For latest release notes of PolyScope 5, please refer to Release note Software version 5.21.x.x

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Date of release: 6th January 2025.

Download HERE

SW 10.7.0 Release Notes

Release Versions:

• PolyScope X robot image: 10.7.1
• URCap X SDK: 0.14.74

Key Features

This update fixes a bug that, in rare extreme scenarios, could cause the robot to stop more abruptly than intended, when the safety system determines a fault has occurred. Over time, repeated occurrences may lead to increased wear on the gears and potential mechanical failures in the UR20 and UR30 models.?
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This software update is mandatory for UR20 and UR30 systems.?
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For more details, see the Safety Notice

Compatibility notice

Please note that PolyScope X (all versions) is only supported on Control box version 5.6 (CB5.6).??

To verify your Control box version please check the serial number label. It will clearly state "CB5.6" in the model name. If the version listed is not CB5.6 or not listed at all, your Control box does not support PolyScope X. If your robot is purchased as being a PolyScope X Robot, but you do not believe you have the right Control box, please contact Universal Robots with this information so we can ensure you have the right hardware.?

PolyScope X Upgrade Kits are available supporting all current Universal Robot models. Please contact Universal Robots or your local Universal Robots Partner to learn more.?

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Date of release: 9th January 2025.

Download HERE

SW 10.7.0 Release Notes

Release Versions:

• PolyScope X robot image: 10.7.0 (0.1.215)
• URCap X SDK: 0.14.74

Key Features

• OptiMove dynamic speed and acceleration in move nodes improves cycle times with more fluent motion. OptiMove also reduces vibrations on the robot and external equipment.
• PolyScope X user interface is available in 22 languages: Czech, Danish, Dutch, English, French, German, Hungarian, Italian, Japanese, Korean, Norwegian, Polish, Portuguese, Romanian, Russian, Slovak, Slovenian, Spanish, Swedish, Turkish, Chinese Simplified and Chinese Traditional.
• New Program nodes: Halt program, Timer, Process move, Circular move, Direction until, Switch case

Compatibility notice

Please note that PolyScope X (all versions) is only supported on Control box version 5.6 (CB5.6).

To verify your Control box version please check the serial number label. It will clearly state "CB5.6" in the model name. If the version listed is not CB5.6 or not listed at all, your Control box does not support PolyScope X. If your robot is purchased as being a PolyScope X Robot, but you do not believe you have the right Control box, please contact Universal Robots with this information so we can ensure you have the right hardware.

PolyScope X Upgrade Kits are available supporting all current Universal Robot models. Please contact Universal Robots or your local Universal Robots Partner to learn more.

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PolyScope X

Important Security Update Information

We’ve made important updates to PolyScope X to improve security. These changes will make things safer, but they also have some side effects you should know about:

• Default Permission Settings: In line with the new security enhancements, access to Networking, URCap Management, and Updating PolyScope X settings are now locked by default. This precaution is taken to prevent unauthorized access and changes to the system. Administrators can modify these settings if access is needed for all users.

We know these changes might need some adjustments from you, and we’re sorry for any inconvenience. However, we believe these steps are crucial for keeping your system as secure as possible.

Required first step:

1. Click on Settings under the Hamburger Menu (Upper left button from the header)
2. Navigate to Password > Admin screen
3. Change Admin password from 'easybot' to a new secure password (Note: new password must be at least 8 characters long)

Steps to update Permissions:

1. Click on Settings under the Hamburger Menu (Upper left button from the header)
2. Navigate to Security > Permissions screen
3. Uncheck relevant permissions

From version 10.7.0 onwards, permission settings will be saved. You only need to set them once, and the system will keep them even after updates.

Improved Security of the robot

Several improvements have been implemented in PolyScope X to increase the security of the robot as well as providing administrators with tools to enhance the robot's security. Various new security settings has been introduced to prevent unauthorized network access to the robot.

New security settings protected by the Admin password.

The robot security can be configured in the new Security section in the Settings menu. All settings in the Security section are protected by the Admin password and can only be modified by administrators. A few additional important screens can also optionally also be password protected.

Screens, which are protected by the Admin password, are locked by an unlockable, transparent overlay which covers the settings available on the screen.

Unlocking one of the screens in the Security section, also unlocks the other security screens. All security screens remain unlocked (also while navigating to other regular screens) until the Settings menu is exited. When a security screen is unlocked, the Close button at the bottom right corner of the Settings menu changes color to blue and the button text changes to Lock and Close to indicate that security has been unlocked and how lock it again.

Managing the Admin password

Only administrators have full unrestricted access to the robot's security related settings by using the Admin password to unlock restricted screens. The Admin password is shared with root user of the robot's underlying Linux Operating System (OS). The default Admin password is 'easybot'. The Admin password can be changed on the new Admin screen under the Password section in the Settings menu.

When changing the Admin password, there is a requirement for the password's strength. The new password must be at least eight characters long.

