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Release note Software version 3.0.x.x

for CB3 only

The first release note is placed at the botton of this article and describes the most important improvements from 1.8.xxxxx to 3.0.xxxxx

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

Version 3.0.16471

Bug fixes

Polyscope: Fixed USB stick formatting, when an unidentified partition/disk was found.
Embedded: Joint, joint selftest: fixed bug in zeroing of safety RAM

Version 3.0.16285

Bug fixes

Tool, TP, E67, jointBootloader, jointSelftest: Modified the processor clock adjustment functionality, resolving the communication problems caused by temperature variations

Version 3.0.16265

Bug fixes

Controller: Safeguard stop behaviour at teach/freedrive and force mode and resume - Bugfix: Disable the teach/freedrive button during safeguard stop to prevent a safety fault
Joint: Modified the processor clock adjustment functionality, resolving the communication problems caused by temperature variations

Version 3.0.16090

Bug fixes

Fixed bug, where it was not possible to start up joints in Expert Mode in PolyScope?(so it was not possible to change IDs when replacing joints).

Version 3.0.16040

Bug fixes

Controller

Updated controller to reduce risk of error 'SELFTEST NOT COMPLETED' (Code 184). Changed error text in english to "Joint self test not received by controller".

Polyscope GUI

Fixed bug where the GUI could freeze while executing a program.
The log file size has been increased from 1MB to 30MB.

Joint Firmware

Updated joint firmware to reduce risk of error'SELFTEST NOT COMPLETED' (Code 184), requires firmware upgrade of joints.

Manual

Manual now reflects the revised TüV certificate No. 44 207 14097601-100.

Version 3.0.15882

Features

Kinematics calibration

Dual Robot Calibration for calibrating the robot kinematics
Controller and GUI Software
Calibration Manual

Controller

Script code "get_inverse_kin" now support a set of joint angle near the wanted solution (qnear). Script manual is updated
Optimize the generated script code when using "movel" with relative waypoint
Fault, if selftest data of one of the joints is incomplete. (Can affect CB3 beta robots)

Bug fixes

Controller

Fixed bug i movec (CircleMove) causing controller to use 100% CPU

Polyscope

Now, the first safety plane in the list in the 'Safety Boundaries' panel is selected by default the first time the Boundaries tab is entered.

Version 3.0.15547

Bug fixes

Controller

Fixed bugs causing the Primary and Secondary client interfaces in the controller to break the controller
Fixed bug causing client sockets (script functions) to break the control

Polyscope

Fixed bug that too many variables could cause unhandled Exception
Fixed bug: Wrong colors for LED's for high IO's in IO tab. Signals that are high are now shown with blue.
Fixed bug where cutting and pasting the 'Init Variables' node caused a unhandled a Java exception.
Fixed bug where the 'Init Variables' node could be pasted before the main 'Robot Program' node.
Fixed bug where all expandable program nodes where always expanded when entering the ProgramTab.

Safety Control Board

Removed unnecessary warnings on boot-uply.

Version 3.0.15347

Features

Kinematic calibration by known relative positions (Plate calibration), reintroduced including the calibration manual
BETA: Euromap67 available for CB3

Bug fixes

Controller

Made the check for entering teach mode with wrong payload less strict
Fixed bug: pose_add arguments were switched during evaluation (now backwards compatible again with 1.8)
Adjusted dynamics model (updated urcontrol.conf) for both UR5 and UR10, fixes issues with freedrive being too "soft"
Solved issue with controller saying "Another thread is controlling the robot" or controller dying when using a safeguard stop input
Solved issues with C10A1?Lost packet from PC happening in conjunction with protective stop or safeguard stop

Polyscope

Translation fixes in Portuguese and Spanish.

Safety Control Board

Fixed a bug that caused the robot not to boot when using an external IO power supply.

Manual

Minor clarifications and spelling corrections included in US and EN manual
Updated Warranty
Clarified warning regarding IP20 and conductive dust under mounting instructions for teach pendant and control box.
The page format in the US version of the manuals is now US letter instead of A4.
Spacing on the manual front pages is slightly adjusted to accommodate two different page sizes (A4 and US letter).

