File Updated with this Program" option selected, would result in a dialog asking if the variable should be renamed.
  • Fixed issue regarding French translation in the Command tab when a Move program node was selected. In the drop-down box in the top right corner, where the movement type is selected, the text "Déplacement J" has been replaced with "Déplacement A".
  • It is now possible to auto start the Default Program using an input I/O when the 3-Position Switch is enabled and Operational Mode is configured and set to "running mode".
  • Fixed issue in the Pose Editor screen, where using the "+" or "-" button to add or subtract an amount from the current value would add or subtract the entered value twice. 
  • Fixed issue where the Dashboard server command "programstate" would falsely report the current program state as "PAUSED" instead the correct "STOPPED" after loading a new program through the "load" command, if the previously loaded program was paused.
  • When a program is loaded using the Dashboard server, it is now ensured that the robot arm stops moving immediately.
  • Fixed issue that prevented certain programs created in SW 3.1 from being loaded.
  • Fixed the problem that the screens for setting or editing a waypoint could update the waypoint even if the user clicked cancel.
  • Fixed problem when loading a program file in several Sub Program nodes where file names are longer than 10 characters and "similar". The file loading would cause name clashes between the Sub Program nodes, which would result in a "the subprogram is already loaded" error message, an unhandled exception and "freezing" of the Command tab.
  • Fixed copy and paste of Sub Program and Thread program nodes, so that the pasted node now gets a different name.
  • Changed the automatically assigned default node name from "Sousxprogramme" to "Sous_Prog" when adding a new Sub Program node to a program and using French language.
  • Fixed issue where applying a safety configuration could result in the "C203A0: PolyScope detected a mismatch between the shown and (to be) applied safety parameters" fault in some situations.
  • Now a Cancel button is always shown on the Move tab when setting a point during teaching of the TCP position or orientation in the "TCP Configuration" in the Installation tab. Furthermore, a point is no longer unintentionally set when the Cancel button is clicked in the Move tab.
  • Now the save icon on the "Load/Save" tab in the Installation is enabled when removing a TCP in the "TCP Configuration" screen which is not set as default.
  • A Sub Program call within suppressed nodes is no longer lost if saving and reloading the program.
  • Fixed issue causing the stopping condition "Stop when" in the Direction node, inside the Seek wizard, to work with opposite logic, e.g. "x=5" would actually mean "x!=5". This fix could lead to unexpected behavior in existing programs using this stopping condition. Therefore, customers are advised to go to the Direction node inside the stack or destack operation and reverse the logical expression in "Stop when".
  • The "infinite loop" error message has been improved (only in English).
    Runtime Error
  • Fixed issue causing a unhandled Java exception when changing values for Modbus output registers.

Dual Arm Calibration:

  • In Dual Arm Calibration, a SW 3.3 master robot can now calibrate a SW 3.2 slave robot.
  • Fixed issue regarding the manual verification of the alignment of the two robot tools, where the plastic "Go" and "No Go" tools are inserted between the two tools. This verification step was using a tool pose in the "vertical" axis, which has now been corrected to be in the "horizontal" axis, as it was in previous software versions.

Script Manual:

  • The Modbus script function modbus_get_signal_status() was not working as described. The misleading passage, "For all signals: -1 for inactive signal, check then the signal name, addresses and connections", has been removed.


Safety Control Board:

  • Fixed issue that could occasionally trigger a false safety fault "C192A11: TCP orientation disagreement".

 

- See more at: http://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/release-note-software-version-33xx/#sthash.bykVHAX1.dpuf


This is the first release note: 3.3.0.145

Released Versions:

  • UR Software: 3.3.0.145
  • Safety A: 3.3.0.53
  • Safety B: 3.3.0.11
  • Joint firmware: 3.3.0.10
  • Screenboard firmware: 3.3.0.11
  • Euromap67 firmware: 3.3.0.24
  • Manual: 3.3.0
  • URCap Software Platform: 1.0.0.7

Please note, that PolyScope and the controller is using a new versioning scheme consisting of four segments (e.g. 3.3.0.2), where the segments are major.minor.bugfix.build, respectively. Bugfix means that one or more bugs have been fixed and no new features have been added when comparing to a similar major.minor version. The bugfix segments are consecutive numbers (e.g. bugfix 1 is followed by bugfix 2). Build number is added automatically and is used by Universal Robots for internal referencing.

