1. Version Update Description
Version |
Date |
Update Description |
V3.9.5 |
2026-04-24 |
1.SetTrajectoryJSpeed() interface adds two modes: speed reduction mode and direct switching;
2.FieldBusSlaveWriteAO() interface changes the written value type to double, where AO0~AO15 are integer type and AO16~AO31 are floating-point type;
3.FieldBusSlaveReadAI() interface changes the read value type to double, where AI0~AI15 are integer type and AI16~AI31 are floating-point type;
4.Updated robot status feedback structure type;
5.Added robot status feedback configuration enumeration type;
6.Added SetRobotRealtimeStateConfig() interface to configure robot CNDE status feedback;
7.Added AddRobotRealtimeState() interface to add a robot state to CNDE status configuration;
8.Added DeleteRobotRealtimeState() interface to delete a robot state from CNDE status configuration;
9.Added SetRobotRealtimeStatePeriod() interface to set the CNDE status feedback period;
10.Added GetRobotRealtimeStateConfig() interface to get all current CNDE status feedback state sets and period.
|
V3.9.4 |
2026-03-25 |
1.ServoJTStart() interface adds communication type selection parameter, supporting XMLRPC/UDP communication;
2.ServoJTEnd() interface adds communication type selection parameter, supporting XMLRPC/UDP communication;
3.ServoJT() interface adds communication type selection parameter, supporting XMLRPC/UDP communication;
4.ServoMoveStart() interface adds communication type selection parameter, supporting XMLRPC/UDP communication;
5.ServoMoveEnd() interface adds communication type selection parameter, supporting XMLRPC/UDP communication;
6.ServoJ() interface adds communication type selection parameter, supporting XMLRPC/UDP communication;
7.SetWeldMachineCtrlMode() interface adds control mode selection parameter;
8.ExtDevGetUDPComParam() interface adds ability to obtain UDP communication parameter: whether to automatically reconnect after control box restart;
9.Adds SetAxleGenComEnable() interface to enable end-effector general transparent transmission function;
10.Adds SndRcvAxleGenComCmdData() interface for end-effector to send non-periodic data and wait for response;
11.Adds SetRobotStopOnComDisc() interface to stop robot operation when port communication is disconnected;
12.Adds GetRobotStopOnComDisc() interface to obtain parameters for stopping robot operation when port communication is disconnected;
13.Adds SetDIConfig() interface to set configurable CI port functions of the control box;
14.Adds GetDIConfig() interface to obtain configurable CI port functions of the control box;
15.Adds SetDOConfig() interface to set configurable CO port functions of the control box;
16.Adds GetDOConfig() interface to obtain configurable CO port functions of the control box;
17.Adds SetToolDIConfig() interface to set configurable End-CI port functions of the end-effector;
18.Adds GetToolDIConfig() interface to obtain configurable End-CI port functions of the end-effector;
19.Adds SetDIConfigLevel() interface to set the active state of configurable CI ports of the control box;
20.Adds GetDIConfigLevel() interface to obtain the active state of configurable CI ports of the control box;
21.Adds SetDOConfigLevel() interface to set the active state of configurable CO ports of the control box;
22.Adds GetDOConfigLevel() interface to obtain the active state of configurable CO ports of the control box;
23.Adds SetToolDIConfigLevel() interface to set the active state of configurable CI ports of the end-effector;
24.Adds GetToolDIConfigLevel() interface to obtain the active state of configurable CI ports of the end-effector;
25.Adds SetStandardDILevel() interface to set the active state of standard DI ports of the control box;
26.Adds GetStandardDILevel() interface to obtain the active state of standard DI ports of the control box;
27.Adds SetStandardDOLevel() interface to set the active state of standard DO ports of the control box;
28.Adds GetStandardDOLevel() interface to obtain the active state of standard DO ports of the control box;
29.Adds SetExAxisCmdDoneTimeUDP() interface for setting extension axis positioning completion time;
30.Adds OpenLuaDownload() interface for downloading open protocol Lua files;
31.Adds OpenLuaDelete() interface for deleting open protocol Lua files;
