Release Notes

Motion Plus 1.4.0

The 1.4.0 release requires Polyscope 5.23.0 and the urcap file MotionPlus-1.4.12.urcap.

Major Changes

Removed the following deprecated URScript functions:

  • ethercat_begin_status_monitor()

  • ethercat_end_status_monitor()

  • ethercat_home_axis_direct()

Minor Changes

  • Added a new function (get_pose_from_axis_group_positions()) that returns the pose of a world model frame given positions of an axis group its attached to. See here for documentation and examples.

  • Added a new function (is_axis()) that indicates if the provided string argument is an axis or not. See here for documentation and examples.

  • Added a new function (is_axis_group()) that indicates if the provided string argument is an axis group or not. See here for documentation and examples.

  • Added a new function (axis_group_get_axis_limits()) that returns the valid position range, the max velocity and the max acceleration of a given axis. See here for documentation and example.

  • The URScript function ethercat_config_axis(), when called for an axis with position limits defined, will now validate that its parameters cannot allow an axis position to be calculated that would overflow the axis limits.

  • Reduced RPC-related overhead for the EtherCAT URScript functions that use XML-RPC.

  • Relaxed coupling between URCap version and SW version; URCap now only requires a minimum SW version, rather than a specific SW version.

Bugs Fixed

  • Corrected an issue where frame tracking could result in a torque overload error when resuming from paused.

  • Fixed a bug where a movep or movec could produce the wrong motion when frame tracking is disabled during a blend.

  • Fixed a bug where executing axis_group_movej to move a subset of enabled axes in an axis group where the rest are disabled, could intermittently result in an false error indicating that one or more of the disabled axes were commanded to move.

  • Fixed a bug where movep_with_axis_group would cause rapid axis motion if it the robot reaches its goal exactly at the end of a blend.

  • Fixed an issue where Polyscope could report “No Controller” after pausing a program with an axis group still in motion then immediately using the “Move To” Polyscope GUI.