SW_3.3_About_Dialog

Key features

  • Profinet IO Device functionality
  • Program Correction for automatic correction of waypoints in existing programs.
  • URCap Software Platform to seamlessly extend any Universal Robot with 3rd party customized functionality to be used by end users.

Profinet

  • IO Device functionality for synchronization with IO Controllers:
    • Robot -> IO controller: Seven pluggable modules for reading robot state data
    • IO controller -> Robot: Three pluggable modules for setting robot outputs and writing to general purpose registers
  • Script functions for synchronizing your program with a PLC (identical with EtherNetIP), e.g. 'write_output_float_register()' and 'read_input_integer_register()' .
  • GSD file (.udt and .AWL files for easy generation of data formats in Siemens software)
  • From the Installation tab in PolyScope enable/disable and view the status of the IO Device as well as configure program action (None, Pause, Stop) upon connection loss.
  • This new functionality is currently not featured in the User Manual, but a How-To Guide can be found on the UR Support website along with some sample programs. See Profinet Guide.

Profinet

Program Correction

Reintroduced functionality from software v1.8 (CB2):

  • Provides automatic correction of key-waypoints in programs
  • This feature can be used to make programs work after, e.g. replacements of joints in a robot. It can be utilized in situations, where the robot after the repair does not reach some of the (important) waypoints when running the program.

  • The functionality is described in the Calibration manual - please read the section describing the Program Correction before using the feature and follow the instructions carefully.

SW3.3_Access_program_correction

SW3.3_Correcting_program

URCap Software Platform

  • Enables the integration of 3rd party software solutions with the ‘UR workflow’:
    • PolyScope program node contribution - create a programming element with graphical user interface (GUI), that can be used and selected like any other 'Structure tab' command. GUI design using a subset of HTML and CSS, and node behaviour implementation in Java. 
    • PolyScope Installation tab node contribution - provide settings (e.g. for specific hardware) through a graphical user interface (GUI), that are saved within the Installation and shared between programs. GUI design using subset a of HTML and CSS, and node behaviour implementation in Java.
    • Operating system daemon executable contribution can provide for instance a driver to interface with hardware. The daemon executable can be any script (e.g. python) or binary file (e.g. written in C/C++) that can be directly executed in the Linux shell on the control box. 
    • Real-Time Data Exchange (RTDE) interface - synchronize external executables/applications with the UR controller over a standard TCP/IP connection without breaking any real-time properties. An alternative to the real-time client interface on port 30003.
    • External Force/Torque sensors can feed their measurements (directly) into UR's force control-loops (Force mode).
  • Various documentation including a tutorial for the URCap Software Platform can be found in the How-to section of the UR Support website together with the URCap SDK, which enables a developer to easily create a URCap. See URCap Software Platform.

SW3.3_URCap_setup

SW3.3_URCaps_installation_contribution

SW3.3_URCaps_program_node_contribution

PolyScope GUI

  • Replaced full screen keypads with popup keypads throughout PolyScope
  • Selecting a folder in the a load dialog is now done by a "long press" (press the folder for more than half a second). Once selected, a folder can be renamed or deleted.
  • Introduced a new "Calibration" mode which can be accessed from the Welcome screen through a new button, "Calibrate Robot", once the feature has been enabled in the Expert screen.
  • Introduced '<' and '>' signs in the German keyboard layout
  • Clarified the text in the dialog displayed when "linking" two waypoints or two point features (let them share the same name).
  • The "The Robot cannot proceed with normal operation" popup now allows the user to select not to go directly to the Initialization screen

SW3.3_Cancel_Init _dialog

Controller

  • Increased sensitivity for protective stop when no program is running and a wrong payload configuration is applied
  • The timestamp unit of measure in the robot mode data package of the primary and secondary client interface has been changed from milliseconds to microseconds.

