Version 9#
Version 9.3.7#
Download#
Fixes#
Meca500 joint offset after activation without homing.
Version 9.3.6#
Fixes#
Meca500 Ethernet ports are not always linking with some switches or devices
Meca500 in EtherCAT mode remains busy after trying to activate while in PStop2
Gripper force sometimes overshoot when holding part
Version 9.3.5#
Fixes#
Fix gripper instabilities while holding part
Version 9.3.4#
Download#
Features#
Accept lower Joint speed values
Fixes#
WRF/TRF lost after Clear Motion
Self-collision detection was erroneously enabled by default on new robots
Version 9.3.3#
Fixes#
Various MecaPortal enhancements
Version 9.3.2-beta#
Features#
Various improvements on MecaPortal beta
Fixes#
Various MecaPortal enhancements
Fix gripper force after resetting a motion error
Better detection and resiliency for communication errors with external tool
Robot may be unresponsive after staying in error for long time
Version 9.3.1-beta#
Fixes#
Fix gripper force after resetting a motion error
Version 9.3.0-beta#
Features#
ALPHA release of new API to define the robot workspace in cartesian space
New MecaPortal interface to control the robot.
Enhanced jogging interface.
Full-featured code editor with multi-tab support, code completion, help tooltip, error detection, and more.
Offline program management with option to easily save and load programs on the robot.
New configuration panel
Increased Meca500-R4 maximum joint velocities
Version 9.2.7#
Download#
Fixes#
Better detection and resiliency for communication errors with external tool
Version 9.2.6#
Fixes#
Robot may be unresponsive after staying in error for long time
Version 9.2.5#
Fixes#
Fix gripper force after resetting a motion error
Version 9.2.4#
Download#
Fixes#
Robot performs joint move instead of linear move in rare case of extreme change of direction at very high speed
Syntax error in EDS file (EthernetIP)
Blending of valve control command (
SetValveState) with cartesian motion commandsAdd optional argument to
ActivateRobotto allow forcing a re-initialization.
Version 9.2.2#
Download#
Fixes#
Brakes are not always engaged at full strength when drives are deactivated or brakes are re-engaged manually
Version 9.2.1#
Features#
Support for Meca500 revision 4 robots
Support for EStop without rebooting the robot (on Meca500 revision 4+ only)
Homing the robot is now required only once after boot-up
Reduce velocity effects on gripper force
Version 9.1.5#
Download#
Features#
New robot API command
GetExtToolFwVersion
Fixes#
Prevent writing to permanent storage during boot if not required
Potential boot failure after upgrading
Version 9.1.4#
Download#
Fixes#
Dynamic Data incorrectly described in EtherCAT XML file
Error in EtherNet/IP EDS file in description of dynamic array 0 data in input data assembly
Version 9.1.3#
Fixes#
Joint 5 may be off by 1.5 degrees after homing from specific positions
Version 9.1.2#
Features#
PROFINET protocol support
Fixes#
When loop is enabled, using the step button runs the whole program
Version 9.1.1#
Features#
Improved precision of linear moves near singularities
Support starting offline programs using EtherCAT
Fixes#
Linear move may cause incorrect conf change near joint limits
All LEDs keep flashing in EtherCAT mode
Version 9.1.0#
Features#
New EtherCAT and EtherNet/IP cyclic data to get all robot information (WRF, TRF, motion queue, real-time data…)
New robot API command
MoveJointsRelNew robot API command
SetExtToolSimto emulate gripper or valve boxRobot is now rebooted automatically after any firmware upgrades (including drives and external tools)
New robot API command
SetRobotName/GetRobotNameSupport robot recovery mode
Pneumatic module independent valves control
New real-time events on monitoring port for WRF, TRF, checkpoint and gripper/valve-box status
Gripper Position Control
Cartesian moves are now possible from/to/through singularities in some cases
Fixes#
’End of offline program’ event inconsistent when running multiple programs
Behavior changes #
EtherNet/IP and EtherCAT cyclic data format has changed. Some data, previously reported by the robot for every cycle, has been moved and is now available only through new ’Dynamic data’. This includes: Joint velocities, Joint torque ratios, Accelerometer, and Gripper status
Torque limit status (3028) is sent every time torque limit status changes (exceeded or not) for events severity different than ’no action’. Torque limit error (3029) is also sent if torque limit severity is set to ’error’. Responses and messages: 3028[0|1] Torque limit status (not detected, detected) 3029 Excessive torque error occurred causing the robot to enter error state
SetConfBehavior changes in version 9.0.5 related toSetConfandSetConfTurnIn version 8, usingMoveJointsorMoveJointsVelwould override any value previously provided usingSetConf/SetConfTurnIn version 9,MoveJointsandMoveJointsVelwill no longer override values provided usingSetConf/SetConfTurn. If previous behavior is required: useSetAutoConf(0)/SetAutoConfTurn(0)afterMoveJoints/MoveJointsVelto update requested conf/turn from new joints positionSetAutoConfTurnis now enabled by default (it was disabled by default, forced to turn 0) Behavior change in real-time “conf” (GetRtTargetConf,GetRtConf, and corresponding real-time data codes 2208/2218): When the robot position is on a singularity, the conf reported will be 0 (it used to be arbitrary 1 or -1). This is useful for users to know the robot is on a singularity and that position may be considered valid in both conf (+1 or -1). Example, on Wrist singularity the conf could be reported as (1,1,0).The behavior of linear moves 180 degrees protection has changed. Old behavior: The robot used to prevent linear moves that caused any joint to move by more than 180 degrees. This was blocking some valid linear moves from being performed. New behavior: The robot refuses a linear move if the initial and final orientations are 180 degrees from each other (in which case there is ambiguity about the direction along which the robot end-effector should be rotating).