Version 7#

Version 7.0.6#

Fixed the back-portability issue where the old Meca500 R3 and old power supply did not work together. Note, however, that older Meca500 R3 do not work with new power supply and new Meca500 R3 do not work with the old power supply.

Bug occurring when reorienting the end-effector a lot fixed.
Problem with reversed directions when jogging in reorientation mode (i.e., when using the commands MoveLinRelWRF and MoveLinRelTRF) fixed.
Jerking motion near singularity eliminated
Problems related to the presence of comments in the program (in the web interface) fixed.
No more EOB/EOM after ClearMotion and ResetError.
Problems with not receiving EOB after executing a program fixed.
Message 3011 added to inform when a the command MoveLinRelTRF or MoveLinRelWRF does not make the robot move (because of singularity or out of reach).

Robot now falls in error when there is a cable break (sudden disconnection)
Robot now sends PauseMotion if the robot is running and there is a clean disconnection (disconnect request received)
Robot now limits the number of monitoring connections to 10.
SetTrf and SetWrf now completely stop the motion when they are applied. This will trigger an End Of Movement (like SetCartAcc).
Increased the maximum number of commands to be sent in one stream from 1000 to 10000.
Improved the WebInterface communication with the robot. Now, when sending big programs, the robot responds to independent ClearMotion much faster.

Fixed button usage disabled when in offline program.
Fixed robot not actively disconnecting the user when control connection is received
Fixed the Power LED that was flashing during homing.
Fixed the blending not enabled by default.
Fixed the EOM not received in between motion when Blending is not set.
Fixed the ClearMotion command not setting the robot in pause when there is no motion.
Fixed the issue where sending long command from the WebInterface disconnecting the interface.
Fixed BrakesOn and BrakesOff command not recognize.
Fixed the SetWrf and SetTrf command that were causing the next pose movement to be skipped.
Fixed the SetWrf and SetTrf command that was causing the robot to move to invalid position in previous reference frame before doing the requested motion
Fixed the GripperOpen/GripperClose command that needed to be followed by a motion command after them to actually open/close the gripper.
Fixed issue where in some rare cases, robot would stop responding to inputs and was not returning EOB.

When the robots falls in error, it puts the robot in PauseMotion too.
ClearMotion also puts the robot in PauseMotion. (In 6.0.10, it would correspond to sending ClearMotion and PauseMotion)
The automatic joint feed and pose feed have been removed from the control port. You must now use the monitoring port for the joint and pose information.
MoveLinRelTRF and MoveLinRelWRF now take multiple arguments (i.e. MoveLinRelTRF(20,20,0,0,0,0) is possible.)
Motion settings commands do not return setting acknowledgement anymore. They are part of a block and completeness is now signaled with the End of Block mechanism.

AutoConf is now renamed SetAutoConf.
SetCornering is now SetBlending. It takes in argument values from 0 to 100.
MoveLinDelta and SetMoveLinDeltaRef combination is now replaced by MoveLinRelTRF and MoveLinRelWRF.
Gripper command is now replaced by GripperOpen and GripperClose.
SetCartVel has been split in two commands: SetCartLinVel and SetCartAngVel
SetJointVel now takes a percentage in argument, not a speed.
StartSaving now has an argument to identify which in program you want to save the commands
StartProgram now has an argument to identify which program you want to start.
GetGripperStatus is now renamed GetStatusGripper to match GetStatusRobot.
EnableBrakes and DisableBrakes are now BrakesOn and BrakesOff
GetStatusRobot now has a flag for simulation and motion paused. Feed flag have been removed.