URScript

  • Variables, functions and threads may now share the same name, e.g. a function definition can have the same name as a variable.
  • Duplicate function names will give compile errors, unless they are defined in separate nested scopes.
  • Duplicate thread names will give compile errors, unless they are defined in separate nested scopes.
  • Function definitions that conflict with standard builtin functions will give compile errors
  • Multi-level/nested function calls have been fixed.
  • The order of script code no longer influences the variable binding or scoping
  • The description of the "Type error: reference is void" Runtime Exception has been changed to "void reference: Attempted to use an uninitialized variable
  • Added boolean return value to all socket send functions to indicate success of the send operation.
  • Added script function 'rotvec2rpy()' and 'rpy2rotvec()' for conversion between rotation vector and RPY rotation representations.
  • Added script function 'get_actual_tool_flange_pose()' which returns the measured 6d pose representing the tool flange position and orientation specified in base frame, but without the TCP offset. 
  • Added script function 'socket_read_line()' which reads one line from the socket and returns it as a string.
  • Added script functions 'set_payload_cog()' and 'set_payload_mass()' which sets the center of gravity (CoG) of the payload and the mass of the payload, respectively.

Dashboard server

  • Changed behavior of the 'load' command: The command does now not return until the program is fully loaded. There is thus no more a need to wait for the program to load by e.g. calling the 'get loaded program' command.
  • Changed behavior of the 'play', 'pause' and 'stop' commands: The command does now not return until the request is executing on the controller. There is thus no more a need to wait for the request to execute by e.g. calling the 'programState' command.
    Note: Extremely fast running programs (such as a few hundred milliseconds) can complete before request has returned.

Manual

  • URScript manual:
    • Added descriptions in the script manual for functions 'set_runstate_standard_digital_output_to_value()', 'set_runstate_tool_digital_output_to_value()', 'set_runstate_standard_analog_output_to_value()' and 'set_runstate_configurable_digital_output_to_value()'.
    • Clarified the URScript manual regarding scope rules
    • Clarified the description of the 'socket_read_string()' function and extended the description of "socket_open()"
    • Added description of the 'get_tool_accelerometer_reading()' script function.
  • User manual:
    • Updated all links to the support site so that they point the new site
    • Added section describing the relationship between the maximum allowed payload and the center of gravity offset.
    • Improved description of blending including information about blending with MoveJ and MoveL.

  • Calibration manual:
    • Layout improvements
    • Text clarifications and corrections
    • Update of images
    • Added hints on how to troubleshoot a failed dual arm calibration.
    • Updated the description of the dual robot calibration with information about the required safety settings

Support Log Reader

  • Added auto-detection of log version
  • Created windows installer

Linux

  •  Added UVC and V4L kernel modules to support URCap development. 

Bug fixes

Controller:

