• June 24, 2020

• A0509(s), A0912(s)

• Main (DRCF, DRSC, DART-Platform): GF120500 (NEW)
• Safety: GD110108 (NEW)
• Inverter: GA110012
• SVM: GI010200 (NEW)
• Flange: GC110000

• 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.)

• 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
• Corrected the no Collision error-reporting problem when the Tool Shape and the lower Arm collide
• Enabled not to save the friction calibration value When Servo off during friction calibration
• Corrected the connection error during continuous operation

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