L Master 2.1

2.1.9

Update notes for regular users

1. Added navigation bar scene, control, device entry
2. Added scene time machine feature, supporting recent scene modification history review
3. Task ring displays status color and loop count
4. Changed device adaptation logic to screen width adaptation, modified page layout, reduced control spacing, expanded display space
5. Changed scene auto-save time to 3s, comparison on save
6. Changed login form, auto-login when entering 4 digits
7. Changed rerun button position to below queue item number
8. Changed English language text
9. Fixed unable to stop during teaching
10. Fixed issue where refresh enters guide page after robot restart

Update notes for advanced users

1. Fixed ROS calling /system_service/abort_motion causing robot to disable
2. Changed semaphore to integer type, affecting Lua's signal_xxx methods

Update notes for developers

1. Added Lua structs
   1. lebai.ExtraServoParam
   2. lebai.JointBacklash
   3. lebai.JointBacklashParam
2. Added Lua commands
   1. write_extra_servo_param()
   2. read_extra_servo_param()
   3. reset_extra_servo_param()
   4. write_extra_servo_params()
   5. read_extra_servo_params()
   6. reset_extra_servo_params()
   7. write_joint_backlash_param()
   8. read_joint_backlash_param()
   9. reset_joint_backlash_param()
   10. write_joint_backlash_params()
   11. read_joint_backlash_params()
   12. reset_joint_backlash_params()
   13. write_joint_backlash()
   14. read_joint_backlash()
   15. reset_joint_backlash()
   16. write_joint_backlashes()
   17. read_joint_backlashes()
   18. reset_joint_backlashes()
   19. write_enable_joint_backlash()
   20. read_enable_joint_backlash()
   21. write_enable_joint_backlashes()
   22. read_enable_joint_backlashes()
   23. enable_joint_limits()
   24. disable_joint_limits()
3. Added gRPC methods (rcs)
   1. SetExternalDOs
   2. GetExternalDOs
   3. GetExternalDIs
   4. SetExternalAOs
   5. GetExternalAOs
   6. GetExternalAIs
   7. SetSignal
   8. GetSignal
4. Added gRPC method (pcs) EnableJointLimit
5. Changed rcs SetExternalDO to single setting
6. Changed external I/O method return values, single interface returns ret as 1 for success, multiple interfaces return success count to length field
7. Added debug page RC configuration file editor feature

Software versions and download links

• RC 2.1.9
• DS 2.1.4 (26.5MB)
• UI 1.6.7

2.1.8

Update notes for regular users

1. Added speed and acceleration slider controls, removed previous triangle drag controls. [Breaking Change] If users set speed in "Safety Settings" before this version, scene speed will change
2. Added robot pause/resume button, removed queue stop and queue pause/resume buttons
3. Empty scenes default to editable mode
4. Adapted task list and message center for mobile
5. Changed window title bar L Master to device name
6. Changed "Move to Target Position" button position to title bar, removed "Cancel" button
7. Changed joint angle ring range limit to user safety settings
8. Changed title style, removed small caps
9. Changed scene toolbar and motion block style, added text prompts
10. Fixed dropping during teaching
11. Fixed ability to add motion blocks via button in read-only mode

Update notes for advanced users

1. Added error code 1012 collision pause
2. Fixed move_until callback function not running normally
3. Changed speed and acceleration control maximum values: joint acceleration 540°/s, speed 180°/s; end-effector acceleration 1.5m/s², speed 1m/s
4. Changed position verification accuracy to angle ±2°, length ±0.01m
5. Changed Lua code converter, changed local variables to table type C_POSE and J_POSE

Update notes for developers

1. Changed Lua state judgment method, UPDATING STARTING STOPPING / BOOTING also considered as LUA_STOPPED
2. Fixed Lua reporting LUA_ABORTED error message
3. Changed command default timeout to 60s