  • Fixed potential issue with real-timeness due to list resizement of local variables during runtime. Existing programs, which are dynamically resizing lists during program execution, will generate a "Runtime error: Resizing of 'list' is not supported." runtime exception.
  • Fixed a latched controller time issue and the controller crashing due to a segmentation fault when writing to Modbus port register 2048.
  • Fixed an issue with Modbus write-only registers (e.g. port 2048) that would fail (with exception code 2) when configuring through the Modbus client Installation tab and when running a progam.
  • Fixed alignment of the tool accelerometer axes such that they now align with the tool axes. This affects the output of the build-in function 'get_tool_accelerometer_reading()' which now also complies to the new convention
  • Fixed issue, where the robot would remain in Freedrive mode, in the situations where an unexpected event (such as the triggering of an emergency stop) occurred while the Freedrive button in the Move tab in PolyScope was pressed down.
  • Fixed an issue that could cause unexpected rotations of wrist 3 on a UR3 robot for some programs using Force mode, the 'speedl()' script function or the 'stopl()' script function. 
  • Fixed an issue in with the 'stopl()' and 'stopj()' script functions that could cause unexpected behavior when they were called multiple times inside a program. 
  • Fixed issue that could cause safety violation when switching between normal and reduced mode while a Safeguard stop was active.
  • Fixed issue, where the "Unknown error: Unknown problem" error was shown in PolyScope when running a program instead of the correct error, "Compile error: Duplicate label 1".
  • Fixed issue where unexpected movements in some cases could occur, if a program ended while Force mode is active.
  • Conveyor tracking:
    • Fixed issue where conveyor tracking made bad velocity estimates causing vibrations when using the script function 'set_conveyor_tick_count()' at a low frequency.
    • Fixed an issue that would cause "C150A0: Position close to joint limits" Protective Stops, if using circular conveyor tracking with an incremental encoder.
  • Fixed issue that could cause unexpected behavior when the movement towards a blending waypoint is interrupted, for example by a stop command. In such cases, the blending will now be disabled. It is recommended to verify programs with such structure after the update.
  • Fixed an issue where wrong default values would be assigned to the parameters of a user-defined script function in some situations. This would happen, if a function definition has multiple parameters with default values, and the function then is called with some of the parameters assigned to other values than the default. 
        Example: 
    The function defined like this: foo(a, b=2, c=3) is called with foo(1, c=4), then b would not be assigned to                      its default value 2 as expected.
  • Fixed issue where wrong default values would be assigned to the parameters of a user-defined script function, if called from another thread. This would affect all user defined script functions that are called from Threads, Events or "Continuously evaluating if" nodes in PolyScope, if the function definition were not placed inside this node.
  • Fixed issue where the "C204A6: Invalid setpoints: Blending failed and resulted in an invalid setpoint" Protective Stop could not be cleared (unlocked) unless the controller was restarted.
  • Fixed issue where the robot arm did not retract the second time during two consecutive protective stops caused by the arm colliding with something.
  • Fixed issue where the robot did not resume the program after Safeguard stop, if it had previously been paused and then stopped or auto-moved. 
  • Fixed an issue that could cause the controller to stop sending data to all connected TCP clients, if one client failed to read the streamed data. This could cause PolyScope to not reflect the state of the robot, since it would not receive state updates from the controller. The controller will now stop the data stream to the client that fails to read, but the connection to the client will be kept alive.

PolyScope GUI:

