For latest release notes of PolyScope 5, please refer to Release note Software version 5.22.x.x

Date of release: May 23rd 2025.

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SW 10.9.0 Release Notes

Release Versions:

• PolyScope X robot image: 10.9.0 (0.2.335)
• URCap X SDK: ?
• User Manuals: 10.9.0

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 User Interface

Drive Power Indicator output action

New I/O actions for outputs are now available to signal whether the robot's drive units are powered on or off.

The new output actions are available for:

• Digital Outputs
  • "High when drive power is on, otherwise Low"
  • "Low when drive power is on, otherwise High"
• Configurable Outputs
  • "High when drive power is on, otherwise Low"
  • "Low when drive power is on, otherwise High"
• Analog Outputs
  • "Max when drive power is on, otherwise Min"
  • "Min when drive power is on, otherwise Max"

Drive Power Indicator output action is not available for tool flange outputs.

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Controller

New script commands:

• get_rtde_value(<RTDE key>)
  Retrieves an RTDE value from the RTDE output buffer, which could also be collected through a client.
  
  
• motion_version_set(<version>)
  Sets the Motion Version to be used for movej and movel motion planning.
  
  
• motion_version_get()
  Gets the active Motion Version for movej and movel.

Blend behavior

PolyScope 10.8	PolyScope 10.9

Blend radii are dynamically adjusted to avoid overlap with other blends or waypoints for MoveJ and MoveL.

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Motion Version default settings.

The default Motion Version will be:

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Flexible Ethernet/IP Adapter

Functionality was enabled to match Polyscope 5. More information is available in script manual.

Bug fixes:?

Controller

• Fixed a bug where triggering a safeguard stop while resuming the program (e.g. due to unstable input to safeguard stop IO) would eventually lead to freedrive or force mode being wrongly disabled.
• Fixed a bug where the robot would not execute a retraction motion when the collision occurred during a mothing to resume a previously paused program.
• Fixed a bug where sending a new script via primary interface while the controller is paused, the controller never executes the sent script
• Fixed analyse_expression hmc parser if an "!" character was part of the tested expression. Now it will not throw exception or terminate the TCP socket.
• Incompatible Controller and EthernetIP service was released in 5.21.3. This release is correcting the issue.
• Fixed a bug where an error would be reported in the controller log when copying a PolyScope OptimoveJ node and changing its type to OptimoveL.

PolyScope

Support Files:

• support file was missing docker logs printed to stderr stream.

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User Assistance

Manuals

The new UR15 User Manual shall reflect the updates and upgrades made for the SW10.9.0 release, as follows:

New documentation for UL1740

• Drive Power Indicator
• Using? I/O for Mode Selection

New documentation for the new UR15?

• Technical Specifications
• Assembly & Mounting
• Maximum Payload (graph)
• Stopping Times & Distances (graphs)
• DOI & Certificates

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previous RELEASE NOTES:

• Release Notes Software Version 10.8
• Release Notes Software Version 10.7