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Release note Software version 10.10.x.

Applicable for e-Series and UR-Series

Last modified on Aug 08, 2025

For latest release notes of PolyScope 5, please refer to Release note Software version 5.22.x.x

Date of release: August 8th 2025.

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SW 10.10.0 Release Notes

Release Versions:

  • PolyScope X robot image: 10.10.0
  • URCap X SDK: 0.17.52
  • User Manuals: 10.10.0

Key Features

  • Manual High Speed can now be adjusted via a new footer slider when a 3PE device is used
    with a robot in Manual Mode.
  • Operator Screen Configuration is now managed directly from its application screen.

Compatibility notice

Please note that PolyScope X (all versions) is only supported on Control box version 5.6 (CB5.6).

To verify your Control box version please check the serial number label. It will clearly state "CB5.6" in the model name. If the version listed is not CB5.6 or not listed at all, your Control box does not support PolyScope X. If your robot is purchased as being a PolyScope X Robot, but you do not believe you have the right Control box, please contact Universal Robots with this information so we can ensure you have the right hardware.

PolyScope X Upgrade Kits are available supporting all current Universal Robot models. Please contact Universal Robots or your local Universal Robots Partner to learn more.

 

PolyScope X User Interface

Manual High Speed support

For setups using a Teach Pendant with 3PE (3PE TP) or an external 3PE device, the robot previously operated at a default Manual Reduced Speed of 250 mm/s in Manual Mode. This release introduces support for Manual High Speed, allowing both tool speed and elbow speeds to exceed 250 mm/s.

This functionality is accessible through the new Manual High Speed component in the PolyScope footer.

Pressing the footer component opens a popup with a slider that allows the user to increase the robot’s maximum allowed speed by setting a new temporary speed limit for Manual Mode. The footer component also displays the currently active speed limit.

The speed limit automatically resets to the default of 250 mm/s if the 3PE button has not been activated for 5 minutes. A notification will be displayed when the speed limit is reset.

The Manual High Speed functionality can be enabled/disabled in the Safety Configuration in the new Three Position section.

A popup with a safety warning is displayed, the first time the Manual High Speed footer component is pressed (to access the popup with the slider) after the robot has entered Manual Mode.

Note: The Manual High Speed footer component will not be shown if the Tool Speed limit (under Robot Limits) in the Safety Configuration is set to 250 mm/s or lower.

Improvements to Safety application screen and Safety Overview dialog

The structure of left-hand side navigation panel in the Safety application screen and the Safety Overview dialog has been simplified and the need for scrolling on these screens has been reduced.

The following redundant headers (categories) has been removed from the navigation panel on the Safety application screen:

  • Robot Limits
  • Planes
  • Hardware

In the Safety Overview dialog, the I/O section has been split into an Input and an Output section.

Motion Profiles

Defining Motion Profiles is a new tool that allows you to share movement parameters across your program. You can define the speed and acceleration combination under a single profile name, for example 'Fast', 'Slow', 'Inside_CNC', 'Welding'. You can then reference this profile name in any new move node in your program, even if the moves are not grouped in a folder.

Motion Profiles are created and viewed from the Application Screen.

There are three categories of Motion Profiles, corresponding to three move types: Joint, Linear, and Process. Note that derived program nodes will use the profile of their parent move type. The Direction Node will use the Linear profile, and Circular Move will use the Process profile. Several profiles are created initially, and the default profile for each move type is indicated by the standard flag icon. When creating a new move node the default profile of the corresponding type will be initially selected
for that node.

A new profile of a given move type can be created with the appropriate + Create New action.

The context menu for each profile will allow you to Rename, Set as Default, or Delete the profile. Note, the last profile of any move type cannot be deleted.

For each profile a Speed and Acceleration can be set. For the Joint and Linear profiles, these values can be set using the new OptiMove functionality. This allows the values to be set as a percentage of their maximum allowed. It is the recommended option for program safety and reliability, as well as robot longevity. Alternatively, Classic speed type can be selected for specifying values in m/s and m/s².

 

Move Type Program Nodes

There are three new move nodes, corresponding to the move types: Joint, Linear, and Process. These nodes utilize the new motion profiles. The existing Move To node is unaffected by these new nodes. It is recommended that new programs use the new motion profile enabled nodes instead of the Move To, as future movement related features will only be added to the new nodes.

 

Joint Move Program Node

 

Linear Move Program Node

 

Process Move Motion Profile Support

Circular Arc Move Motion Profile Support

The Circular Arc Move node now supports motion profiles. Any existing nodes will have a Custom motion profile with their original speed and acceleration values, but any new nodes will be created with the default Process motion profile.

 

Direction Motion Profile Support

The Direction node now supports motion profiles. Any existing nodes will have a Custom motion profile with their original speed and acceleration values, but any new nodes will be created with the default Linear motion profile.

 

Home Smart Skill

The settings menu allows you to view the saved home position. The Edit Pose allows you to select a new position, and Reset will reset the home position to the original value. 

Note: The home position is not yet available as a variable in the program. This feature will be added in an upcoming release.

 

Remote Mode in Safety Overview

We’ve introduced a new Remote Mode feature in the Safety Overview dialog of PolyScope X, designed to enhance external connectivity while maintaining a secure and operator-friendly interface.