  • The German translation of the English word "Momentum" under General Limits in the Safety Settings has now been corrected to "Impuls".
  • Fixed problem with updating linked waypoints (sharing the same name) that could cause certain program nodes and script functions, such as MoveC and script function 'pose_dist()', to be based on unexpected positions.
  • Fixed problem that allowed users to create invalid programs where waypoints could exist without being contained in a move node.
  • Fixed problem with blend radius and advanced options not being saved and loaded correctly when multiple waypoints have the same name (linked waypoints).
  • Fixed problem that allowed the user to add and remove waypoints under a CircleMove command.
  • "I/O Setup" in the Installation tab:
    • Fixed issue where the configuration of the "I/O tab control" setting under "I/O Setup" was not respected. This meant that it was possible for a programmer to control configurable outputs with the "Disabled" option selected, and an operator could (from the Run screen) control configurable outputs with both the "Programmer only" and the "Disabled" option selected.
    • Fixed issue where GUI could freeze or a frozen Popup "Starting Program" would appear when triggering multiple "Start program" actions via an I/O input action.
  • Fixed issue that prevented displaying special escape characters (e.g. newline "\n", carriage return "\r" etc.) of string variables inside the Variables tab.
  • Fixed issue where the validation of joint positions in the Pose Editor screen did not work. A user was able to input values outside the allowed range, because the size of the position range was affected by the values of the Reduced mode limits even though Reduced mode was disabled in the Safety settings.
  • Fixed unintentional update of the position of a waypoint when switching back to the Program tab after the the robot arm has been moved from the Move tab using the Pose Editor screen.
  • Rephrased the dialog offering automatic renaming of variables in a sub program which appears when loading a file in a Sub Program program node and the file contains a variable with the same name as an existing variable.
  • Changing the move type of a MoveP program node containing a CircleMove will result in an invalid program. Now, a dialog offering to remove CircleMoves is shown when trying to change the move type. If accepted, all CircleMoves under this move node will be deleted. Canceling the dialog will result in the move type not being changed (i.e. it will remain a MoveP node).
  • Fixed issue where only the first 7 letters of the name of the counting variable in a Loop program node were visible in the Command Tab. This issue could occur e.g. with French language and a program with 10 or more Loop nodes.
  • Fixed issue where a program could behave differently between program runs. The issue was, that program nodes that generate poses in some cases could depend on the currently active TCP in the controller.
  • Dashboard server:
    • Fixed issue that in some situations could cause an "ConcurrentModificationException" when using the 'load' Dashboard server command.
    • Fixed issue where using the 'load' and the 'play' program Dashboard server command in some situations would automatically change from Real Robot to Simulation mode
  • In a Set program node, the "set payload" option would previously also set the center of gravity to the value of the current TCP. Now, the Center of Gravity (CoG) is only set to the active TCP, when a new check box "Use active TCP as center of gravity" is checked. When the check box is not checked, only the value of the payload mass is updated and the current active CoG will not be modified.

SW3.3_Set_node_active_tcp_as_cog

  • Pallet and Loop program nodes:
    • Fixed issue where a copied Pallet or Loop node would have the same counting variable as the original node.
    • Suppressing a Loop or a Pallet program node no longer change the name of the counting variable when it is unsuppressed again.
  • When creating a Loop program node, the counting variable name is now assigned immediately on creation.
  • Fixed Japanese text rendering issues on the Freedrive button in the Move tab, and in the Command tab with the top-level "Robot Program" node selected in the Program tab.
  • Fixed missing (blue) program execution indicator for Script nodes.
  • Fixed problem that could cause an unhandled exception when clearing a Sub Program node.
  • Run tab:
    • In the Run tab, the status of the program can now also show Paused. Therefore, it will now show either the Stopped, Running or Paused state.
    • When attempting to start a program with the I/O input action "Start Program" without power on the robot arm, the status of the program now correctly shows that the program is stopped instead running.
  • "Default Program" in Installation: "Auto Start default program" will now follow "Auto Initialize" also when the trigger edge for "Auto Start" occurs before "Auto Initialize" completes when both actions are triggered with the same input
  • Fixed missing info dialog about possible change of the safety checksum (shown in upper right corner) when loading a SW 3.0 installation.

  • Fixed bug that prevented users from requesting to start a program while the robot is Safeguard stopped. This is now possible, but only when a Safeguard Reset input is configured, so that the program starts in paused mode, and the robot only starts moving when the Safeguard Reset has been triggered.
  • Updated french translation:
    • Pallet program node: from "comptage intervalle" to "nombre de pièces".
    • Popup program node: from "Mettre l'exécution du programme sur pause lors de ce pop-up" to "Arrêter l'exécution du programme á ce pop-up".
  • When copying a Script program node which uses a file and changing the copied or the original node to a different file, they will now no longer both show the same content in the Command tab.
  • Save icon of the "Load/Save" node in the Installation tab, which indicates that the installation contains unsaved changes:
    • Fixed bug that always activated the save icon  when selected the "Default Program" screen even though the current installation did not contain any unsaved changes.
    • Fixed bug where the save icon was not activated when editing actions for an input in the "I/O setup" screen.
    • Save icon is no longer always active immediately after the automatically load of the "default" installation on boot up.
  • Fixed issue where loading a program with copy-pasted relative waypoints would automatically rename one of them.
  • Fixed issue with uni-code characters (strange names) that appeared instead of the corresponding non-code characters for counting variable names in the Loop program nodes and the Pattern program nodes (under a Pallet node) in several languages other than English.
  • Fixed issue where inputting a whole number value, for example "5", using the keypad and clicking the minus button would change the input value to a decimal number, "-5.0". This issue could be observed in the Pose Editor screen and for an Assigment program node using Operator input as source. 

