1. Version Update Description
Version |
Date |
Update Description |
V3.9.9 |
2026-09-01 |
1. Modified the GetGripperMotionDone() interface parameter description for getting gripper status, updated the definition of gripper status;
2. Modified GetInverseKinExaxis(), the inverse kinematics solution interface that includes extended axis positions, added joint configuration parameters with a default value of -1 referencing the current joint configuration;
3. Modified FT_SpiralSearch(), FT_LinInsertion(), and FT_FindSurface() force control interfaces to add handling strategy parameters for when no force/torque is detected;
4. Modified SetDIConfig(), GetDIConfig(), SetDOConfig(), GetDOConfig() robot control box CIO function configuration interface parameter descriptions, updated newly added function names and function codes;
5. Modified robot basic control code examples, added manual high-speed mode switching code examples;
6. Added ServoJ() joint space servo mode motion (multi-point input) command and code examples;
7. Added GetSafetyParamsCheckSum() command for getting the safety configuration parameter checksum, SafetyOPPasswordCheck() safety operation password verification command, and code examples;
8. Added GripperWaitMotionDone() command for waiting for gripper motion to complete and code examples;
9. Added SetRobotTime() command for synchronizing system time to the robot and code examples;
10. Added SetSafetyDIConfig() safety dual-channel CI function configuration, SetSafetyDOConfig() safety dual-channel CO function configuration, and code examples;
11. Added HiSpeedManualSwitch() command for switching to manual high-speed mode;
12. Added code examples for superimposing weave during laser sensor trajectory replay;
|
V3.9.8 |
2026-07-27 |
1. Updated the robot status feedback structure to include the current robot LUA program running status: 0 - program not running; 1 - program running (including program paused);
2. Updated parameter descriptions for SetExToolCoord() and SetExToolList() interfaces for setting external tool coordinate system and tool coordinate system list. The external tool coordinate system numbers have been updated to 20-39. Updated the code examples for external tool coordinate system operations.
3. Added the ability to retrieve tool type, installation position, tool ID, and load number parameters to the GetToolCoordWithID() interface for getting tool coordinate system parameters.
4. Added the ability to retrieve reference coordinate system parameters to the GetWObjCoordWithID() interface for getting workpiece coordinate system parameters.
5. Added the ability to retrieve the robot end-mounted workpiece coordinate system pose parameters to the GetExToolCoordWithID() interface for getting external tool coordinate system parameters.
6. Added the ability to retrieve extended axis number and calibration flag parameters to the GetExAxisCoordWithID() interface for getting extended axis coordinate system parameters.
7. Added robot joint safety speed parameter settings to the SetVelReducePara() interface for setting robot safety speed.
8. Added a welding machine control mode acquisition example to the welding parameter configuration code example.
9. Added code examples for getting extended DI and extended DO function configurations to the extended IO welding signal configuration code example.
10. Added a new code example for setting robot joint safety speed;
11. Added a new interface WaitStationaryMotionDone() for waiting for in-place idle motion to complete;
12. Added a new interface SetStationaryTrackPara() for configuring conveyor belt in-place tracking parameters, along with a conveyor belt in-place tracking code example;
13. Added new interfaces WorkPieceTrsfStart() and WorkPieceTrsfEnd() for starting and ending workpiece coordinate system transformation, along with a workpiece coordinate system transformation code example.
14. Added GetWeldMachineCtrlMode() interface for getting the welding machine control mode.
15. Added GetExtDIConfig() and GetExtDOConfig() interfaces for getting extended DI function and extended DO function configurations.
|
V3.9.7 |
2026-06-25 |
1. Updated robot status feedback structure: added object detection status to gripper motion complete signal; added to gripper faults: 2-command error, 3-workpiece drop, others-gripper fault code +3;
2. Updated code examples for output reset after LUA program stop/pause; optimized load lua file interface to require only the lua file name, path no longer needed.
3. Updated photoelectric sensor TCP calibration code examples; optimized load file interface to require only the lua file name, path no longer needed.
