Release Notes

MotionPlus 1.5.0

The 1.5.0 release requires Polyscope 5.24.0 and the urcap file MotionPlus-1.5.0.urcap.

Major Changes

  • The URCap installation page now has a UI for selecting the linux ethernet devices associated with the network hardware plugged into the robot controller. This is to replace the port swap script that was distributed with prior releases. MotionPlus supports setups where the builtin ethernet interface is used exclusively for EtherCAT communication.

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  • The URScript functions ethercat_read_axis_sdo() and ethercat_write_axis_sdo() now support the reading/writing of byte array values (using “BA” as the type parameter).

Minor Changes

  • Reduced the possibility of EtherCAT DC timeout errors when navigating to the Polyscope “Move To” dialogue. This particularly applies to large systems (e.g., more than 4 axes).

Bugs Fixed

  • The URScript function ethercat_config_axis() would raise a spurious overflow warning popup if any of its parameters feed_constant_fload , counts_per_rev , and gear_ratio_float were negative.

  • Polyscope could indicate No Controller if repeatedly running a program that called reset_world_model() when switching between the teach pendant Simulation Mode and Real Robot modes.