Version 11#
Version 11.3.3 (latest)#
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Features#
Support for volatile robot variables (not saved to disk, cleared on reboot).
Enabled robot jogging in Firefox with Joysticks that use the Gamepad API. Note: Firefox does not support WebHID-based devices like the SpaceMouse at this time.
Fixes#
Fixed ClearMotion status and behavior with cyclic protocols when commands are added to the motion queue while ClearMotion is requested.
Avoid
SetCartAccvalues above 100% on Mcs500 robots unexpectedly causing slower actual acceleration.Fixed high execution latency on Meca500 robots when using velocity move commands at 1kHz with the EtherCAT protocol.
Version 11.3.2#
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Features#
New
GetRtI2tandGetRtTemperaturecommands to report temperature and I2T data. Also available as real-time monitoring data (SetRealTimeMonitoring). Not available on Meca500 robots.
Fixes#
Meca500 robots remain activated but no longer moving after a temporary voltage loss.
Version 11.3.1#
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Fixes#
Meca500 precision is incorrect after using recovery mode following an ESTOP when a gripper is connected to the robot.
The 32 bits float value reporting the robot serial number in cyclic protocols is not precise enough to represent all robot serial numbers, resulting in unwanted rounding. As a workaround, the serial number is also now represented as an unsigned integer in the second value from the dynamic data ID 3 (serial number).
Version 11.3.0#
Features#
Report robot variables in cyclic dynamic data.
Fixes#
Brakes partially engaged after removing and restoring motor voltage while they were disengaged.
MecaPortal fails to load when a user program sub folder has the same name as a parent folder.
Version 11.1.6#
Download#
Fixes#
MCS500 factory reset causes work zone configuration to be invalid.
EtherCAT StartProgram command does not work on Meca500 robots.
SetNetworkOptions: Setting an excessively large value for the maximum number of lost keepalive packets could prevent any connection to the robot. The value is now limited to a maximum of 60.
Version 11.1.5#
Download#
Features#
Time-Based Movements:
SetMoveModeandSetMoveDuration. The robot can now execute movements based on a specified motion duration, rather than a defined velocity, using existing motion commands such asMoveJoints,MoveJointsRel,MovePose,MoveLin,MoveLinRelWrf, andMoveLinRelTrf. Additionally, an option has been added to make the motion command fail if the robot cannot meet the requested duration.Fast Simulation Mode: A new fast-simulation mode has been introduced with
ActivateSim(2), allowing commands to execute at the maximum possible speed. This significantly reduces simulation time, enabling faster testing of commands and programs.Relative Torque Limits: Torque limits during movements can now be defined relative to the robot’s expected torque, offering finer control over torque limits settings for faster collision detection, improving safety and performance in interactions with the environment. See the documentation for the commands
SetTorqueLimitsCfgandSetPayloadfor details.Cyclic protocols now support changing several robot configuration parameters, including joint limits, work zone, collision settings, tool sphere, calibration and robot payload. See Motion-related commands for details.
Persistent Variables (beta): Variables can now be saved persistently on the robot. These variables are available for use in motion commands (including in cyclic protocols) and in Python applications using Mecademicpy, offering greater flexibility and control in robot programming. See Variable management commands (beta) for details.
Improvements#
Enhanced Position Tracking for Meca500 and MCS500: The position tracking during movements and quick accelerations has been improved, providing higher precision and enabling quicker accelerations with large payloads.
Sub-Millisecond Trajectory Calculation: Trajectories are now calculated with sub-millisecond precision, improving path duration and velocity accuracy, particularly for complex paths with many short blended movements.
Prefixing a robot command name with a dash (-) disables logging of that command in both the robot detailed event log and the MecaPortal event log. This can help reduce robot CPU usage when sending commands continuously at high rates (typically above 250 commands per second).
Fixes#
Unexpected robot movements may occur if the Meca500 cannot move during activation.
Very small incremental movements (less than 1 millisecond) with the
MoveJointsRel,MoveLinRelWrforMoveLinRelTrfcommands may not work as expected.
Behavior changes #
Cyclic Protocol Updates: Updates have been made to the cyclic protocol definition files (EtherCAT
.xml, EtherNet/IP.eds, and PROFINETGSDML). Be sure to update your PLC with the latest files provided in the robot package, and make any necessary changes in your PLC application:The 32-bit
MotionStatus.CheckpointIdfield has been split into two 16-bit fields:ReachedCheckpointIdandDiscardedCheckpointId. See Motion status for details.A new bit,
MotionControl.UseVariables, has been introduced (this bit was previously unused). Ensure this bit is cleared in the PLC’s output if you wish to maintain the previous behavior. See Motion control for details.