Bugfixes version 3.0.15226

Polyscope GUI
- Fixed missing keyboard for Assignment Node when selecting Operator source.
- Fixed issue whereby the real robot could move in simulation mode in the MoveTab.
- Fixed bug where the 3D visualization of coordinate axes would disappear after setting or updating the position of a Feature.
- Fixed firmware update failures in the low level screen.
- Fixed bug in the low level screen, all error/warning messages are now displayed in the text area and success/failure of each command is indicated more clearly.
- Fixed bug in the low level screen, when a USB stick with firmware is inserted and the the user chooses to use it, it actually gets used.
Controller
Manual
- The revision number (the last number in the version) on the front page of the software and user manual is shown in parenthesesawith gray color to clarify that it indicates only minor changes to the manual

Bugfixes version 3.0.15127

Polyscope GUI
- Change the "Wrong payload or mounting detected when entering Teach mode" error message to "Wrong payload or mounting detected, or something is pushing the robot when entering Teach mode" (only in English).
- Fixed bug, where MODBUS input signals where not available in a drop-down box in the 'Wait' program node, and the MODBUS output signals where missing from a drop-down box in the 'Set' program node.
- Fixed bugs related to range check in the 'Direction' program node and the 'Stack'/'Destack' program node.
- Fixed bug where MODBUS client signals were given the same name if a program is not loaded.
- Fixed bug where variable names in dialogs differ from the name supplied by the user.
- Fixed bug where the program in Polyscope appears to still be running after a fault/protective stop/safeguard stop has occurred and the physical robot has stopped.
- Fixed bug where ‘digital_in[X]’ was converted to ‘get_standard_digital_out(X)’ for programs created prior to 3.0.
- Fixed bug where the ‘var_msg’ script function broke the Polyscope/controller communication. Now ‘var_msg’ is backwards compatible.
Controller
- Fixed issue where Teach Mode was too soft for shoulder joints and the joint did not stop after the robot had been let go.

This is the first release

Revision

14989

Key features

New Safety System
- Adjustable Safety Settings
- ISO13849 Perfomance Level d
- TüV Certified
True Absolute Encoders. No jogging during initialization
Extra I/O's: Now 16 digital in and 16 digital out

New Safety System

User Adjustable Safety Functions
- Joint position limits
- Joint speed limits
- TCP Plane limits
- TCP Orientation limit
- TCP Speed limit
- TCP Force limit
- Robot Power limit
- Robot Momentum limit
Two safety modes (Normal and Reduced) with different limits.
- Digital Input for switching to Reduced mode
- Trigger planes for switching to reduced mode
Redundant safety inputs
- Emergency stop
- Safeguard stop
- Safeguard reset
- Reduced mode
Redundant safety outputs
- System emergency stopped
- Robot moving
- Robot not stopping
- Reduced mode
- Not reduced mode

Extra I/O's

Additional 8 digital inputs, either useable as normal inputs or in pairs as safety inputs
Additional 8 digital outputs, either useable as normal outputs or in pairs as safety outputs
See "Electronics" section

True Absolute Encoders

Faster startup time for robots
No need for jogging during initialization
No batteries, no need to re-home the robots
Robots are now fully suited for automatic startup and integrating into other machinery

External Tests

Shock testing 160g for 1ms for all 3 axes x,y,z in according to EN60068-2-27
Vibration tests 10-150Hz 1.6grms for 90 minutes on each axis x,y,z according to EN60068-2-64
Temperature tests from -5?°C up to 50?°C according to EN60068-2-1 and EN60068-2-2
EMC test according to EN 61000-6-2:2005, EN61000-6-3:2006, EN 61326-3-1:2008
IP54 testing according to IEC 60529 edition 2.1 2001-02