User manual:

  • Removed incorrect warning related to Force mode
  • Fixed issue with strange characters in the contents list in the Chinese version
  • Updated photo of the Euromap ribbon cable connection to the controller box (CB3) in section "19.1: Installing" of the Euromap67 version of the user manual. Added missing photo of possible interface placements in the controller box.
  • Fixed error in the table in section "5.4.1: Tool Digital Outputs", so that it now states that the builtin power supply of the tool flange connector can deliver at most 600 mA instead of 1A.
  • Replaced the text "Mettre sur pause l'exécution du programme" with "Arrêter l'exécution du programme" in  in the French version.

 

Bugfixes during Software version 3.2

A summary of all bug fixes since first release of Software Version 3.2

Bug fixes

Controller:

  • Automatic firmware update can now recover from sudden power loss.
  • Fixed problem that could cause the robot to be in freedrive mode without any freedrive button being pressed.
  • Fixed problem that could cause the controller to crash while sending a program to the controller.
  • Fixed issue with string set by operator assignment
  • Partial fix! In some situations the safety system  fault C206 (causing all safety I/O's to go low) is detected as a protective stop (C204A2).
  • Fixed an issue where the sending of log messages and popup messages to PolyScope could fail.
  • Fixed error with assignments to strings that caused a " Assignment expected type 'Const String' but found 'Variable String' "
  • Fixed an issue that could cause protective stops (C153A1 - position deviation) when exiting Force mode.

PolyScope:

  • Fixed issue where it was not possible to enter a blend radius in a waypoint node if its preceding or/and succeeding waypoints were variable. In this situation the "Nearest neighbour blend is 0.0 mm" message was displayed and the blend value was reset to 0.0.
  • Fixed problem with configuration of IO actions on modbus output signals.
  • Fixed problem where Save As could override the original file even though a new file name was entered using the on screen keyboard.
  • Information in the dialog with active safety settings is no longer affected by changes in the safety setup that have not been applied yet.
  • Fixed issue where text did not appear correctly for some languages in the expert screens
  • Fixed issue with palletizing where nodes where not Unique
  • Fixed issue where the length of a variable did not return correct value
  • Fixed issue where the "test force" program did not respond run when using freedrive mode IO's (it only worked with the TP button)
  • Fixed issue where using the "edit pose" button in advanced options did not create unique waypoint names
  • Online help for EN-US is now available
  • Fixed issue where a Force node would not display the correct type in the drop-down box in the Command tab in some situations after loading a program
  • Fixed issue where a program could not run when suppressing the first or last Case node in a Switch statement
  • Fixed issue where it was not possible to add a "-1" Case to a Switch statement
  • Operational mode indicator is now hidden as soon as new safety is requested to be applied
  • Fixed various bugs related to the text on certain screens. E.g. long names for IOs, German translations and safety password text being cut off.
  • Controller uptime in the Log tab is now persisted correctly after Log tab is exited
  • Fixed issue it was not possible to add a subprogram to a program.
  • Fixed issue where an Installation variable in some situations would be renamed ("_" added) during load
  • Fixed placement issue for move type dropdown and French translations issues in command tab
  • An issue with movep that could cause unexpected rotations at specific waypoints has been fixed. For existing programs to benefit from this, a waypoint must be replaced with a newly created one (not copied) and set to the same joint configuration.

