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Date Created: 6th May 2022?

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SW 5.11.11 Release Notes

Release Versions:

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SW 5.11.10 Release Notes

Release Versions:

• UR Software Update: 5.11.10
• URCap Software Platform:
  • URCap API: no change
  • URCap SDK: no change
• URSim Linux: 5.11.10
• URSim Virtual Machine: 5.11.10
• User Manuals: 5.11.10
  
• Support Log Reader: no change

Key Features

• Support for Joint and TP microprocessor

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SW 5.11.9 Release Notes

Release Versions:

• UR Software Update: 5.11.9
• URCap Software Platform:
  • URCap API: no change
  • URCap SDK: no change
• URSim Linux: 5.11.9
• URSim Virtual Machine: 5.11.9
• User Manuals: no change
  
• Support Log Reader:?3.9.44

Key Features

• Support for the new joint microprocessor.

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SW 5.11.8 Release Notes

Release Versions:

• UR Software Update: 5.11.8
• URCap Software Platform:
  • URCap API: no change
  • URCap SDK: no change
• URSim Linux: 5.11.8
• URSim Virtual Machine: 5.11.8
• User Manuals: no change
  
• Support Log Reader: no change

Bug Fixes

PolyScope GUI

• Fixed issue where it was not possible to load a program, if the program contained a Set node configured to generate a Single Pulse (i.e. "Set Single Pulse" option) without having an output signal specified.
• Fixed issue where a compilation error in some situations could occur with a large program, if the Play button was pressed two times quickly after each other.

URCap Software Platforms

URCap API

• Fixed issue where an inserted Screwdriving node would have a non-default configuration with three Until nodes under it. Now, a Screwdriving node is inserted with the default configuration having only one Until child node.

Controller

• Fixed an issue causing "No controller" typically associated with heavy load, or stopping and (re)starting a program. Since 5.11 it has been impossible to trigger the error just by overloading the CPU due to a side effect of another change, but this fixes the part of the issue connected to starting/stopping a program.
• Fixed "No Controller" when multiple programs are sent in short timeframe. Issue can be triggered by specific combination of URCaps.
• Fixed a race condition where starting a primary program while Polyscope had another program loaded and running could cause Polyscope to overwrite installation variables. The issue was typically triggered by using Robotiq's ActiveDrive, and is also mitigated in their Copilot version 1.22.1. The issue can still occur if the program sent to the controller shares global variable names with installation variable names of the program Polyscope has loaded. Renaming either variable will mitigate the issues until we release the full fix.
• Fixed "No Controller" error after protective stop when debugging program using breakpoints.
• Fixed "No Controller" issue due to a race condition caused by sending primary programs from more than one socket connection in short timeframe.
• Fixed issue where during interpreter mode the skipbuffer method in some conditions can cause an "Unknown error: ValueStack::pop".

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SW 5.11.7 Release Notes

Release Versions:

• UR Software Update: 5.11.7
• URCap Software Platform:
  • URCap API: no change
  • URCap SDK: no change
• URSim Linux: 5.11.7
• URSim Virtual Machine: 5.11.7
• User Manuals: no change
  
• Support Log Reader: no change

Bug Fixes

PolyScope GUI

• Fixed log4j2 Security Vulnerability CVE-2021-44228

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SW 5.11.6 Release Notes

Release Versions:

• UR Software Update: 5.11.6
• URCap Software Platform:
  • URCap API: no change
  • URCap SDK: no change
• URSim Linux: 5.11.6
• URSim Virtual Machine: 5.11.6
• User Manuals: 5.11.6
  
• Support Log Reader: no change

Bug Fixes

PolyScope GUI

• Moved "Mold area free" IMMI signals from Safety to Control section of the IMMI IO Tab, to correctly represent?that the “Mold area free” signals are not safety-related.

URSim

• Fixed issue where polyscope showed "Unable to read state" when accessing settings for cyber security

Manuals

• Corrected User Manuals for CB3 robots with Euromap 67 interface and IMMI Installation Guide to correctly represent MAF signal as not safety related.