Electronics

Replaced the "Master Board" with a new (yellow) "Safety Control Board"
- Emergency Stop and Safeguard Stop inputs have dedicated terminals, all other safety I/O's are configurable
- The I/O terminals are detachable for easy setup and maintenance
- Different types of I/O terminals easy recognized by their color
- Remote on/off is available directly from the I/O terminals
- All Safety Related I/O's are based on 24V signals
- The provided 24V I/O power is upgraded from 1.2A to 2A
- I/O overcurrent protected at 1A for each output
- Analog inputs can be set on both current and voltage mode
- Accuracy of the analog inputs are improved
General improvements to connectors and wires in the robot
Joint PCB's are now blue instead of green
Screen PCB is now white instead of green

Manual

Upgraded look
About 50% rewritten
Added Korean language version

Control Box

Serial number is affixed on the door of the CB3, not just on the bracket. This should minimize the problems with substituted serial number
New covers design makes the Flash card is easier to grab/mount
Cover has been split in two to ease service

Polyscope GUI

Screens for adjusting safety parameters:
- Setup of limits, inputs and outputs
- Password protected
- Safety Checksum for easy checking whether safety settings have been changed
- Four pre-defined basic safety settings for easy setup
- Fully customizable through advanced settings
- Robot will not run before safety setting changes are confirmed and applied
New I/O tab, to accommodate the extra I/O's
New initialization screen
New Save/Load Installation screen (e.g. "Save As" button, possibility to specify directory and ghosting the Save button when installation is unchanged)
Option for resetting the installation
Log now has warning levels [Fault, Violation, Warning, Info], you can filter what you see in the log
Log time shows world time, and messages are time ordered
Log is now saved in a new format (Log is persisted in a language independent format)
Runtime exceptions in robot programs are now in the local language
New screen for auto-starting robots and programs under installation tab
Now auto-starting robots and programs by digital inputs is edge-triggered
Visualization of safety planes close the robot position
Save-icon appears on installation tab when the installation is modified
On-screen editors (Numberpad and Keyboard) now in some cases show the field being edited
Balloon tips for feedback during parameter setup
Running programs are paused if changes are made to the installation
Robot cannot be powered if the mounting is wrong (more than about 30 degrees)
Changing of the mounting from the GUI now powers off the robot
TCP offset now has an upper bound (500 mm).
"Show Axes" is on by default when a new Feature is created.
To improve performance, "varmsg()" has been removed from programs generated by the GUI. Instead, the controller sends all global variable values using a dedicated message after each control cycle
Added "power on", "power off", "brake release" command to the dashboard server.
Added "safetymode" command to the dashboard server, returning safety mode (e.g. normal, reduced, violation, emergency stopped).
Added 'polyscopeversion' command to the dashboard server, returning the Polyscope version
Added ‘a(chǎn)ddToLog’ command to the dashboard server, for putting text lines in the robot log
Added ‘setUserRole’ command to the dashboard server, which allows simple control of user privileges
Added ‘isProgramSaved’ command to the dashboard server, which returns the save state of the active program
Added ‘programState’ command to the dashboard server, which returns the state of the active program or STOPPED if no program is loaded
Added support for boolean values and lists in Installation Variables
Several minor performance improvements

Controller

Controller adjusts the robot speed to comply with safety limits and physical limits
Speed is reduced around singularities, so the robot is able to move through singularities
Physical time (e.g. Wait-statements) is not scaled when using the speed slider
Now monitoring the target position vs. the actual position more tightly
- Added "Protective Stop: Position deviates from path" when the robot is pushed away from it's path
- Robot can resume programs after protective stop or emergency stop
Removed "Force limit protective stop" from controller. Force limiting is now ensured by the new safety system.
Improved inverse kinematics for absolute accuracy calibrated robots
Decoding of encoders for conveyor tracking now runs at 40kHz (was 125Hz)
Several improvements to realtime performance

