L Master 2.2

2.2.4

Update notes for regular users

1. Optimized program execution efficiency
2. Resolved occasional arm power-off during execution

Update notes for developers

1. Fixed ROS MOVL instruction planning failure
2. [Important] Changed 3ms periodic real-time thread to oneshot real-time thread waiting for dequeue
3. Changed member variable names
4. Removed ignore motion command post-processing logic
5. Added error logs for sequence number mismatch check

Software versions and download links

• RC 2.2.4 (18.3MB)
• DS 2.1.6 (26.6MB)
• UI 1.7.0

2.2.3

Update notes for regular users

1. Fixed gripper failure after emergency stop
2. Changed task "Stop" to "Abort"
3. Optimized mobile page display
4. Removed medium screen adaptation for home control panel
5. Fixed: At 1920*1200 pixels, landscape mode, settings or control menu cannot be dragged to bottom
6. Fixed: In scene, setting motion block color function ineffective
7. Fixed: Clicking history task, entering scene, prompts: data does not exist
8. Fixed: Home, adding task with position verification from history tasks, occasional page overlap
9. Fixed: 2340*1080 resolution phone screen, scene display issues

Update notes for advanced users

1. Fixed gripper and flange state not resetting during emergency stop
2. Lua command execution fails directly and ends
3. Lua checks robot state again after move, fixes gripper issue after motion

Update notes for developers

2. Removed burn-in test Excel writing logic
3. Calculated torque ignored if absolute value exceeds 30000
4. Fixed OTA update failure state still showing updating
5. Quality platform precision calibration related business implementation
6. Quality platform added StartSys call logic after InitZero
7. Quality platform fixed precision calibration state upload failure
8. Quality platform added I/O configuration update logic after robot initialization
9. Quality platform added robot initialization zeroing optional logic
10. Point collection added phase and collection point return
11. Fixed NIC continuous restart after setting static IP
12. Robot initialization added enable robot data verification switch logic
13. IoT NIC test restart NIC causing IP change issue fixed
14. Changed ping test domain to lebai.ltd

Software versions and download links

• RC 2.2.3 (18.3MB)
• DS 2.1.6 (26.6MB)
• UI 1.7.0

2.2.2

Update notes for regular users

1. Fixed unable to exit task when error occurs during execution
2. Fixed: In scene, create position A, then set TCP angle in settings, go to position A fine-tuning, move to target position ineffective
3. Fixed: During position verification, pause verification task A, add non-verification position task B, pause task B, click resume task B, arm will first move to task A verification position, then run task B
4. Fixed: When last two motion blocks in scene have same position, run task, history task shows task finished, but robot actually still running

Update notes for advanced users

1. Added inverse solution failure error prompt

Software versions and download links

• RC 2.2.2 (18.3MB)
• DS 2.1.5 (26.6MB)
• UI 1.6.9

2.2.1

Update notes for regular users

1. Changed speed and limit check and collision detection conditions to planner running
2. Gripper command timeout changed to 5s
3. Stop flag used for Lua parser to judge stop but robot doesn't stop
4. Fixed: During initialization, directly prompts failure, failure reason, Web robot directly emergency stops
5. Fixed: Robot without gripper installed, in control, drag gripper amplitude, local IO or flange IO cannot turn on or off
6. Fixed: Burn-in test, once running to the posture shown in the figure, prompts error codes 2001 and 1008
7. Fixed: Task runs to gripper, stop task, task cannot be stopped, if add new task: prompts robot request timeout
8. Fixed: Using add_signal to set signal (e.g. signal 8), after restarting RC, (signal 8, signal 16, 24, etc. multiples of 8) all have values, and values persist
9. Fixed: add_signal sets signal value to 0, but returned value is: 31459816
10. Fixed: Running task with gripper, click Web emergency stop, task still shows running, disappears after one minute
11. Fixed: Running task with gripper, in fine-tuning page, click stop button, prompts: robot collision stopped. On home, cannot stop task, only restart RC
12. Fixed: Running task with gripper, emergency stop or collision emergency stop, frequently task cannot stop, after multiple stops, task shows stopped, newly added task has no task status but task is running
13. Fixed: During task execution, gripper merged state, click stop task, task stops, gripper changes to open/close state
14. Running task added stop task (abort/cancel) button
15. Added Modbus flange gripper specialized implementation
16. Quality platform robot test motion command call optimization

Software versions and download links

• RC 2.2.1 (18.3MB)
• DS 2.1.5 (26.6MB)
• UI 1.6.9

2.2.0

Update notes for regular users

1. Title bar added task history popup
2. Fixed scene time machine partial issues, changed style

Update notes for advanced users

1. Added Lua methods:
   1. set_external_dos
   2. get_external_dos
   3. get_external_dis
   4. set_external_aos
   5. get_external_aos
   6. get_external_ais
   7. get_external_ios
2. Added business system commands:
   1. set_external_dos batch set external IO digital output
   2. get_external_dos batch get external IO digital output
   3. get_external_dis batch get external IO digital input
   4. set_external_aos batch set external IO analog output
   5. get_external_aos batch get external IO analog output
   6. get_external_ais batch get external IO analog input
   7. set_signal set semaphore
   8. get_signal get semaphore
   9. add_signal add value to semaphore
   10. enable_joint_limit enable joint limit check
3. About page added serial number QR code
4. Login conflict added device IP display
5. Debug page added robot data feature (oscilloscope)
6. Added servo parameter, joint backlash parameter implementation
7. Robot not powered on still supports main control box IO
8. Restored stop() command definition, only stops task and current command, doesn't stop robot, added special judgment during execution
9. Fixed stop_move() causing motion to stop during execution which prevents move_until from running normally
10. External IO Lua methods added success judgment, failure returns -1

Update notes for developers

1. External IO gRPC interfaces added success judgment, failure returns StatusCode::ABORTED
2. Fixed external IO batch interface program crash when length is abnormal, values length defaults to 0 when insufficient
3. Ignored error bits when arm is powered off

Software versions and download links

• RC 2.2.0 (18.3MB)
• DS 2.1.4 (26.5MB)
• UI 1.6.8