Software versions and download links

• RC 2.1.8 (18.1MB)
• DS 2.1.3
• UI 1.6.6

2.1.6

Update notes for regular users

1. Added robot pause state and style
2. Fixed voice and raised button release logic when exiting teaching
3. Fixed inability to switch fine-tuning state
4. Translation and text optimization

Update notes for advanced users

1. Removed "Xiaobai is so bored" logic
2. Added queue size limit (128)
3. Fixed Lua waiting for external I/O command
4. Added external I/O gRPC interface
5. Added USB network card priority configuration logic

Update notes for developers

1. Merged stop()==stop_sys(), stop_move()==stop_fine_tuning()
2. Emergency stop robot 2s after homing
3. Robot position matching standard (robot joint angle ±2°)

Software versions and download links

• RC 2.1.6 (18.1MB)
• DS 2.1.3
• UI 1.6.4

2.1.5

Update notes for regular users

1. Added "Paused" state (6)
2. Added scene read-only mode, optimized save logic
3. Added official website address for error codes
4. Added view mode for multi-tab browsing
5. Added robot login device restriction
6. Added maintenance mode
7. Added system settings - units - unit display precision
8. Implemented shutdown button function, click to show confirmation dialog before shutdown
9. Fine-tuning window with background color
10. Text: Changed IO to I/O
11. Text: Changed Lebai to L Master
12. Text: Added machine translation for Japanese, German, French, Spanish
13. Changed motion block control area button position
14. Changed floating capsule, emergency stop button, mobile floating button to be draggable
15. Changed quick start page (Easy Use)
16. Changed panel, icon fine-tuning, card ID style
17. Changed TCP settings, RPY text to: Rz, Ry, Rx
18. Changed 3D model file (gray arm, Y-axis aligned with power cable)
19. Mobile: Adapted all pages, added padding at page bottom for global control bar spacing
20. Mobile: Added page layout - bottom control bar, sidebar expand icon
21. Mobile: Removed floating button popup 3D rendering feature
22. Mobile: Moved "Move to Target Position" button
23. Mobile: Adjusted scene list page search style
24. Fixed: Scene toolbar button style, custom motion pack style
25. Fixed: In scene, selecting or deselecting motion blocks, the number in control bar delete or add task button doesn't change accordingly
26. Fixed: Base coordinate system annotation line incorrect, power cable gap corresponds to Y
27. Fixed: Control, LED board control, font and voice font overlap preventing clicking modify button
28. Fixed: Speed and acceleration time display chart doesn't match actual
29. Fixed: Add to position library switch off, add gripper motion block, enable preview, create new position block, add to position library switch becomes on
30. Fixed: Fine-tuning interface, coordinate space, manually input XYZ, RZRYRX values, arm moves to corresponding position, suggest changing "move to target position" to "stop" button
31. Fixed: Maintenance mode cannot login normally
32. Fixed: Position block joint angle and spatial coordinates cannot switch joint angle to corresponding line or spatial coordinates to joint (occasional)
33. Fixed: Message notification motion block, function doesn't work
34. Fixed: Change scene default speed and acceleration time ratio
35. Fixed: When moving to target position, frequently prompts: robot joint error, feedback position inconsistent with actual position. But joint not locked, can be used normally again
36. Fixed: During task execution, if there are wait commands or task becomes idle, click "move to target position" in fine-tuning interface, arm can move to target position
37. Fixed: On mobile screen, joint temperature and joint angle columns display full screen
38. Fixed: Firefox adaptation issues

Update notes for advanced users

1. Auto-copy when converting timeline editor to code editor
2. Removed subroutine parsing logic
3. Fixed: Code editor interface, pressing Ctrl+Z shortcut makes program display empty
4. Fixed: Directly calling scene, if selecting several motion blocks, calling scene will only run several motion blocks instead of entire scene (occurred in noodle cooking scene)
5. Fixed: Converting Lua, print cannot output data