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SW 5.11.5 Release Notes

Release Versions:

• UR Software Update: 5.11.5
• URCap Software Platform:
  • URCap API: 1.13.0
  • URCap SDK: 1.13.0
• URSim Linux: 5.11.5
• URSim Virtual Machine: 5.11.5
• User Manuals: 5.11.5
  
• Support Log Reader:?3.12.21

?Key changes

PolyScope GUI

• Remote TCP and Toolpath URCap, version 1.3.0.b15
• Watch this 10-min intro webinar for a quick overview of this URCap

New features

• Added a Variable RTCP option to RTCP_MoveP node so that the user can select a variable as a Remote TCP. The selected variable can be updated in the program tree based on user input or external feedback from sensors.

• Added a Variable TCP option to Toolpath_MoveP node so that the user can select a variable as a TCP. The selected variable can be updated in the program tree based on user input or external feedback from sensors.

• Added support for a set of M-code commands in NC files so that the robot can trigger its end-effectors while executing a
  toolpath file.
  • G4 P.5 -> Dwell for 0.5 second
  • G01 X100 Y100 M62 P0 -> Set Port 0 high
  • X200 M63 P0 -> Set Port 0 low
  • G01 X100 Y100 M62 P1 -> Set Port 1 high
  • X200 M63 P1 -> Set Port 1 low
  • M66 P0 L3 -> Wait for Port 0 to turn high
  • M66 P1 L4 -> Wait for Port 1 to turn low
  • M66 P0 L3 Q5 -> Wait for Port 0 to turn high and time out after 5 seconds
  • M66 P1 L4 Q7 -> Wait for Port 1 to turn low and time out after 7 seconds

Here is an excerpt of an example script that includes the new commands.

The following page was added to the toolpath workflow under Installation. The user can specify a digital output or input corresponding to each port in the NC file. Up to four input and output ports can be used in each installation file.

For more instructions on how to use M-codes to control end-effectors from NC files, please refer to this support article.

Improvements

• In the previous version, any NC file with spaces in its file name could not be imported into PolyScope. The new version allows spaces in the file name.
• In the previous version, any NC file without the line numbers could not be parsed by the URCap. In the new version the line numbers are no longer required.
• The toolpath files are now listed in the alphanumeric order on the Toolpath pages.

embedded

• Motor control improvements:
• 25% improvement in overshoot and stabilization of motions
• Reduction to joint wear increases average joint life over time.
• No change to cycle times or motion profiles
• This improvement applies to all e-Series robots

ursim

• Added External force & torque support to Simulator
  • ft_rtde_input_enable method can be used in URScript to enable/disable external force and torque in Simulator?
  • After the flag is enabled, RTDE external_force_torque receipe can be used to feed in the external force/torque values to simulator.

firmware

• Reduced occurrence of Tool Fault on FTSensor (Error code C450A4)
  • FTSensors with this and future?software?versions will not fault with?C450A4 due to invalid sensor readings.?
  • Robots experiencing this error can get the problem fixed with a software upgrade instead of having?to repair/replace the tool.
  • The change does not affect?performance in any way.
• Added monitoring of power dissipated in the energy eater.
  The firmware will only report an error if there is a hardware failure or an unsupported modification to the product?
  • If the robot power is turned on when the supply voltage is >50V, the?robot will report error code C305A6.
  • If the current draw is too high in IDLE, the?robot will report error code C340A0.
  • If the estimated power dissipated in the energy eater when the robot brakes are released gets too high, the robot will report C340A1

bug fixes

PolyScope GUI

• In the previous version, when a system language was set to German/Deutsch an exception was triggered when a user clicked any text box on the Remote TCP PCS page under Installation. The user was not able to edit the coordinate values
  manually. This issue has been fixed in the new version.
• When using the imperial units in the previous version, the coordinate values on the Remote TCP PCS page were not save correctly after manual adjustments. The issue has been fixed in the new version.
• Fixed issue where there is conflict between Remote TCP & Toolpath URCap and PROFINET.
• Fixed issue where it was possible to move the robot (through recovery mode) when the robot was in remote control.

