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Release Notes: Runtime 2.4.0

2.4.0 - 2024-06-14

dnb_bringup

[0.4.0] - 2024-05-28

Changed

  • Added auth option to websocket ROS-Bridge

dnb_component_manager

[1.9.0] - 2024-05-28

Added

  • Added component parameter datatype 'password', which is a string that displays different in UI
  • Added wizards as part of components

dnb_driver_abb

[1.5.0] - 2024-06-04

Important

  • This features require to update the controller program to Controller SW V2.5 for IRC5 Controllers, but the old controller files still work with the driver not containing the fix.
  • This features require to update the controller program to Controller SW V2.5 for Omnicore Controllers, but the old controller files still work with the driver not containing the fix.

Added

  • Added support for category 0 stop to Omnicore controller program
  • Added artificial error code 999999 for e-stop

Fixed

  • Fixed an issue with changing robot arm configurations, which should be reachable
  • Fixed an issue that robots did make another small jump, after a Control Panel movement was stopped.

Changed

  • Reduce the driver publishing frequency from 100 Hz to 30 Hz to save the CPU performance.
  • Increased joint delta movement speed to 0.7 RAD/S for CRB15000 robot models.

dnb_driver_fanuc

[1.9.0] - 2024-05-28

Added

  • LRMate200iD/4S robot model

dnb_driver_kemrox

[1.2.0] - 2024-05-28

Changed

  • Updated Kawasaki control panel values
  • Changed component parameter 'password' datatype to 'password'

dnb_driver_kuka_krc5

[1.0.0] - 2024-05-28

Added

  • First revision of EKI TCP/IP driver

dnb_driver_meca

[1.5.0] - 2024-05-28

Added

  • Added CP configuration for pure rotations

Changed

  • Fix connection not restarted after robot E-Stop.
  • Tested with robot firmware 10.1.0.

dnb_driver_nachi

[1.7.0] - 2024-06-04

Important

  • This feature requires to update the controller program to Controller SW V4.2, but the old controller files still work with the new driver not containing the change.
  • This feature requires to update the controller plc program to Controller SW V4.2, but the old controller files still work with the new driver not containing the change.

Added

  • Configured parameters to set minimum translation and rotation jogging steps

Changed

  • Adjusted the driver to use a new jogging system
  • Adjusted the PLC program to restart the motion task faster after a stop
  • Changed result code of command_result topic to FAILURE_STOP_TRIGGERED in case of manually triggered movement stop.

dnb_executor

[2.5.0] - 2024-05-28

Added

  • Added support for control block type "collapsible"

dnb_fb

[2.3.0] - 2024-05-28

Added

  • Added Function Block "Structureblock"
  • Function Block "User Dialog": Added option to choose between button style and dropdown style.

dnb_ik

[1.5.0] - 2024-05-28

Added

  • Added services get_fk_list and get_ik_list for bulk conversion of joints/poses
  • IK for Fanuc LRMate200iD/4S

dnb_io_gripper

[1.5.0] - 2024-05-28

Added

  • Added service to get capabilities of configured I/O gripper.
  • Added topic to publish state changes of the gripper.
  • Added german translation to Function Block I/O-Gripper - Check Closed
  • Added german translation to Function Block I/O-Gripper - Check Gripped
  • Added german translation to Function Block I/O-Gripper - Check Opened
  • Added german translation to Function Block I/O-Gripper - Close
  • Added german translation to Function Block I/O-Gripper - Control
  • Added german translation to Function Block I/O-Gripper - Off
  • Added german translation to Function Block I/O-Gripper - Open

Removed

  • Removed component 'Digital I/O Gripper 1' for old I/O system as available component
  • Removed component 'Digital I/O Gripper 2' for old I/O system as available component

dnb_jogging

[1.0.0] - 2024-05-28

Added

  • Initial version

dnb_keba_ketop

[1.1.0] - 2024-06-04

Fixed

  • Fixed movements are deactivated at startup when the KeTop switch is in manual mode.

dnb_kemrox_variable_client

[1.4.0] - 2024-05-28

Changed

  • Added auto renewal of expring REST token
  • Changed component parameter 'password' datatype to 'password'
  • Improved performance for publishing of variable changes

dnb_quick_access_poses

[2.5.0] - 2024-05-28

Removed

  • Quick access program moved to local programs in the executor

dnb_remote_robot_control

[1.5.0] - 2024-05-28

Added

  • Fixed issue that already sent jogging positions are sent again in specific situtations

dnb_rmi_library

[1.9.0] - 2024-05-28

Added

  • Added JoggingClient class to act as robot driver side jogging interface
  • Added Heartbeat class to handle a heartbeat signal with ROS service
  • Added support for 32bit IO masks
  • Added publishing of changes of the I/Os to the topic "io_changes"
  • Added providing of information, whether the simulated state of an IO can be changed
  • Added service "device/get_simulated_device" to IOManager to request, whether the entire IO device is simulated

Fixed

  • Fixed ScaleSpeedManager initiating an endless loop in special situations

dnb_robot_movement_interface

[1.4.0] - 2024-05-28

Added

  • Added IOChanges message type
  • Added timestamp to IOInfo and DigitalIOValue message files
  • Added simulated_editable to IOInfo message file
  • Added result code FAILURE_STOP_TRIGGERED to Result.msg
  • Added Joints message type
  • Added GetFKList service type
  • Added GetIKList service type

dnb_robot_simulator

[1.8.0] - 2024-06-04

Added

  • Added in-position accuracy parameters for all robot models (0.5mm / 0.1deg).
  • Fanuc LRMate200iD/4S robot model
  • Added Simulated I/O Device component

dnb_robotiq_gripper

[1.2.0] - 2024-05-28

Changed

  • Improved gripper wizard for WinCX