URScript:

  • Fixed dereferencing error in functions for local list variables

Safety Processors:

  • Changed the accepted delay between the two signals in the safety signal for mode select then using three position enabling device
  • Safety Procesor B: The occurrence of communication errors C4Ax caused by a window watchdog reset C80A51, have been reduced by fixing a bug that caused unattended window watchdog resets.

Features

Controller:

  • Increased tolerance for protective stops when the robot is not in motion (fully at rest). This is made especially for screwing applications with high-torque screwdrivers or when the robot is mounted on a linear axis.

URScript:

  • Added a script function: is_steady() that returns True when the robot is fully at rest, and ready to accept higher external forces and torques, such as from industrial screwdrivers. Returns False otherwise.
  • Added script function "position_deviation_warning" which allows the user to identify elements of a program where the robot cannot follow the trajectory. These program elements can then be modified to reduce the risk of C153A# protective stops induced by position deviation.
- See more at: http://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/release-note-software-version-33xx/#sthash.ElUjV0gL.dpuf


Release note Software version 3.2.xxxxx


Release notes for Universal Robots Software 3.2

The first release note is placed at botton of this article and describes the most important improvements from 3.1.xxxxx to 3.2.xxxxx

The latest software version is in the top of this article.



升级方法:

1、下载扩展名为urup的升级文件,复制到U盘根目录。

2、打开优傲机器人按照下图进入

3、将U盘插入示教器的USB接口,等待1-3秒后点击搜索按钮.

4、在框中会出现新的程序名称选中后,点击更新.....,系统将升级文件自动复制到UR机器人后,弹出是否要安装升级程序对话框,单击确定。

5、优傲机器人自动开始升级,等待数分钟后机器人会重启一次。

6、重启后点击启动按钮,机器人会自动更新固件,更新完毕后升级全部完成。


注意* 升级过程中切勿断电、手动重启或关机,否则会造成不可预估的后果,我们不承担任何因升级而导致的不可预估的风险。


update-3.9.1.64192.urup
下载附件1:update-3.9.1.64192.urup 大小: 220.58MB 下载:次 所需积分:0分
update-3.8.0.61336.urup
下载附件2:update-3.8.0.61336.urup 大小: 219.46MB 下载:次 所需积分:0分
UR3,UR5,UR10-CB3.X 3.7.1.40229 最新升级程序
下载附件3:update-3.7.1.40229.urup 大小: 218.64MB 下载:次 所需积分:0分
G3-系列,CB3硬件版本 UR 升级包, 3.7.0.40195
下载附件4:update-3.7.0.40195.urup 大小: 220.88MB 下载:次 所需积分:0分
update-3.6.1.30595
下载附件5:update-3.6.1.30595.urup 大小: 220.4MB 下载:次 所需积分:0分
update-3.6.0.30507
下载附件6:update-3.6.0.30507.urup 大小: 217.83MB 下载:次 所需积分:0分

​update-3.5.4.10845.urup​

3.5 的最终版本,后续3.6版本即将放出。

下载附件7:update-3.5.4.10845.urup 大小: 191.18MB 下载:次 所需积分:0分
update-3.5.2.10778
下载附件8:update-3.5.2.10778.urup 大小: 191.1MB 下载:次 所需积分:0分
update-3.5.1.10661.urup
下载附件9:update-3.5.1.10661.urup 大小: 190.93MB 下载:次 所需积分:0分
update-3.5.0.10584
下载附件10:update-3.5.0.10584.urup 大小: 190.93MB 下载:次 所需积分:0分
update-3.4.5-100
下载附件11:update-3.4.5-100.urup 大小: 178.49MB 下载:次 所需积分:0分
update - 3.4.3-77
下载附件12:update-3.4.3-77.urup 大小: 178.23MB 下载:次 所需积分:0分
update-3.4.2-65
下载附件13:update-3.4.2-65.urup 大小: 179.76MB 下载:次 所需积分:0分
update-3.4.1-59.urup
下载附件14:update-3.4.1-59.urup 大小: 179.83MB 下载:次 所需积分:0分
update-3.4.0-39.urup
下载附件15:update-3.4.0-39.urup 大小: 179.29MB 下载:次 所需积分:0分
Universal-Robot Robot software update 3.3.4.310
下载附件16:update-3.3.4.310.urup 大小: 172.56MB 下载:次 所需积分:0分
Version 3.3.3.292