Update notes for developers

1. Optimized scene execution restriction logic
2. Fixed: User login session logic update and login restriction logic optimization
3. Fixed: When no task, sending pause task causes robot to be paused

Software versions and download links

• RC 2.1.5 (18.1MB)
• DS 2.1.1 (23.6MB)
• UI 1.6.4

2.1.4

Update notes for regular users

1. Fixed speed and acceleration time display chart doesn't match actual
2. Fixed startup guide page, installation method page, display overlap
3. Fixed scene message motion block, not prompted during task execution
4. Fixed package, using right-click, unpack, function doesn't work
5. Fixed in scene, selecting more than two gripper motion blocks, click batch, adjust force to 100, after modification, first gripper motion block displays 100, disappears after page refresh
6. Fixed in scene, with package and non-package motion blocks, drag one motion block from package to leftmost, page will copy a packaged motion block
7. Fixed TCP settings, add button not displayed (add position library and similar pages same issue)
8. Fixed all settings pages save button cannot save
9. Fixed move target position interface, double-click teach button adds new position block. Expected not to add position block in move target position interface
10. Fixed virtual control page, coordinate space, coordinates click X then click Y, arm moves. Unified to: R: Rz, P: Ry, Y: Rx, original R(Z), R(Y), R(X) expressions also unified
11. Added message notification dialog page:
12. Two TAB text optimization changed to: LED board notification, popup notification
13. LED board notification style selection removed unchanged option
14. Control -> LED control changed to: LED board control, check all LED text to LED board
15. First color change icon, added hover tips text: Style
16. If considering other motion blocks, position block can show additional "Batch Fine-tune" button, batch adjustment operations more common before batch modification
17. Yesterday's added PCS get DH parameters interface, added get theoretical DH parameters option, subsequent batches of machines will be calibrated, each machine's actual DH parameters different, web frontend display model DH parameters should use theoretical DH parameters, other places should use actual DH parameters
18. About page added unified version number display: "Lebai OS Version", takes RC, DS maximum value, displays three segments: 2.1.1
19. These two entries hidden, use directly give application team address, not permanently displayed to users. Operations entry page can have design add icon permanently icon missing, order entry needs hidden, operations entry page can be expressed as: Lite management page, lightweight management page etc changed to "Easy Use"
20. Debug page added total run count query page;
21. Debug page added parameter modification page
22. After modification, RC stored in override directory
23. Error messages support internationalized unit display, non-debug version doesn't display 【】
24. Fixed joint safety settings acceleration, speed display abnormal
25. Weak network mode
26. Easy Use (simple operations page) /main
27. Control Panel /dashboard
28. Sound file update

Update notes for advanced users

1. Added button stability
2. Fixed device information verification issue
3. Added system stability
4. Added IoT networking and USB hotspot support
5. Motion commands added new smooth movement type and time parameter
6. Fixed motion command related BUGs
7. Fixed teaching stability issue when setting tcp and payload simultaneously
8. Added driver update stability
9. Added virtual control temperature
10. Added external IO operation stability
11. Added Web shutdown feature
12. Fixed timeline editor related BUGs
13. Text and UI optimization
14. Network connection optimization

Software versions and download links

• RC 2.1.4 (18.0MB)
• DS 2.1.1
• UI 1.4.6

2.1.2

Update notes for regular users

1. Added button stability
2. Fixed device information verification issue
3. Added system stability
4. Added IoT networking and USB hotspot support
5. Motion commands added new smooth movement type and time parameter
6. Fixed motion command related BUGs
7. Fixed teaching stability issue when setting tcp and payload simultaneously
8. Added driver update stability
9. Added virtual control temperature
10. Added external IO operation stability
11. Added Web shutdown feature
12. Fixed timeline editor related BUGs
13. Text and UI optimization
14. Network connection optimization

Software versions and download links

• RC 2.1.2 (18.0MB)
• DS 2.1.1 (23.6MB)
• UI 1.4.0