Enforcing change of the default Admin password

Factory-installed PolyScope X uses the default Admin password. The administrator will be prompted to change the Admin password upon first access to the settings. This requirement is implemented to enhance the robot's security by replacing the default password with a unique one. The default password is easily obtained, making the system vulnerable.

When an administrator attempts to unlock a password-protected screen, a notification will appear. It is not possible to unlock any protected screen until the default password has been changed.

Additional system permissions

There is an option to also lock a few important screens/functionalities with the Admin password. On the Permissions screen in Security section in the Settings menu, it is possible to specify which additional screens should be protected by the Admin password and which screens are available to all users. The following screens/functionalities can optionally be locked:

• Network settings
• Update settings
• URCaps section in the System Manager

These settings are locked by default, for maximum security, i.e. all toggle buttons on the Permissions screen are turned on.

Support for managing Secure Shell (SSH) access

Remote access to the robot using Secure Shell (SSH) can be managed on the new Secure shell security settings screen. The screen allows administrators to enable or disable SSH access to the robot.

To the far right of the Enable SSH Access toggle button, the screen shows the port used for SSH communication.

A SSH connection to the robot requires the connecting user to authenticate when the connection is established. On the screen, it is possible to setup the authentication type for SSH access to the robot.

Authentication can occur with a password and/or with a pre-shared, authorized key. Security keys can be added by pressing the Add Key button and selecting a security key file. Available keys are listed together with a trash can icon for removing a selected key from the list.

Support for enabling/disabling remote access to services

The new Services security settings screen allow administrators to enable or disable remote access to the standard UR services running on the robot, such as Primary/Secondary Client interfaces, PROFINET, Ethernet/IP, ROS2, etc.

This screen can be used to restrict remote access to the robot by only allowing external access to the services required by specific robot application. Note that all services are disabled by default to provide maximum security.

The ports used for communication are shown for each service to right of the On/Off toggle button in the list of services.

After the ROS2 service has been enabled on this screen, it possible to the specify the ROS Domain ID (values 0-9). Note that after changing the Domain ID, the system will be restarted to apply the change.

Keeping settings between restarts

All settings in the Settings menu are now preserved when PolyScope X is restarted. In previous software versions, settings were lost between restarts.

Changes to the System Manager

The functionality of previous +New multi-purpose add button in the System Manager has been moved into the Program section (Program Manager) and URCaps section (URCap Manager), respectively. In Program Manager, there is now a new +Program button with the moved program related functionality.

The URCap Manager now contains a new +URCap button for installing new URCaps.

Translated User Interface

The PolyScope X user interface has been translated into 22 languages. The UI language can be selected on the System screen under the General section in the Settings menu.

Serial Number screen improvement

After the serial number has been submitted, the Serial Number screen now shows a message at be bottom informing the user that it can take up to 10 minutes before the system will be ready for operation.

In previous software versions, the user was not given any feedback after having entered the serial number, which could give the impression that setting the serial number had failed.

Updated Speed Slider design

The UX design of the Speed Slider component in the PolyScope X footer has been enhanced.

The footer component is highlighted with a border when the component is pressed to open the slider popup. The popup now shows the current speed slider value and the slider has a larger handle which increases in size when the handle is pressed for improved usability.

Improvements to the System Info - Log screen

• New buttons for filtering and clearing the messages
• Messages are now sorted with newest at the top
• The messages now show a proper timestamp

Minor improvements:

• The label for powering on the robot has changed from 'Start' to 'Power On'
• In the popup appearing in case of an emergency stop, the color of the icon has changed from yellow to red.?
• Updated icons for built-in Smart skills

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New Program nodes

Number of program nodes has been added to the programming toolbox.

They are described in detail below: Halt program Timer ? Process move Circular move Direction until Switch case

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Halt program

Add the Halt node to the program to stop program execution at that location.

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TimER Node

Timer nodes can be used to measure real time during the program execution.

Each timer node adds a timer variable or references an existing timer variable.

Timers can then be started, paused, and reset to 0.

The elapsed time since the timer started can be read from the timer variable.

Process Move

A Process Move is a linear movement with constant speed through a number of points.

You must set the blend radius to make sure that the robot moves at a constant speed between each move node.

Similar to other move nodes, you can specify a reference frame, and a transform pose for the Process Move.

Circular Arc Move

The Circular Arc Move instructs the robot to move in a circular motion, while keeping the tool orientation either fixed or unconstrained.

To use this, add the node from the toolbox and specify both the end point and the via point of the motion.

Clicking on More allows you to select the tool orientation.

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Direction Until

The Direction node allows linear motion along an axis, until a stop condition is met.
You can add multiple stop conditions, and the motion will stop when any one of the conditions is met.

Clicking on the More button, you can set the movement parameters.

In the Until tab one or more until conditions can be added. These could be either Until expression or?Until contact.

Until expression. Sets the expression to check against. You can optionally call a function when the condition is met.	Until contact checks for tool contact.