4. Updated code examples for setting speed during trajectory execution; optimized load trajectory J file interface to require only the trajectory J file name, path no longer needed.
5. Updated robot trajectory J file replay code examples; optimized load trajectory J file interface to require only the trajectory J file name, path no longer needed.
6. Updated trajectory replay (trajectory look-ahead) code examples; optimized load trajectory J file interface to require only the trajectory J file name, path no longer needed.
7. LoadDefaultProgConfig() interface job program name parameter now requires only the lua file name, path no longer needed.
8. ProgramLoad() interface job program name parameter now requires only the lua file name, path no longer needed.
9. GetLoadedProgram() interface job program name parameter now requires only the lua file name, path no longer needed.
10. Updated robot LUA program operation code examples; optimized load file interface to require only the lua file name, path no longer needed.
11. Added dexterous hand enable status parameter to SetAxleLuaEnableDeviceType() interface;
12. Added dexterous hand enable status parameter to GetAxleLuaEnableDeviceType() interface;
13. Added dexterous hand enabled device number status parameter to GetAxleLuaEnableDevice() interface;
14. Expanded gripper function code array to 32 in SetAxleLuaGripperFunc() interface, added rotary gripper control, etc.;
15. Expanded gripper function code array to 32 in GetAxleLuaGripperFunc() interface, added rotary gripper status, etc.;
16. Fixed interface name error in SetCoderCompenParams();
17. Added SetDexterousHandsMove() interface for controlling dexterous hand motion.
18. Added SetDexterousHandsAct() interface for controlling dexterous hand reset and activation.
19. Added ClearDexterousHandsError() interface for clearing dexterous hand errors.
20. Added SetDexterousHandsFunc() interface for setting enabled dexterous hand action control functions.
21. Added GetDexterousHandsFunc() interface for getting enabled dexterous hand action control functions.
22. Added SetWeaveBackCenterConfig(), GetWeaveBackCenterConfig() for setting and getting the weave end return to cycle zero point parameters.
23. Added SetWeaveOffsetRT() interface for setting real-time weave offset;
24. Added SetSpeedInstant() interface for real-time speed setting;
|
V3.9.6 |
2026-05-26 |
1.Updated robot status feedback structure, added extension axis coordinate system number status;
2.Updated robot status feedback configuration enumeration type, added extension axis coordinate system number configuration enumeration;
3.Added ExtAxisGetParamConfig() interface to get UDP extension axis parameter configuration;
4.Added ServoJV() interface for robot joint space velocity servo mode motion;
5.Added ServoMITStart() interface for robot joint MIT control start;
6.Added ServoMITEnd() interface for robot joint MIT control end;
7.Added ServoMIT() interface for robot joint MIT control;
8.Added SetLaserWeldingParam() interface for robot laser welding parameter configuration;
9.Added SetLaserWeldingStartEnd() interface to set robot laser welding start/stop;
10.Added SetLaserWeldingEnable() interface to set laser welding machine enable/disable;
11.Added ResetLaserWeldingErr() interface to set laser welding machine fault reset;
12.Added GetLaserWeldingRunningState() interface to get laser welding machine running status;
13.Added GetLaserWeldingErrState() interface to get laser welding machine fault status;
14.Added GetLaserWeldingParamTarget() interface to get laser welding configuration parameters;
15.Added GetLaserWeldingParamActual() interface to get the currently active configuration parameters of the laser welding machine;
16.Added SetLaserWeldingEnableExtDoNum() interface to configure the extended IO enable DO port of the laser welding machine;
17.Added SetLaserWeldingStartExtDoNum() interface to configure the extended IO start DO port of the laser welding machine;
18.Added SetLaserWeldingErrResetExtDoNum() interface to configure the extended IO fault reset DO port of the laser welding machine;
19.Added SetLaserWeldingRunningStateExtDiNum() interface to configure the extended IO running status (laser on status) DI port of the laser welding machine;
20.Added SetLaserWeldingErrStateExtDiNum() interface to configure the extended IO fault status DI port of the laser welding machine.
|
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
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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
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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
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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
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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
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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
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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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