Version 8#

Version 8.4.9#

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Fixes#

  • Reduce CPU usage of fix for Meca500 for auto-MDIX negotiation with some partner PHY

Version 8.4.8#

Fixes#

  • Add advanced ethernet option for Meca500 to fix auto-MDIX negotiation with some partner PHY

  • Fixed problems with R2 robots joint positions that may occasionally be slightly off after homing

Version 8.4.7#

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Fixes#

  • Fix homing on a Meca500R2

  • Brakes are not always engaged at full strength when drives are deactivated or brakes are re-engaged manually

Version 8.4.6#

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Fixes#

  • Joint torque ratio does not work properly in EtherCAT

  • Prevent writing to permanent storage during bootup if not required

Version 8.4.5#

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Fixes#

  • Checkpoint events sent too late when SetCheckpoint is used between MovePose commands

  • Homing fails when joint 6 is near 360 degrees

  • Expand valid joint ranges for mastering R2 robots

Version 8.4.4#

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Features#

  • New command to enable logging of all API commands and responses to robot log (TCP/IP, EIP and ECAT)

Fixes#

  • Monitoring events don’t always respect the requested interval

  • MoveLin gets interrupted by SetGripperVel

  • Delay command sometimes lasts longer than requested

Version 8.4.3#

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Fixes#

  • Robot can’t recover PStop2 during velocity-mode moves

  • Debug trace level unexpectedly set back to 3 when ECAT master connects to the robot

  • Random out-of-workspace or singularity errors during linear moves

Version 8.4.2#

Fixes#

  • Gripper not working with R2 robots

  • Can’t deactivate in EtherCAT after failure to reset error

  • Robot no longer responding if new error occurs while clearing previous error

  • ECAT slave can invert order of status PDO sent to master if using short cycle time

Version 8.4.1#

Features#

  • Visible web interface panels can now be chosen while connected in Monitoring mode

Fixes#

  • Ethernet link must remain down until robot is ready to handle EtherCAT frames

Version 8.4.0#

Features#

  • Many new TCP/Web “Get” commands (corresponding to various “Set” commands). See documentation for details

  • Support for moving joint 6 outside +-180 degrees with Cartesian moves

  • Support user-defined joint limits (Get/SetJointLimits)

  • Support user-defined torque limits (Get/SetTorqueLimits)

  • Support for real-time monitoring data on port 10001 (joint position, velocity, accelerometer, etc.)

  • Fixed homing timeout over EtherNet/IP with R2 robots

  • New TCP/Web commands (TcpDump, SetRtc, LogTrace)

Fixes#

  • Lower minimum gripper/velocity force limit to 5 percent

  • Checkpoints are not cleared from FIFO buffer after ClearMove

  • File descriptor leak (socket) in EIP stack

  • Possible network configuration file corruption fix

  • Improve EtherCAT timings (down to 1ms)

  • EtherNet/IP EDS is using 64 bits fields which are incompatible with some PLCs

Version 8.3.12#

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Fixes#

  • Fixed homing timeout over EtherNet/IP with R2 robots

Version 8.3.11#

Feature#

Version 8.3.10#

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Improvements#

  • Robot production improvements.

Version 8.3.6#

Fixes#

  • Motion Resumed response should not be sent after Homing or deactivating robot

  • Network settings dialog in web interface may report wrong values

  • In some situation, autoconf does not choose the closest (least movement) robot configuration upon a MovePose

Version 8.3.5-beta#

Note

Meca500 Revision 2 (R2) are now compatible with this firmware. All the features available on the R3 are now also available for the R2, excepted a few behaviors related to the hardware (homing procedure, joint 6 range)

Warning

A bug in the 6.x firmware prevents the upgrade of the drives when upgrading to 8.x. To work around this problem, please upgrade the robot to 8.x a second time so that all drives are upgraded to the new version.

Features#

  • Support for the Ethernet/IP control protocol

  • Precise (1um) Position Control Incremental Move (jogging) in web interface. When using Incremental jogging, standard motion errors will be triggered if the robot reaches a joint limit or a singularity

Improvements#

  • The requirement of pressing the CTRL key to jog with a joystick key has been removed

  • Robot is now rebooted automatically after any firmware upgrades (including drives and external tools)

Fixes#

  • If activation fails, robot enters an invalid state where the motors stay activated

  • 0G and brake release doesn’t work before a first robot activation

  • Receiving [3000][Connected to Meca500 R3 v8.1.x] message before boot sequence finishes

  • P-Stop reset does not work in some cases

Version 8.1.9#

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Fixes#

  • Cannot reconnect to robot in some cases (reports user already connected while there is none)

  • The commands ResetError and DeactivateRobot do not always return a response message

  • The reset error command triggers an EOB response if there is an error to reset

  • Upgrade from certain Beta/RC versions causes calibration parameters to be lost

  • The web interface sends MoveJointsVel even if the robot has reached its destination while jogging in the web portal

Version 8.1.8#

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Fixes#

  • SpaceMouse and 3-axis joystick are now supported and update the icon files

  • The web portal does not return the actual network configuration in the setting menu

  • Joint position is offset by one motor turn after doing homing from some positions

  • SetMotionOptions triggers ’Robot is not activated’ response

Version 8.1.7#

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Fixes#

  • The motion profile of the robot could have an overshoot during acceleration and deceleration if the acceleration is not initialized

  • The robot positions reported in EtherCAT oscillate between the desired and actual position

  • For some motion sequences, the robot stops moving for about 60 seconds once every 71 minutes

Version 8.1.6#

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Fixes#

  • Web interface sends a velocity command (with speed 0) when the window is losing focus

  • Robot persistent storage can be corrupted if power is interrupted while the robot was logging an activity trace

Version 8.1.5#

Warning

This is the first public release of firmware 8. If you are upgrading from firmware 7, please ask us for the migration guide, as there are major changes.