32.Adds AllOpenLuaDelete() interface for deleting open protocol Lua files;
33.Adds SendUDPFrameUDP() interface for sending instruction frames;
34.Adds SetCmdRpyCallback() interface to set callback function for execution results of instructions sent by SDK via UDP;
35.Adds SetVelReducePara() interface for setting safety speed parameters;
36.Adds OriginPointWeaveStart() interface for starting fixed-point swing;
37.Adds OriginPointWeaveEnd() interface for ending fixed-point swing;
38.Adds SetUserLEDColor() interface for setting user-defined robot end-effector LED color;
39.Adds MoveToTPDStart() interface for moving to the starting point of TPD trajectory recording;
|
V3.9.3 |
2026-02-11 |
1.ServoCart() interface added extended axis parameters
2.SetOutputResetCtlBoxDO() interface added parameter for whether to reload DO state before reset after pause resume
3.SetOutputResetCtlBoxAO() interface added parameter for whether to reload DO state before reset after pause resume
4.SetOutputResetAxleDO() interface added parameter for whether to reload DO state before reset after pause resume
5.SetOutputResetAxleAO() interface added parameter for whether to reload DO state before reset after pause resume
6.SetOutputResetExtDO() interface added parameter for whether to reload DO state before reset after pause resume
7.SetOutputResetExtAO() interface added parameter for whether to reload DO state before reset after pause resume
8.SetOutputResetSmartToolDO() interface added parameter for whether to reload DO state before reset after pause resume
9.Added GetInverseKinExaxis() inverse kinematics solution interface including extended axis position
|
V3.9.2 |
2026-01-26 |
1. Added a processing strategy parameter for undetected force/torque to the FT_RotInsertion() interface
2. Added robot fixed-point tracking related parameters to the LaserSensorRecordandReplay() interface
3. Added the MoveStationary() interface
4. Added the TCPComputeRPY() interface
5. Added the TCPComputeXYZ() interface
6. Added the TCPRecordFlangePosStart() interface
7. Added the TCPRecordFlangePosEnd() interface
8. Added the TCPGetRecordFlangePos() interface
9. Added the PhotoelectricSensorTCPCalibration() interface
|
V3.9.1 |
2025-12-25 |
1. Added oacc speed scaling factor parameter / physical acceleration parameter to the MoveL() interface;
2. Added oacc speed scaling factor parameter / physical acceleration parameter to the MoveC() interface;
3. Optimized parameter descriptions for physical speed and physical acceleration in the Circle() interface;
4. Added FT_Control() overloaded function with rx, ry activation thresholds and torque adjustment coefficient parameters;
5. Added SerCoderCompenParams() interface;
|
V3.9.0 |
2025-11-26 |
1. JointSensitivityCalibration() interface adds j1~j6 joint linearity return
2. Added JointHysteresisError() interface
3. Added JointRepeatability() interface
4. Added SetAdmittanceParams() interface
5. Added MoveToIntersectLineStart() interface
6. Added MoveIntersectLine() interface
|
V3.8.7 |
2025-10-21 |
1.FT_Control() adds mass parameter and damping parameter interface
2.Adds JointSensitivityCalibration() interface
3.Adds JointSensitivityCollect() interface
4.Adds MotionQueueClear() interface
5.Adds GetSlavePortErrCounter() interface
6.Adds SlavePortErrCounterClear() interface
7.Adds SetVelFeedForwardRatio() interface
8.Adds GetVelFeedForwardRatio() interface
9.Adds RobotMCULogCollect() interface
10.State structure adds ServoJ command count and last command target position data
11.New spiral parameter structure SpiralParam adds velocity acceleration parameter mode
|
V3.8.6 |
2025-09-19 |
1.SetLoadCoord() interface adds load number parameter
2.Adds LaserTrackingLaserOnOff() interface
3.Adds LaserTrackingTrackOnOff() interface
4.Adds LaserTrackingSearchStart_xyz() interface
5.Adds LaserTrackingSearchStart_point() interface
6.Adds LaserTrackingSearchStop() interface
7.Adds LaserTrackingSensorConfig() interface
8.Adds LaserTrackingSensorSamplePeriod() interface
9.Adds LoadPosSensorDriver() interface
10.Adds UnLoadPosSensorDriver() interface
11.Adds LaserSensorRecord1() interface
12.Adds LaserSensorReplay() interface
13.Adds MoveLTR() interface
14.Adds LaserSensorRecordandReplay() interface
15.Adds MoveToLaserRecordStart() interface