You can click the Add Until to add further conditions.

You can delete an Until condition by clicking the thrash can. The last condition cannot be deleted.

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Switch Case

Add a Switch node from the toolbox. You can then switch based on an existing variable of type Integer or String, or on an expression.

Inside the Switch node you can add a case node, per case you want to handle in the switch.

Each case checks the switch variable or expression against a single value, and if it matches calls the function you specify on the case node.

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Extended program nodes

In addition to the new program nodes, a number of existing program nodes, have added functionality in this release.

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OptiMove

In the Move-to node, the speed and acceleration settings have been extended with "OptiMove".

OptiMove computes the fastest possible speed and acceleration within hardware limits and payload setting, the user can then scale down to the desired percentage.

The OptiMove logic allows for a more dynamic acceleration and deceleration and creates smoother moves with less jerk. The more fluent acceleration and deceleration also allows for higher travel speeds while reducing vibrations an loads on the robot and mounted equipment. The combined effect generally results in improved cycle times with more fluent motion and reduced strain on the robot.

As OptiMove computes, the optimal motion profile for the robot given the positions, and the loads, it is often not necessary to manually optimize speed and acceleration settings for cycle time improvements.

OptiMove is now the default option. Choose Classic movement if you want to input speed and acceleration in degrees per second or mm per second.

OptiMove settings are specified in percent to simplify the usage and setup. The percentage settings used for calculating:

Speed - Sets the target travel speed as a percentage of the robot's maximum speed capability. Acceleration - Sets the target torque limits during acceleration and deceleration as a percentage of the robot's maximum power.

You can now use URScript to reduce the speeds and accelerations to avoid fast motions, for example when using suction cup grippers, to avoid dropping items.

• The function tool_wrench_limit_set() has been added. This function allows limiting wrench (forces and torques) in a coordinate system relative to and rigidly attached to the tool flange, providing an easy way of reducing the risk of dropping items held by grippers or damaging objects held. The feature is in effect during normal and reduced mode operation, as well as during protective stopping, 3PE stopping, safeguard stopping and emergency stopping. To allow gentler safety stops, the robot will move at a sufficiently low speed to satisfy both safety settings and tool wrench limitation.
• URScript function tool_wrench_limit_disable() has been added, disabling the effect of tool_wrench_limit_set().

OptiMove setting with reduced speed and acceleration.	Classic movement speed and acceleration.

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Improved force node

The Force node now has a More menu.

You can now specify the frame; the TCP will apply force against.

Additionally, you can add a short pause in the program to allow force sensor to recalibrate ("zero" the force) before starting measurements. This will improve the precision and stability of the force readings.

UR Connect in Settings

UR Connect functionality has been integrated in PolyScope X. You can now connect your robot to myUR services by entering the pin code in the settings.

The UR Connect settings allow you:

• Connect and enable the dashboard view in myUR Remote Tools to show Running Time and the number of robot stops over time.
• Run diagnostics to identify and resolve issues.
• Export logs for easier troubleshooting with support.
• Disconnect your robot from UR Connect.

API

Label translation:

Moved isAdvancedProgramLabel from contribution API to LabelService. The name was changed from isAdvancedProgramLabel to isAdvancedLabel when translated labels were introduced.

Added methods to ProgramExecutionService

New methods has been added to the ProgramExecutionService available from the Application API:

• play the currently loaded program
• resume a currently paused program
• pause a currently running program
• get the status of the current program
• step the currently running program

New ProgramService on the Presenter APIs:

A new service has been added to the presenter APIs, that allows URCap developeres to:

• Get the list of programs
• Get the content of a specific program
• Load a program
• Information about the currently loaded program

Added methods to ProgramTreeService

The following methods has been added to the ProgramTreeService, exposed on the Behavior APIs:

/** * Update a specific node in the program tree using the given nodes id * @param node Node to be updated */ async updateSubTreeNode(node: SubtreeNode): Promise<void>

/** * Get the tree context from a given program node */ getTreeContextFromProgramNodeById(subTreeNodeId: string): Promise<TreeContext>

/** * Get the contributed node instances for the URCap that are currently inserted in the program * @experimental */ getContributedNodeInstancesForURCap(): Promise<SubtreeNode[]>

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Other system highlights

• Support has been added for calling ROS2 Actions. The API for this should be considered an open beta.

Bug fixes:

Controller:

• Controller now reports correct marketing version
• Fixed controller RTDE data export for flight recorder
• Toggling operational mode now switches to correct Operator screen

Known issues

Undefined SSH state: this issue affects existing users upgrading previous versions to PolyScope X 10.7 with SSH access enabled on their robots.

When upgrading from a previous version of PolyScope X to version 10.7 the SSH settings may end up in an undefined state, where SSH appears enabled, but the firewall is closed. To fix this issue the SSH service must be toggled Off and On again in the robot settings. This will reset the SSH state and enable connection.

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