Fixes#

Version 8.1.4#

Fixes#

  • A raw TCP/IP connection was wrongfully detected as a WebSocket connection

Improvements#

  • Gripper commands were executed with preceding Cartesian-space motion commands. They are now executed only when the movement is completed, as in firmware 7

  • Modifications were made to the robot joint mode acceleration. Acceleration can now be set at up to 150%

  • Restored the same default acceleration (100%) as in firmware 7

Version 8.1.3-rc#

Fixes#

  • Upload of update image to robot’s web interface was blocked

  • Monitoring connections from the web interface were not closed correctly

  • Looping in web interface was not working when using commands that don’t make the robot move

Version 8.1.2-rc#

Features#

  • Support for the protective stop 2 (Stop Category 2) in the robot controller

Version 8.1.1-rc#

Features#

  • Cartesian-space movements that require joint rotations of more than \(180^\circ\) are now blocked. This limit can be bypassed with a special command

  • (ROBOT-) A Jogging toggle button was added in the web interface to switch between jogging and program execution modes

  • Added motion commands allowing velocity-mode control. You can now feed the desired Cartesian or joint velocity to the robot every 2 ms

  • Jogging can now be done using 3Dconnexion’s SpaceMouse from the new Joystick tab in the web interface

  • Added the command SetNetworkOptions for setting network parameters

  • Added the command GetFwVersion for obtaining the firmware version

  • Added FIFO Cleared status bit to report when a ClearMotion command has been executed in EtherCAT

  • Added SDO 0x8010 to disable/enable the brakes (when the robot is deactivated) in EtherCAT

  • (ROBOT-) The message as,hs,sm,es,pm,eob,eom is now also sent over port 10,001, but automatically and as soon as the robot status changes

  • (ROBOT-) Added the command SetCheckpoint

  • Added the command SetMonitoringInterval that changes the refresh interval on port 10,001

  • (ROBOT-) A program can now be saved even if the robot is activated and homed

  • (ROBOT-) Added Request Log tab in the web interface where virtually all commands sent to the robot are now displayed

  • 0G button works in EtherCAT mode as well as when the robot is connected to a computer via the web interface

  • (ROBOT-) Angular velocity (1A04h), Torque Ratio (1A05h), Accelerometer (1A06h), Gripper Status (1A07h) and Configuration (1A08h) are now available as PDOs in EtherCAT

  • (ROBOT-) New movement control (Move ID 6015h:1) added in EtherCAT

Fixes#

  • In the web interface, the loop option could cause the program to be sent more than once, even if looping was disabled

  • A Delay command sent immediately after a MoveLin command could generate a longer delay than requested

  • When executing one of the velocity-mode commands with an argument that exceeded its maximum, the robot controller simply replaced the argument with its maximum value instead of generating an error

  • When homing with a joint being close to one of its limits, the robot fell in error mode or the resulting joint position was incorrect

  • Motion commands were sometimes ignored when the cycle time was set to 2 ms in EtherCAT

  • (ROBOT-456-509) The sub-indices EOB, EOM and Paused was always kept high in EtherCAT

  • The command SetOfflineProgramLoop did not return an error message if sent while no program was being saved

  • The TRF and WRF frames were not reset on robot activation

  • Changed the TCP keep-alive timeout from 1 second to 10 seconds to prevent disconnection on packet loss

  • A movement could cause a motion error because the desired acceleration was higher than in the previous firmware version

  • When reconnecting to a robot from the web interface, the existing program was automatically sent for execution

  • (ROBOT-) The signal EOB was missing when the movement was short

  • Joint 6 was limited to \(\pm 175°\) in the web interface, instead of \(\pm 180°\)

  • (ROBOT-) The robot did not always recover from error mode

  • (ROBOT-) Impossible to reconnect when the Ethernet cable was disconnected while the port was open

  • (ROBOT-) Unit symbols were editable in the web interface

  • (ROBOT-) The IP address formatting in the web interface was not correct

  • (ROBOT-) The panels of the web interface did not resize correctly on small monitors

  • (ROBOT-) Jogging was blocked when a maximum value was reached

  • (ROBOT-) Names of registers 6030h, 6031h and 6032h in EtherCAT were not correct

Improvements#

  • (ROBOT-) The Category 2 protective stop is now reset with the command ResetPStop

  • The grip force range for the MEGP25 has been changed to %, 100% from %, 100%

  • An input field has been added next to the “Save offline program” button in the web interface for specifying the ID number of the program to be saved

  • (ROBOT-) The message numbers for joint sets and the pose feedback on the monitoring port (10,001) changed to 2026 and 2027 respectively

  • Each offline program can now store up to 13,000 motion commands

  • (ROBOT-) For the offline program saving, new response messages (1030, 1031) replace the old ones (3018, 3013)

  • The socket latency has been reduced

  • (ROBOT-) Commands in the Quick Command drop-down list are now in alphabetical order

  • (ROBOT-) PDOs 1601h, 1602h, 1603h, 1604h, 1605h, 1606h have been removed in EtherCAT

  • (ROBOT-) Moving communication mode from 7800h to 8000h in EtherCAT

  • (ROBOT-) Different acceleration affects the blending behavior now