Controller

• Fixed issue where MoveC with small blend radius would wrongly throw a "movec: blend radius too small" exception, in cases that should be able to execute.
• RTDE Float output and input registers were sent and received as double precision numbers, but internally stored as single precision.
• When indexing in a global variable (list or matrix), a local copy was created before the index was evaluated. This has been fixed such that any side effect form evaluating the index is preserved.
  global list =?[0,0,0]
  def func():
  ? ? list[0]=1
  ? ? return 0
  end
  x=list[func()]
  y=list[0]
  Previously the above example would evaluate x to 0 and y to 1, whereas the fix correctly sets both to 1?
• Fixed issue where robot in some cases would not correctly end Force mode when pausing
• Fixed issue where robot in some cases would increase the speed during the first part of smooth transition to reduced mode
• Introduced script function freedrive_mode_no_incorrect_payload_check() to facilitate application where the user is pushing the robot while entering Freedrive mode.
• IMMI "mould area free" output now considers the electrical input as well as the software input. Both must be high for the output to become high.

Embedded

• C263A2 Error code is now raised on a user level only if an existing motor encoder calibration is invalidated.
• Fixed bug that would cause firmware faults with error code C710A0
• Fixed potential issue during firmware update where the update procedure could get stuck when updating the firmware on Joint safety processor A if the joint shipped with bootloader version 5.7.4 or newer.
• Fixed issue where the tool would report a missing F/T sensor, even though the sensor worked as required.

Other tools

• Updated STEP and JT files for UR5e, there was a 0.05mm error compared to the physical robot.

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Date Created: 25th June 2021.

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SW 5.11.1 Release Notes

Release Versions:

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Date Created: 31st May 2021.

Download HERE

SW 5.11 Release Notes

Release Versions:

• UR Software Update: 5.11.0
• URCap Software Platform:
  • URCap API: 1.13.0
  • URCap SDK: 1.13.0
• URSim Linux:?5.11.0
• URSim Virtual Machine:?5.11.0
• User Manuals: 5.11.0
  
• Support Log Reader:?3.11.24

Key Features

• Supports increase in the maximum payload of the UR10e robot to 12.5kg. The payload increase will only apply to the robots shipped with UR Software Version 5.11 or later.?UR10e robots produced with labels stating the payload is 10kg retain their original maximum payload rating, even if the software is upgraded.
• Improved Set Payload node. Validation of payload mass and center of gravity parameters in the Set Payload node.
• URCap API version 1.13.0. Added support for Home node, feature selection on MoveJ node and contribution of payloads. The API is not compatible with and cannot be used to develop URCaps for CB3 robots.

Polyscope gui

Improved Set Payload node

Warnings and errors for the selected Payload or the specified custom payload parameters (i.e. the payload mass and center of gravity) are displayed in the Set Payload node.

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URCap Software Platform

Compatibility Notice

URCap API version 1.13.0 (which is included in this release) requires an e-Series robot or simulator (PolyScope version 5.11.x or higher). The API is not compatible with and cannot be used to develop URCaps for CB3 robots

URCap API

Added configuration support for the Feature selection on MoveJ nodes

• URCaps can configure the Feature selection on a MoveJ node
• URCaps can get the Feature selected in a MoveJ node
• API changes:
  • New setFeature(Feature) method in the existing MoveJConfigBuilder interface (in the com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode.builder package)
  • New getFeatureSelection() method in the existing MoveJMoveNodeConfig interface (in the com.ur.urcap.api.domain.program.nodes.builtin.configurations.movenode package)

Added support for the Home node

• URCaps can create and insert Home nodes into the Program Tree
• URCaps can visit Home nodes using the program node visitor
• API changes:
  • New createHomeNode() method in the existing ProgramNodeFactory interface (in the com.ur.urcap.api.domain.program.nodes package)
  • New visit(HomeNode, int, int) method in the existing ProgramNodeVisitor interface (in the com.ur.urcap.api.domain.program.structure package)

Added payload support for contribution of Payloads:

