Date of release: January 8th 2025.

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SW 5.20.0 Release Notes

Release Versions:

• UR Software Update: 5.20.0
• URCap Software Platform:
  • URCap API: 1.16.0
  • URCap SDK: 1.16.0
• URSim Linux:?5.20.0
• URSim Virtual Machine: 2.0.336
• User Manuals:?5.20.0
  

Key Features

• Added support for UR12e robot

URCap Software Platform

URCap API:

Added support for new UR12e robot

• Extended the exiting RobotType enum in the RobotModel interface with the new UR12e robot type

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Controller

• The amount of resistance in Freedrive can now be varied by adjusting the speed slider in PolyScope. Lowering the speed slider value will increase the resistance, allowing for more precise movements to e.g. teach waypoints.

Ethernet/IP service

• Fixed an issue which caused the Ethernet/IP service unable to re-connect to controller after controller was restarted.

Embedded

• Slightly improved startup time for arms, especially Gen6 arms
• Whitelist G4 in TP mainapp

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BugFixes

Controller

• Fixed issue where pausing, protective-stopping or safeguard-stopping in combination with enabling or disabling force- or Freedrive-mode would lead to wrong states after resuming the program. This would manifest as e.g.
  • the robot resuming in Freedrive, even though Freedrive was disabled in the program
  • the robot resuming in position control, even though Freedrive was enabled in the program

URCap Software Platform

• Fixed issue where a URCap would get an incorrect call to RobotPositionCallback.onCancel() after the URCap called UserInteraction.getUserDefinedRobotPosition(RobotPositionCallback2) to request the end user to define a position of the robot. This could occur when the system was under heavy load.

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previous RELEASE NOTES:

• Release Notes Software Version 5.19
• Release Notes Software Version 5.18
• Release Notes Software Version 5.17
• Release Notes Software Version 5.16
• Release Notes Software Version 5.15
• Release Notes Software Version 5.14
• Release Notes Software Version 5.13
• Release Notes Software Version 5.12
• Release Notes Software Version 5.11
• 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