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Release note Software version 5.22.x.x

Applicable for e-Series and UR20/UR30

Last modified on May 23, 2025

For latest release notes of PolyScope X, please refer to Release note Software version 10.9.x

Date of release: May 23rd 2025.

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SW 5.22.0 Release Notes
Release Versions:

  • UR Software Update: 5.22.0
  • URCap Software Platform:
    • URCap API: 1.17.0
    • URCap SDK: 1.17.0
  • URSim Linux: 5.22.0
  • URSim Virtual Machine: 2.1.11
  • User Manuals: 5.22.0

Key Features

  • New motion setting for PolyScope
  • Support for UR15 robot

PolyScope GUI

Motion Settings

There is now a new Motion list of options in the Installation tab, that contains settings related to the motion behavior of the robot.

Motion Version

The new Motion Version option provides a global setting for the motion behavior of the robot to enforce jerk limited motion.

  • Reduces vibrations on robot and equipment
  • MoveJ and MoveL velocity and accelerations are automatically clamped to not exceed hardware limits
  • Dynamically reduces blend radius to avoid blend overlaps causing skipped waypoints.

Aside from the UR20 and the UR30, the Jerk limited motions setting can be enabled/disabled for existing robots models. This setting is disabled, by
default, on e-Series robots. On the new UR15, Jerk limited motions are enabled by default and cannot be disabled.

The setting effectively uses the new URScript command motion_version_set(...).

 

Motion Limits

The new Motion Limits page provides a global limitation on payload acceleration to enforce force and torque limitations of robot motion.

This setting provides tools for limiting the acceleration of payloads to avoid dropping items held by suction cup grippers and reduce vibrations when
moving heavy items. Applying limits to the payload acceleration affects regular motions, protective stops, safeguard stops and emergency stops.

These new limits are disabled by default on existing and new installations.

Use the URScript function tool_wrench_limit_set(...) for more advanced configuration options.

 

Drive Power Indicator output action

New I/O actions for outputs are now available for signaling if the drive units of the robot are powered on or off.

New output actions are available for:

  • Analog outputs, Digital Outputs, Boolean, Integer and Float registers, MODBUS signals
    • "High/1 when drive power is on, otherwise Low/0"
    • "Low/0 when drive power is on, otherwise High/1"

Drive Power Indicator output action is not available for tool outputs.

 

URCap Software Platform

URCap API:

Added support for new UR15 robot

  • Extended the existing RobotType enum in the RobotModel interface with the new UR15 robot type

 

URCap SDK:

Controller

New script commands:

  • get_rtde_value(<RTDE key>)
    Retrieves an RTDE value from the RTDE output buffer, which could also be collected through a client.
  • motion_version_set(<version>)
    Sets the Motion Version to be used for movej and movel motion planning.
  • motion_version_get()
    Gets the active Motion Version for movej and moveL

 

Blend behavior in OptiMove and Motion Version 2

Blend behavior of movej and movel in SW 3.X, and Motion Version 1: Waypoint 3 is skipped if blend radius overlaps between waypoint 2 and 3.

Blend behavior of OptiMove and Motion Version 2 (Jerk limited motions): All waypoints are considered when generating blend paths.

 

Motion Version default settings

The default Motion Version will be:

PolyScope version Robot Default MotionVersion MotionVersion allowed in motion_version_set(x)
PolyScope 5.22 e-Series, UR20, UR30 1 1, 2
PolyScopeX 10.9+ Any 2 2
Any UR15 and all other new robots going forward 2 2

Flexible Ethernet/IP Adapter

Improved usability for simple cases.

  • eip_reader_factory(instance_name, data_size), eip_writer_factory(instance_name, data_size)
    Instance_name can also be specified as integer, matching xml-rpc function definition from configuration interface.
  • write(data_name, value)
    Overloaded method that can be used for simple cases where value of only one data label needs to be modified. This method allows to
    specify data_name as a string making it easier to use in scenarios where function call is encapsulated in a function.

Examples:

# define cnc lathe Ethernet/IP adapter assembly data layout
global cnc_lathe = eip_writer_factory(111, 16)
cnc_lath.define_bit(0, 10, "robot_door_open", bitfield_width=2)
cnc_lathe.define_bit(0, 11, "robot_door_close", bitfield_width=2)
 
global use_modbus = False
 
# Function that sends data using interface chosen in preamble
def open_lathe_door(signal_name, open_request):
    if(use_modbus):
        modbus_set_output_signal(signal_name, open_request)
    else:
        cnc_lathe.write(signal_name, open_request)
    end
end
 
open_lathe_door("robot_door_open", True)

 

Bug Fixes

PolyScope GUI

  • The dashboard command "brake release" can now return "Unable to brake release, robot mounting is not correct". It is no longer
    possible for Dashboard server to brake release if robot mounting is incorrect.
  • Changing robot mounting is now correctly marking the installation as having been modified.
  • Fixed OptiMove motion parameters input to correctly handle decimal separator for all languages.

 

Controller

  • Fixed a bug where triggering a safeguard stop while resuming the program (e.g. due to unstable input to safeguard stop IO) would
    eventually lead to freedrive or force mode being wrongly disabled.
  • Fixed a bug where the robot would not execute a retraction motion when the collision occurred during a mothing to resume a
    previously paused program.
  • Fixed a bug where sending a new script via primary interface while the controller is paused, the controller never executes the
    sent script.
  • Fixed analyse_expression hmc parser if an "!" character was part of the tested expression. Now it will not throw exception or
    terminate the TCP socket.
  • Incompatible Controller and EthernetIP service was released in 5.21.3. This release is correcting the issue.
  • Fixed a bug where an error would be reported in the controller log when copying a PolyScope OptimoveJ node and changing its
    type to OptimoveL.

 

URSim

  • Fixed an issue where RTCP URCap backend fails to start.

 

Embedded/Safety system

  • C304A004 (Gear torsion too high) will now generate a Fault on gen-6 joints, e.g. UR20 and UR30, and any future robots build
    on the same platform.
  • makes the stop monitoring more tolerant to minor movements in joints already near standstill when the stop is triggered, which
    could be induced by forces from decelerations of the other joints.
    • Robot enters in violation when activating e-Stop.
    • C306A1 Joint not stopping fast enough triggered after e-Stop.

 

User Assitance

Manuals

The new UR15 User Manual shall reflect the updates and upgrades made for the SW5.22 release, as follows:

New documentation for UL1740

  • Drive Power Indicator
  • Using I/O for Mode Selection

New documentation for the new UR15

  • Technical Specifications
  • Assembly & Mounting
  • Maximum Payload (graph)
  • Stopping Times & Distances (graphs)
  • DOI & Certificates

 

 

previous RELEASE NOTES: