Release note Software version 1.7.xxxxx
for CB2 only
The first release note is placed at the botton of this article and describes the most important improvements from 1.6.xxxxx to 1.7.xxxxx
The latest software version is in the top of this article.
Bugfixes version 1.7.10293
- Improved joint self-test procedure to ensure better directional symmetry of "teach" feeling
- Added joint revision "1.7.1" to signify this new selftest
- Fixed "Unknown joint revision" on version 1.7 joints
- Resolved minor issue with small bump on all joints, when passing the motor index mark
- Removed a bug triggered by aborting an update during the update
- Fixed wrong text on front page of Turkish user manual
- Changed text on German and Spanish Waypoint screen, to make the add/remove buttons fit on the screen
- Fixed bug in move-tab, where positions could drift slightly when using the on-screen keypad to type in coordinates
Bugfixes version 1.7.10074
- New joint revision file: joint_size1_rev12.conf (size_1, revision 12)
- Joint size1_rev12.conf joints can work together with size1_rev11.conf, only teach-mode is affected
- Fixed minor bug in teach-mode for all joints. Bugfix makes it a little easier to start motion with joints in teach-mode
Bugfixes version 1.7.10019
- Corrected temperature model in file: joint_size2_rev3.conf (size_2, revision 3)
Bugfixes version 1.7.9884
- Fixed MoveTab? in URSim to work again on "Real Robot"
- The script functions get_actual_tcp_pose(), get_target_tcp_pose(), get_actual_tcp_speed(), get_target_tcp_speed() now return a PoseVal instead of a ListVal
This is the first release
Features
GUI
- Better looking font
- Removed most keypad and keyboard icons in the GUI, replaced by clicking the text area
- Added a choice of U.S. customary units in the GUI: feet-punds-inches
- MODBUS GUI now distinguishes between connection errors and errors from the MODBUS module: Gray led is no connection, yellow leds show MODBUS unit exception response codes
- Made a screen for setting the date and time, in the settings menu.
- Added date and time next to the "?" in the top right corner of the GUI
- Various minor usability improvements
Manuals
- Divided the manuals into product manuals (user-manual) and software manuals (software version) for all languages
- Added a US manual in English
- Improved typography in Japanese manuals
Expert mode robot calibration
- Facilitates shorter downtime after robot repair or replacement
- Calibration statistics (calibration quality) saven in a file: calibration.log
- Can also be used to reduce trouble when moving a program from one robot to another
URScript
- New functions to set the centre of gravity of the robots payload
- set_payload(mass) is changed to set_payload(mass, [Xpl,Ypl,Zpl]).
- The [Xpl,Ypl,Zpl] argument defaults to TCP, if not provided to ensure legacy compliance.
- The function set_tcp([X,Y,Z,Rx,Ry,Rz]) moves [Xpl,Ypl,Zpl], if this was not provided in the call to set_payload(...)
- New commands to read the robots state:...
- get_joint_positions() is changed to get_target_joint_positions() and get_actual_joint_positions()
- get_joint_speeds() is changed to get_target_joint_speed() and get_actual_joint_speeds()
- get_forward_kin() is changed to get_target_tcp_pose() and tool_pose() is changed to get_actual_tcp_pose()
- get_tcp_speed() is changed to get_target_tcp_speed() and get_actual_tcp_speed()
- The old functions are still working to keep backwards compatibility
- Modulo operator % now works on floats a well as ints
- New functions "read_port_register", "read_port_bit", "write_port_register" and "write_port_bit" to internally access information from the MODBUS portmap
- MODBUS portmap now is now mirrored at each 10000 port multiple, and 0 is mirrored in 9999 (for Siemens compatibility)
- MODBUS server can now handle "Transaction ID's" beyond 127
- Added the information for "JOINT_MODE" to the portmap (port 310-315)
- New function "get_tool_accelerometer_reading" returning [ax,ay,az] tool accelerometer readings in m/s²
Control
- Improved "teach" feeling in UR10
- Slight UR10 performance improvement, and reduced risks of false "Force Limit Protective Stop"
Bugfixes
- Fixed so moving to a variable value works in the selected feature frame
- Fixed "realtime part took too long" when using many assignments in one time slice
- Improved realtime code, to reduce "realtime part took too long" occurrences
- Rewrote parts of the MODBUS code to fix bugs
- Fixed "Teach mode" hanging after button release (mostly observed on Auto-move screen)
- Fixed bug on move-screen, where the robot could move in other directions, when tapping on an arrow
- Fixed bug in tool-flange drawing in "Mounting Instructions" section of manual
- Fixed bug that caused UR10 with high payload to "fall" slowly at power off
- All connected primary clients (port 30001) now gets all message
- Fixed memory leak in controller, seen when sending very many new programs to run
- Fixed "set high at program stop" for MODBUS run-state dependent outputs
- Fixed modulo operator % in expressions from GUI
- Fixed bug so movec now also works on joint angle vectors
- Fixed bug related to the expression in a wait not being shown correctly the first time shown
- "else" clause now works correctly in "check condition continuously". Never runs the "if" part when the expression is false.
- Fixed bug for the Kinematics Calibration for the UR10
- Fixed a memory leak when opening and closing many connections to internal modbus server.