• URCaps can add their own Payloads with a suggested name to the installation in PolyScope
• URCaps can remove their own Payloads from the installation in PolyScope
• URCaps can update the parameters of their own Payloads
• API changes:
  • New PayloadContributionModel interface in the new com.ur.urcap.api.domain.payload package
• PolyScope integration:
  • Payloads added by URCaps are displayed in the Payload installation screen in PolyScope
  • A Payload added by a URCap cannot be modified in any way by the end user or other URCaps (i.e., it cannot be removed, renamed, or have its parameters changed)
  • Payloads contributed by URCaps are grouped by the URCap "owner" in terms of the name of the URCap and its developer in all drop-down lists in PolyScope screens where a Payload can be selected (e.g., the Payload installation screen and the Set Payload node). User-defined Payloads are listed in the top of the payload selection drop-down lists followed by Payloads added by URCaps.
  • Note: Removing a Payload or updating the parameters of a Payload while loading an installation is not allowed. Such attempts are ignored to ensure the original payload configuration in the installation is always properly loaded.

Added access to the list of Payloads in PolyScope:

• URCaps can get the list of all Payloads available in the installation in PolyScope (both user-defined Payloads and Payloads added by URCaps)
• API changes:
  • New PayloadModel interface in the new com.ur.urcap.api.domain.payload package

Added support for the Set Payload node:

• URCaps can create and insert a Set Payload node into the Program Tree
• URCaps can read the configuration of a Set Payload node
• URCaps can configure a Set Payload node
• URCaps can visit Set Payload nodes using the program node visitor
• API changes:
  • New SetPayloadNode interface in the existing com.ur.urcap.api.domain.program.nodes.builtin package
  • New createSetPayloadNode() method in the existing ProgramNodeFactory interface (in the com.ur.urcap.api.domain.program.nodes package)
  • New com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode package
  • New visit(SetPayloadNode, int, int) method in the existing ProgramNodeVisitor interface (in the com.ur.urcap.api.domain.program.structure package)

Added payload support for configuration of Gripper nodes:

• URCaps can configure the payload setting on a Gripper node
• URCaps can read a Gripper node's configuration of the payload setting
• API changes (in the com.ur.urcap.api.domain.program.nodes.contributable.device.gripper.configuration package):
  • New methods setPayloadMass(Mass), setEmptyPayloadMass(), setPayloadSelection(Payload) and setPayloadSettingDisabled() in the existing GripActionConfigBuilder / ReleaseActionConfigBuilder interface
  • New getPayloadSetting() method in the existing GripActionConfig / ReleaseActionConfig interface
  • New PayloadSetting, CustomPayloadParameters and PayloadSelection interfaces

Added data model support for Payload and Mass objects:

• URCaps can store and retrieve Payload objects in their data model
• URCaps can store and retrieve Mass objects in their data model
• API changes (in the existing com.ur.urcap.api.domain.data package):
  • New set(String, Payload) and get(String, Payload) methods in the existing DataModel interface
  • New set(String, Mass) and get(String, Mass) methods in the existing DataModel interface

Provided access to system limits

Introduced an interface which provides access to the system limits of various physical/hardware and software properties/parameters of the underlying Universal Robots robot:

• URCaps can access the supported robot and PolyScope limits for the payload mass
• URCaps can access the supported PolyScope limits for the center of gravity (CoG) coordinates
• API changes:
  • New RobotLimits interface in the existing com.ur.urcap.api.domain.robot package

This functionality can, for instance, be used when contributing Payloads, or configuring the Set Payload node and the Gripper node.

Added support for creating positions and rotations

• URCaps can create Position objects
• URCaps can create Rotation objects
• URCaps can create a Pose by specifying a Position and a Rotation
• API changes (in the exsting com.ur.urcap.api.domain.value package):
  • New PositionFactory and RotationFactory interfaces
  • New createPose(Position, Rotation) method in the existing PoseFactory interface

PolyScope support for URCaps

Improved the integrated payload support for the Gripper node and toolbar

Added the option in the Gripper node to select a payload from the installation to be applied after the execution of a grip or release action.

It is still also possible to specify a custom payload mass to be applied (the "Custom Payload" option in the payload selection drop-down list).

Warnings and errors for the selected Payload, or the specified custom payload mass, are displayed in the Gripper node.

