• 2020-09-10

• A0509(s), A0912(s)

• Main (DRCF, DRSC): GF120504 (NEW)
• Safety: GD110113 (NEW)
• Inverter: GA110018 (NEW)
• SVM: GI010200
• Flange: GC110000

• Reflect SW modification as follows:
• System Recovery Mode for solving the unknown errors
• Notification function of uninstalled Workcell Items
• An error that system variable of the count number of the palletizing is initialized when restarting program
• Display correct model name according to FT Sensor
• DC Link Undervoltage Error
• Improvement the problem that the collision detection algorithm malfunctions when stopped during normal jog mode and jog “moveto”
• Noise issue during specific robot motion
• An error of the UTF-8 decoding
• An error that infinite loading occurred when updating to a heterogeneous SW version
• The chattering issue during direct teaching at HOME position
• An error that the modified information was not reflected when executing the existing skill after modifying the item information in WCM
• The pop-up text error when the workpiece is not selected after adding the WCI gripper

※ 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. This also applied to A2.5 Version.

※ If you update software from previous version to A2.4.1 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 or on the DART-Platform.

※ If you update software from A2.5 version to A2.5.1 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. Updating main software without CB power off

4. CB power off

5. CB only power on (TP is power off)

6. Update Safety software

7. Power off CB and power on CB/TP