    UR Software: 3.3.3.292
    Safety A firmware: 3.3.3.69 [URSafetyA 504]
    Safety B firmware: 3.3.3.41 [URSafetyB 256]
    Manual: 3.3.3

Bug fixes

Controller:
    Fixed problem with unexpected error C155A0 when entering the safeguard safety mode with a heavy payload.

Polyscope:
    Fixed problem with programs being undefined when using installation variables assigned with pose values in scientific notation (e.g. p[0.2,0.3,5E-4
下载附件17:update-3.3.3.292.urup 大小: 168.52MB 下载:次 所需积分:0分
update-3.3.2.266
下载附件18:update-3.3.2.266.urup 大小: 168.49MB 下载:次 所需积分:0分

update_3.3.1.237优傲机器人实体升级程序文件,在升级过程中不可断电,否则可能导致机器人无法启动运行,升级有风险,操作需谨慎!!

3.3版本以上写的机器人程序,在3.2和3.1版本中是无法打开和使用的,请大家注意。

下载附件19:update_3.3.1.237.urup 大小: 168.48MB 下载:次 所需积分:0分
update-3.3.0.145
下载附件20:update-3.3.0.145.urup 大小: 168.5MB 下载:次 所需积分:0分
update_3.2.21545优傲机器人实体升级程序文件,在升级过程中不可断电,否则可能导致机器人无法启动运行,升级有风险,操作需谨慎!!
下载附件21:update-3.2.21545.urup 大小: 146.32MB 下载:次 所需积分:0分
ursim_3.2.21545优傲机器人离线编程环境模拟器升级文件,升级后可保证实体机和虚拟机机器人软件版本一致。
下载附件22:ursim-3.2.21545.tar.gz 大小: 142.83MB 下载:次 所需积分:0分
ursim-3.2.20175.tar.gz , 虚拟机机器人更新文件。
下载附件23:ursim-3.2.20175.tar.gz 大小: 142.83MB 下载:次 所需积分:0分
update-3.2.20175 , 2016年2月份最新UR机器人更新程序。
下载附件24:update-3.2.20175.urup 大小: 146.31MB 下载:次 所需积分:0分

下载附件25:update-3.2.18744.urup 大小: 146.23MB 下载:次 所需积分:0分

下载附件26:ursim-3.2.18744.tar.gz 大小: 142.75MB 下载:次 所需积分:0分
update_3.1.18024 优傲机器人实体升级程序文件,在升级过程中不可断电,否则可能导致机器人无法启动运行,升级有风险,操作需谨慎!!
下载附件27:update-3.1.18024.urup 大小: 107.38MB 下载:次 所需积分:0分
update_3.2.18654 优傲机器人实体升级程序文件,在升级过程中不可断电,否则可能导致机器人无法启动运行,升级有风险,操作需谨慎!!
下载附件28:update-3.2.18654.urup 大小: 146.23MB 下载:次 所需积分:0分
ursim_3.1.18024 优傲机器人离线编程环境模拟器升级文件,升级后可保证实体机和虚拟机机器人软件版本一致。该版本是3.1版本中最新的版本,也是3.1版本中最终版本。
下载附件29:ursim-3.1.18024.tar.gz 大小: 107.38MB 下载:次 所需积分:0分
ursim_3.2.18654 优傲机器人离线编程环境模拟器升级文件,升级后可保证实体机和虚拟机机器人软件版本一致。该版本是3.2版本中最新版本,也是3.2的第一个版本。
下载附件30:ursim-3.2.18654.tar.gz 大小: 142.75MB 下载:次 所需积分:0分
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