Version 6#

Version 6.0.10#

Download#

Download firmware for Meca500 (R2)firmware

Fixes#

  • Fix static IP address bug, where the robot would not always take the given address.

  • Fix gripper update bug, where the gripper could not be updated via the web interface.

Version 6.0.9#

Improvements#

  • The robot homing procedure is now more robust.

  • The logs are now more detailed.

Fixes#

  • The robot is now still usable when self-tests fail.

  • The connection handling has been improved to prevent failures to connect.

Version 6.0.8#

Improvements#

  • When connecting to the robot, you can now select the address to connect, enabling port forwarding of the robot’s web interface.

Fixes#

  • Fixed the message returned when self test-fails.

Version 6.0.7#

Features#

  • Added final check after homing to make sure the robot is indeed homed.

  • Added calibration for the accelerometer in the base, enabling more robust homing.

  • Added a self-check during homing and mastering. The robot will now fall in error mode if something is wrong, and it will not home. If this happens, contact Mecademic.

  • Added support for new mechanical updates.

Improvements#

  • It is now impossible to downgrade your robot’s firmware

  • The maximum allowable motor torques when homing and mastering are now higher.

  • The mastering routine now starts with a verification of the base leveling.

  • The homing and mastering routines are now adapted to new mechanical updates.

Fixes#

  • Joint limits are now updated after mastering without the need to poweroff.

  • Fixed the Ethernet port bug, where the port would occasionally not boot properly and require a physical disconnection in order to reset it.

  • Fixed default gripper values to fit the values given in the programming manual.

  • Fixed the MAC address bug.

  • Fixed the homing bug occurring when the base of the robot is installed on a slightly inclined surface.

Version 6.0.6#

Warning

The MEGP25 must have firmware version 1.4.1 installed, otherwise the control will not work.

Features#

  • You can now control the grip force of Mecademic’s electric gripper, using the command SetGripperForce.

Improvements#

  • The argument of the SetGripperVel command is now in mm/s, from 0 to 95 mm/s.

Fixes#

  • GetWRF now returns the correct values for the WRF.

Version 6.0.4#

Features#

  • Added three commands for Mecademic’s electric gripper. They are described in the Programming manual.

Version 6.0.3#

Warning

Controller must be at firmware version 6.0.2 prior to upgrading at 6.0.3 and higher. If not, it will be refused.

Features#

  • Scientific notation is now accepted for the command arguments, as in the command MoveJoints(1.900E+01, 0, 0, 0, 0, 0)

Fixes#

  • Fixed the configuration calculation when TRF and WRF are set.

Version 6.0.2#

Download#

Download firmware for Meca500 (R2)firmware

Features#

  • Reboot after firmware upgrade (when applicable).

  • Deactivation possible when the robot is in error.

  • Added GetMotionStatus command.

  • Added GetSimulationMode command.

  • Added GetJointVel, GetJointAcc, GetCartVel and GetCartAcc commands.

  • Added GetTRF and GetWRF command.

  • Added GetMoveLinDeltaRef command.

  • Added GetAutoConf command.

  • Added GetCornering command.

  • Added new error messages.

  • Mechanical and firmware versions are now shown in the connection message.

Improvements#

  • Inversion of the third argument of the configuration, SetConf(1,1,1) becomes SetConf(1,1,-1).

  • Rename SetMoveCartDeltaRef to SetMoveLinDeltaRef.

  • When play button on keypad used, there is a delay of 3 seconds before the movement.

  • Maximum linear velocity is now 500 mm/s.

  • Maximum joints velocity is now \(135^\circ\)/s.

  • Adding description messages when the linear jog stops.

  • Offline program handles up to 1,500,000 lines.

  • Joints limits changed.

  • Error management of offline program changed.

  • Jogging with the interface now stops the running program.

  • The robot reboots after changing Networks settings.

  • PauseMotion behavior changed. ClearMotion clears the pause. In case of error, the pause is cleared.

  • GetStatus now returns information about Pose Feed, End Of Block and End of Movement messages.

  • DisableBrake and EnableBrake are now DisableBrakes and EnableBrakes

  • Improved the homing and activation procedures.

Fixes#

  • Improved WebSocket stability. Better handling of fragmented frame.

  • Sending two MoveLin commands with the same pose, one after the other, no longer generates an error.

  • Reachable poses with MoveLinDelta are now also reachable with MoveLin.

  • The command Delay correctly generates an End Of Block message.

  • The position is updated when the WRF or the TRF is changed.

  • The web interface is now correctly updated when the WRF or the TRF is set.

  • The correct error message is now returned for argument error.

  • ResetError doesn’t generate EOB message anymore.