Key Highlights:

  • Toggle Access:
    Remote Mode can now be enabled via a dedicated switch in the Safety Overview dialog.
  • External Access:
    When activated, Remote Mode allows external devices to connect to key services such as the Primary Interface.

  • Secure Lockdown:
    While in Remote Mode, the PolyScope X interface enters a secure, read-only state. All editing and control actions are disabled, and only the Operator Screen remains accessible in view-only mode. Additionally, a Remote Mode icon is displayed above the Safety checksum to clearly indicate the system is under remote supervision.
  • Automatic Mode Requirement:
    Remote Mode is only active when the application is in Automatic mode.
  • I/O Controlled Safety:
    If the robot’s operational mode is governed by an I/O signal, switching to Manual mode via I/O will automatically revert Remote Mode back to Local Mode.

    This feature ensures a safe and structured environment for remote monitoring, while preserving local
    control integrity when needed.

api

Controller

Direct Torque Control

Direct torque control enables a low-level torque interface. This is both to facilitate education and research as well as provide this for industrial innovation in robotics. In short, the interface gives you access to control the target torque for all the joints at 500Hz to facilitate custom impedance control loops.

New script commands: 

  • direct_torque(torque=[0,0,0,0,0,0], friction_comp=<True|False>):
     Direct Joint Torque Control enables low level torque control. This script function needs to be called each timestep otherwise the robot will return back to position control.
  • get_mass_matrix(q=[], include_rotors_inertia=<True|False>):
     Return the robots mass matrix. Useful for calculating the inverse dynamic model. 
  • get_coriolis_and_centrifugal_torques(q=[], qd=[]):
     Returns a vector representing the sum of Coriolis and centrifugal torque.
  • get_jacobian(q=[], tcp=[]):
     Return the Jacobian matrix.
  • get_jacobian_time_derivative(q=[], qd=[], tcp=p[]):
     Return the time derivative Jacobian matrix.
  • get_target_joint_accelerations():
     Return the target joint acceleration. Please note that there is no commanded target acceleration when using direct_torque.
  • get_actual_joint_accelerations():
     Return the actual joint acceleration derived by the joint encoders without filter. Expect some noise on the output

PROFINET

  • Added support for DCP signal/Flash LED. Message will be shown on the connected Teach Pendant when "Flash LED" is requested on Robot PROFINET Device.

  • Added support for enabling network diagnostics. When this option is enabled, the traffic between Robot PROFINET Device and PROFINET Controller will be collected in a pcap file. Collected data is available as a part of Support File.




Operator Screen Configuration

Customization of the operator screen is now performed from the Application → Operator Screen →Default Operator Screen.
The Configuration and Status sections have been removed from the Program Structure sidebar, and their icons have been removed from the New Program Node dialog. Creating Operator and Status nodes via the API is no longer supported.

When opening a program created with a previous version of PolyScope X, configuration and status data will be migrated to the new screen. Note that any suppressed nodes will not be migrated.
To create a new Configuration item, select Configuration from the left panel, then Add Configuration from the central panel.

The Type dropdown determines the type of the new configuration item that will be added.

  • Possible types are: integer, float, string, and Boolean. These will create what would have previously a Configuration Value. As before, for integer and float types, a min and max value can be specified. For all types except Boolean, an initial value can be set.
  • The dropdown type is what would previously have been Configuration Reference. From there Module/Function pairs can be picked for what would previously have been Configuration Reference Options.

The operator screen remains unchanged

api

  • SymbolService Improvements
    We have added a few methods and parameters to the SymbolService to allow the easier retrieval of functions and variables
    • Added filter parameter to getFunctionsMap to allow returning only threads or functions. If the filter is not specified, the original behaviour is kept, which is returning both.
    • Added globalVariables to get the current global variables, as return from the controller

  • New MotionProfileService
    We have added the new MotionProfileService for retrieving the motion profiles used in the new move nodes. The getMotionProfiles method will return the profiles for a given type.

  • New TeachModeService (Experimental)
    The new TeachModeService allows the settting and retrieving of teach mode
    • The startTeachMode, pauseTeachMode, stopTeachMode, and resumeTeachMode methods set the state appropriately
    • The getTeachModeState method returns the current state of teach mode

 

Platform

  • Added support for additional file system on USB:
    • exFAT
    • NTFS with Read/Write support

Bug fixes:

PolyScope

  • Fixed an issue where in rare situations on setups using a 3PE and inputs assigned the Freedrive safety function, it was possible to brake release the robot when it should not be allowed while the Freedrive input was activated.

Support Files:

  • Fixed an issue in support file missing docker logs printed to stderr stream.


Known issues

  • Issue: Export Support File function does not save report to some USB drives
    Issue is only happening when USB drive has a label defined.

    Recommended Workaround:
    Remove USB drive label text and click Apply. Label field should be empty.
    To check or change the label open USB drive properties in Windows.
  • Issue: Support File Export Saves to Incorrect USB Drive
    When exporting a support file, the system automatically selects a USB drive. However, it may not
    choose the most recently inserted drive, which can lead to the file being saved to an unintended
    location.

    Recommended Workaround:
    To ensure the support file is saved to the correct USB drive, please remove all other USB devices
    before inserting the one you wish to use for the export

previous RELEASE NOTES: