5.1.x
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      3. 5.1.x

      5.1.1 Release Notes

      5.1.1 adds support for Fanuc CRX collaborative robots and the option to control Fanuc robots in “Program Mode” under certain safety hardware configurations.

      DEVICE CONFIGURATION

      New

      • Fanuc 6DOF: Support for the Fanuc CRX collaborative robot andR-30iB Mini Plus controller.
      • Fanuc 6DOF: Added ER-4iA, M-10iC/8L, ArcMate 100iC/8L robot models.
      • Fanuc 6DOF: “CIP Safety” added as an alternative method to integrate pendant safety hardware.
      • Fanuc 6DOF: “Program Mode” added as an alternative to Teach mode on systems with certain safety hardware configurations.
      • Ethernet/IP: Configuration assembly support added. This allows support for many additional devices such Balluff IO-Link device and the Tecnik Clearlink Motion Controller.

      Updates

      • UR e-series: PolyScope 5.11.9 now supported.
      • Kawasaki 6DOF: Added Kawasaki Cubic-S file to Device Configuration and update installation instructions.
      • EPSON 6DOF: PROGRAM mode used instead of TEACH mode.
      • All 6DOF robots: Forge/OS will warn the user if the driver files running on the robot OEM controller is out of date. The user can get the updated software from Device Configuration.

      Fixes

      • Robotiq Gripper: Calibration no longer occurs before the pendant is paired.
      • Epson: Updated IO Configuration to show all robot digital outputs. Note: This requires the creation of a new robot device. Old Epson devices will not work.

       

      DEVICE CONTROLS 

      New

      • Kawasaki: Added the ability to change linear jog directions without cycling motors off.

      Fixes

      • Yaskawa: Improved HC10 Hand Guide mode switching.
      • Optimized Force Torque sensor graph.
      • Robotiq Gripper: Fixed rounding issue with the reported position.
      • Fanuc: Improved jogging smoothness.
      • Fixed issues that occur from multiple quick presses of the Execute button.

       

      TASK CANVAS

      Fixes

      • Subtask recursion is now checked at runtime.
      • You can now execute a Math block with 7+ variables.
      • You can now execute a User Input block with 9+ variables.
      • You can now use global variables in a User Input block.

       

      SETTINGS

      Fixes

      • Update now warns the user if the system is unable to apply the update due to disk space.
      • Fixed incorrect EULA and Privacy Policy links.