RELEASE DATE

• 2020-01-28

MODEL

• M0609, M0617, M1013, M1509

SOFTWARE VERSION

• Main (DRCF&DRSC): GF020500 (NEW)
• Safety: GD010106 (NEW)
• Inverter: GA010014 (NEW)
• SVM: GI010200 (NEW)
• Flange: GC010000
• JTS: GB010002

CHANGES NOTE

If you update to M2.5 from software versions earlier than M2.5, be sure to read the below precautions before proceeding update

[New Features]

• Added Safety I/O settings from the Emergency Stop pop-up menu
• Added the alias function for digital & analog I/O signals
• Added I/O signal redundancy check when creating the Task
• Added multiple condition to Wait command
• Added new safety zone setting (previously defined safety zones are processed as deprecated)
• Added import/export feature SVM(Smart Vision Module) calibration result
• Added related Task display function when vision job is deleted
• Added Global Variable command that global variables can be added by group
• Added Task Operating Status output signal to monitor task running status
• Added Backup & Restore function
• Added the User Coordinate system
• Added World Coordinate option to pallet skills
• Added String type for variable
• Added focus display function to identify Cockpit-Get Pose button action
• Added new DRL command ‘move_home’ to perform Home Position operation
• Added new DRL command ‘drl_report_line’ to enable/off line reporting to Task running performance
• Added SW version compatibility identification function on Setting -> Update Menu
• Added Mix & Match feature (Mix & Match means that robots and controllers can be maintained separately, therefore M-series controllers and M-series robots can be mixed. However, in the case of mixed robot and controller, the consistency of execution of Task programs written on other robot is not guaranteed.)

 [Improvement/Correction]

• Extended pressing time for forced shutdown by power button on the Teach Pendant
• Improved the variable name of repeat in the Main Sub clearly and enabled to use user variable in the repeat condition of pallet skills
• Corrected safety controller error issue when registering Air Blow Nozzle Item
• Corrected the error when entering property tab after selecting Selected Workcell Item menu in Task Builder
• Improved taking effect immediately when TCP(Tool Center Position) is selected on the SVM Camera Image Setup
• Corrected the problem that unable to enter the address value of the coil register greater than 9999 in Modbus setting
• Corrected intermittent Robot movement stop or an Teach Pendant un-touchable problem when Protective Stop and Auto Reserve signal is input during the Robot playing
• Corrected intermittent 5.7056 safety error when Protective Stop and Auto Reserve signal is continuously on/off during the Robot playing
• Corrected the problem that unable to enter Slave ID value to 0 in Modbus RTU setting
• Corrected collision error when applying specific installation pose
• Corrected unintended Sensor Fail error when using the Gripper Skills
• Corrected the sudden moving problem when the Direct Teaching button is pressed on Packing Position
• Corrected the wrong return value of check_motion DRL command during motion stabilization interval
• Improved the performance of DRL commands processing
• Corrected unnecessary options of Wait Motion command
• Corrected the no error-reporting problem when performing motion command moving to outside of operating space
• Corrected the grammar error when Task information is not normally recognized on Remote Control mode

PRECAUTIONS

※ All software must be installed properly as described in SW VERSION to guarantee the normal operation of robot.

※ The installation and use of previous version of 3rd Party Workcell Item files (.dr3) are not supported from M2.4 version. Newly released 3rd Party Workcell Item files (.dr3.240) is required.

※ If you update software from previous version to M2.4.1 or later, you must proceed in the following order. This is to inform you that the normal use of the robot may be difficult if the work order is not followed.

(When Controller Box(CB) is powered off, Teach Pendant(TP) is also powered off.)

1. Power on CB/TP

2. Updating Inverter software

3. Power off CB and power on CB/TP

4. Power off CB after updating Main software

5. Power on only CB (TP is powered off)

6. Update Safety software

7. Power off CB and power on CB/TP

※ After all SWs have been updated to M2.5, the license number must be entered on the license number entering screen at boot time. Afterwards, the Mix & Match feature will be available normally. If you want to activate additional options such as SVM(Smart Vision Module), the appropriate license number provided by Doosan Robotics must be re-entered via Setup menu on the Teach Pendant screen.