16.Adds MoveToLaserRecordEnd() interface
17.Adds MoveToLaserSeamPos() interface
18.Adds GetLaserSeamPos() interface
19.Adds ImpedanceControlStartStop() interface
20.Adds GetToolCoordWithID() interface
21.Adds GetWObjCoordWithID() interface
22.Adds GetExToolCoordWithID() interface
23.Adds GetExAxisCoordWithID() interface
24.Adds GetTargetPayloadWithID() interface
25.Adds GetExAxisCoordWithID() interface
26.Adds GetCurWObjCoord() interface
27.Adds GetCurExToolCoord() interface
28.Adds GetCurExToolCoord() interface
29.Adds KernelUpgrade() interface
30.Adds GetKernelUpgradeResult() interface
31.Adds CustomWeaveSetPara() interface
32.Adds CustomWeaveGetPara() interface
33.State structure adds tool, workpiece, external tool, extended axis coordinate system and load mass, centroid data
|
V3.8.5 |
2025-08-20 |
1.MoveL(), MoveC(), Circle() commands add velAccParamMode parameter
2.Adds MoveJ(), SplinePTP(), ExtAxisSyncMoveJ() automatic forward kinematics calculation interface
3.LoadTrajectoryLA() adds uniform velocity lookahead switch parameter
4.Adds MoveL(), MoveC(), Circle(), NewSplinePoint(), NewSpiral(), ExtAxisSyncMoveL(), ExtAxisSyncMoveC() automatic inverse kinematics calculation interface
5.Adds SetSuckerCtrl(), GetSuckerState(), WaitSuckerState() suction cup control interfaces, SetExAxisRobotPlan() synchronized motion strategy interface
6.Adds OpenLuaUpload(), GetFieldBusConfig(), FieldBusSlaveWriteDO(), FieldBusSlaveWriteAO(), FieldBusSlaveReadDI(), FieldBusSlaveReadAI(), FieldBusSlaveWaitDI(), FieldBusSlaveWaitAI() robot slave mode control commands
|
V3.8.4 |
2025-07-17 |
1.ExtAxisMove() interface adds blend smoothing parameter
2.Adds SetFocusCalibPoint() interface
3.Adds ComputeFocusCalib() interface
4.Adds SetFocusPosition() interface
5.Adds FocusStart() interface
6.Adds FocusEnd() interface
7.Adds SetJointFirmwareUpgrade() interface
8.Adds SetCtrlFirmwareUpgrade() interface
9.Adds SetEndFirmwareUpgrade() interface
10.Adds JointAllParamUpgrade() interface
|
V3.8.3 |
2025-06-24 |
1.Circle() interface adds acceleration percentage and smoothing radius parameters
2.EndForceDragControl() interface adds robot collision detection flag parameter during assisted dragging
3.ServoJ() interface adds command ID parameter
4.Adds SetWideBoxTempFanMonitorParam() interface
5.Adds GetWideBoxTempFanMonitorParam() interface
6.State structure adds control box temperature and fan current status data
|
V3.8.2 |
2025-06-13 |
1.WeaveSetPara() interface adds swing direction roll angle (rotation around swing X-axis) parameter
2.WeaveChangeStart() interface adds swing number, welding start speed, welding end speed parameters
3.ExtDevSetUDPComParam() interface adds whether to automatically establish connection after power restart parameter
4.SetCollisionDetectionMethod() interface adds collision level threshold method selection
5.PtpFIRPlanningStart() interface adds unified joint jerk extreme value
6.Adds WeldingSetVoltageGradualChangeStart() interface
7.Adds WeldingSetVoltageGradualChangeEnd() interface
8.Adds WeldingSetCurrentGradualChangeStart() interface
9.Adds WeldingSetCurrentGradualChangeEnd() interface
10.Adds ArcWeldTraceAIChannelCurrent() interface
11.Adds ArcWeldTraceAIChannelVoltage() interface
12.Adds ArcWeldTraceCurrentPara() interface
13.Adds ArcWeldTraceVoltagePara() interface
14.Adds GetSmarttoolBtnState() interface
15.Adds ExtAxisGetCoord() interface
|
V3.8.1 |
2025-04-24 |
1.ConveyorSetParam() interface adds tracking motion type, tracking start distance, tracking end distance parameters
2.Adds AccSmoothStart() interface
3.Adds AccSmoothEnd() interface
4.Adds RbLogDownload() interface
5.Adds AllDataSourceDownload() interface
6.Adds DataPackageDownload() interface
7.Adds GetRobotSN() interface
8.Adds ShutDownRobotOS() interface
9.Adds ConveyorComDetect() interface
10.Adds ConveyorComDetectTrigger() interface
|
V3.8.0 |
2025-02-12 |
1.EndForceDragControl() interface adds singularity avoidance parameter
2.ArcWeldTraceControl() interface adds offset parameter
3.Adds WeaveChangeStart() interface
4.Adds WeaveChangeEnd() interface
5.Adds LoadTrajectoryLA() interface
6.Adds MoveTrajectoryLA() interface
7.Adds CustomCollisionDetectionStart() interface
8.Adds CustomCollisionDetectionEnd() interface
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