ForgeOS 5.3.2 includes some stability updates for robot devices (especially Fanucs).
DEVICE CONFIGURATION
Fixes
- Fanuc 6DOF robots: Updated arm configuration behavior during IK calls to fix the issue of the robot falsely reporting errors of unreachable positions (such as during Continuous Moves, waypoint modification, and manual jumping).
- Fanuc 6DOF robots: Added descriptive error text for the “Cannot call interrupt routine” warning that showed up as “Fault #12112”.
- Fanuc 6DOF robots: Added the missing info text for PROG-020, which had caused errors during task execution (such as during “Stop If” calls).
- Fanuc 6DOF CR-series robots: Fixed the issue of force errors not surfacing in Forge/OS.
DEVICE CONTROLS
Fixes
- Fanuc, Yaskawa 6DOF robots: Fixed the linear jump error that prevented motion away from the J6 joint limit.
TASK CANVAS
Updates
- Clarified description of “incoming device” and “target device” parameter mapping when remapping device in Task Settings.
Fixes
- Fixed occasional Task Canvas crashes caused by switching subtask view with Follow Task enabled.
- Optimized subtask tab navigation to remove the common cause of visual delays when switching tabs.
- Fixed Finish block behavior so that executing a Finish block will no longer reset variable values or stateful blocks.