Warnings for the specified custom payload mass are also indicated with a yellow background for the "Mass" field. Errors are indicated with a yellow background for the payload selection drop-down list.

Added the option in the Gripper toolbar to select a Payload from the installation to be applied after the execution of a grip or release action.

It is still also possible to specify a custom payload mass to be applied (the "Custom Payload" option in the payload selection drop-down list).

Warnings and errors for the selected Payload, or the specified payload mass, are indicated with yellow widget backgrounds in the Gripper toolbar.

Warnings are indicated with a yellow background for the "Mass" field. Errors are indicated with a yellow background for the payload selection drop-down list.

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URCap SDK

Documentation

Updated the "URCap Gripper Driver" document (gripper_driver.pdf file):

• Updated section "4.2: Integrated Payload Support" with description of the improved payload support for the Gripper node and toolbar

Updated the (Swing- and HTML-based) URCap tutorial:

• Added a corresponding e-Series screenshot for each screenshot of a PolyScope screen from a CB3 robot throughout the document
• Updated the "4.2: Manual Deployment using PolyScope" section to include instructional steps for installation of URCaps on an e-Series robot
• Mentioned in the "Abstract" section and "1: Introduction" sections that the URCap Software Platform version 1.13.0 is only supported by PolyScope version 5.11.0 running on e-Series robots and that URCaps can be developed for CB3 robots with PolyScope version 3.3.x using version 1.12.0 or older of the URCap Software Platform.
• Corrected mistakes in the directory tree for the file structure of the URCap SDK in the "3: URCap SDK" section

URCap Samples

Added new Create Payload Swing sample which demonstrates how to contribute a Payload to PolyScope. The sample shows how to use the following new API features:

• Adding and removing a Payload as well as updating the parameters of a Payload
• Storing a Payload in the data model
• Creating and configuring the Set Payload node
• Accessing the system limits for the payload mass and center of gravity (CoG) coordinates

Removed the use of the deprecated getProgramModel(), getVariableModel() and getValueFactoryProvider() methods in the URCapAPI interface from the (HTML-based) Cycle Counter sample

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Bug Fixes

PolyScope GUI

• Fixed issue where PolyScope would freeze when a program with a certain combination of If-Else/Folder/Popup nodes was running.
• Fixed issue where the user in some situations was not requested to auto move the robot to the first fixed position waypoint in the program if the waypoint was contained under the BeforeStart node.
• Fixed issue where all dialogs and program popups would stop working, if the About option was pressed in the Hamburger menu (in the PolyScope header) while a program popup was showing.

Controller

• Fixed issue where the numeric variables are defined with an exceeding limit in script file which is given in script node, program does not play and robot freezes
• Fixed memory leak under high-load scenario using textmsg multiple times in a tight loop. Controller will now also send a warning to the PolyScope log with the errorcode C221A0 in case it encountered high load.
• Fixed memory leak when moving the robot from Move screen.
• Aligned target and actual currents in RTDE interface.

URCap Software Platform

• Fixed issue where PolyScope would freeze when Features were retrieved (by calling methods in the FeatureModel interface) in an installed URCap's implementation of the isDefined() method in the ProgramNodeContribution interface.
• Fixed issue where it was not possible to save the PolyScope installation, if an installed URCap's installation node contribution had stored the value null in its data model. Now, setting a null value for a key will remove the key and its value from the data model (the same behavior as for the data model for program node contributions).
• Fixed issue where a Gripper node with the payload setting disabled (unchecked "Set Total Payload" checkbox) in some situations would get the configuration of the payload setting from another Gripper node after undoing a program change

Manuals

• Added missing description of payload fields to realtime (matlab) interface documentation
• Primary interface documentation: data type for field in PopupMessage, and RequestValueMessage corrected.

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previous RELEASE NOTES:

• Release Notes Software Version 5.10
• Release Notes Software Version 5.9
• Release Notes Software Version 5.8
• Release Notes Software Version 5.7
• Release Notes Software Version 5.6
• Release Notes Software Version 5.5
• Release Notes Software Version 5.4
• Release Notes Software Version 5.3
• Release Notes Software Version 5.2
• Release Notes Software Version 5.1