URScript

Syntax error line numbers now report the correct line in the script
Added teach_mode() and end_teach_mode() to set the robot in teach mode from a program
new/updated/changed script functions for I/O control
- set_standard_analog_out()
- get_standard_analog_out()
- get_{standard, tool}_analog_in()
- set_digital_out()
- get_digital_out()
- set_digital_in()
- get_digital_in()
- set_analog_out()
- get_analog_out()
- set_analog_in()
- get_analog_in()
- set_{standard, configurable, tool}_digital_out()
- get_{standard, configurable, tool}_digital_out()
- set_{standard, configurable, tool}_digital_in()
- get_{standard, configurable, tool}_digital_in()
- set_analog_inputrange()
- set_{standard, tool}_analog_input_domain()
- set_runstate_{standard, configurable, tool}_digital_outputs()
- set_runstate_{standard, configurable, tool}_digital_output_to_value()
- set_runstate_standard_analog_outputs()
- set_runstate_standard_analog_output_to_value()
- set_runstate_output_to_value()
- set_runstate_outputs()
- set_analog_outputdomain()
- set_tool_voltage()
- write_port_register()
- write_port_bit()
- read_port_register()
- read_port_bit()

Bugfixes

Polyscope GUI
- Copy and paste of program nodes fixed
- Fixed issue of missing dialogs on rare occasions
- Fixed issue where a message sometimes was not shown in the log when a program had been started
- Fix for the log file (‘log_history.txt’) growing too large. File is rolled to ‘log_history.bak’ when 5M limit reached.
- Fixed save issue with Installation Variables. Installation Variables only save when changed.
- Fixed syntaxError when a sub program name contains spaces
- Fixed Java exception in Pallet wizard with German and Italian language
- Fixed, so that program nodes cannot be named one of the reserved names in the controller (that would cause the program to fail)
- Fixed bug, where the GUI freezes when trying to make a feature variable
- Fixed an issue in the GUI, where large robot programs (.urp) made it slow and unresponsive
- Fixed flicker of the OK/Cancel button on the Automove tab
- Improved program responsiveness when editing large programs
- ‘Wrong robot type’ messages do no longer appear in the log if a power supply is broken, a message indicating the error appears
- Fixed issue where programs could not run when given a name which is reserved for programs
- Fixed error in Pallet Wizard with all languages when adding special program sequence point before first point and after last point node
- Sub-program names now allow for spaces
- Fixed bug where moving nodes in a program caused If nodes to be broken
- Fixed, adding assignment nodes no longer causes entire program tree to expand
- Fixed issue with having both 'intialization of variables' and 'before start' in the same program
- Dashboard server improvements and bugfixes:
  - Fixed "Feature Name is already used: Wegpunkt_1" dialog popups when loading program via Dashboard server
  - Fixed loading of program failed not reported by the Dashboard server
  - Fixed bug, where the Dashboard server command "programstate" was reporting wrong running state. Includes fix, where for the controller reporting the wrong program state
  - Fixed The Programmer user role should disable "SETUP Robot"
  - Now, the current program is automatically closed before attempting to load a program via the ‘load’ Dashboard server command
Controller
- Fixed mathematical operator precedence bug: 3-2-1 is now 0.
- Fixed bug, where the controller did not always report a "Robot Message" first time a program had been started
- Fixed small bug in inverse kinematics
- Fixed minor security hole in kinematics calibration
System
- Fix for Linux system log files growing too large in '/var/log'. On reboot larges files are truncated.

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Release note Software version 3.0.x.x

for CB3 only

Version 3.0.16471

Bug fixes

Version 3.0.16285

Bug fixes

Version 3.0.16265

Bug fixes

Version 3.0.16090

Bug fixes

Version 3.0.16040

Bug fixes

Version 3.0.15882

Features

Bug fixes

Version 3.0.15547

Bug fixes

Version 3.0.15347

Features

Bug fixes

Bugfixes version 3.0.15226

Bugfixes version 3.0.15127

This is the first release

Revision

Key features

New Safety System

Extra I/O's

True Absolute Encoders

External Tests

Electronics

Manual

Control Box

Polyscope GUI

Controller

URScript

Bugfixes

NEWEst RELEASE NOTES: