Lebai Help

L Master 2.3

2.3.9

Update notes for advanced users

  1. Made Lua print statements display 0 when printing values less than 1e-8
  2. EtherCat automatically stops Lua on exception
  3. Added error codes 1144/2014

Update notes for developers

  1. Merged multiple repositories
  2. Replaced SQLite database driver to support cross-compilation
  3. Improved version number related work logic
  4. Embedded configuration files into binary to prevent software exceptions from accidental changes
  5. Updated all dependencies for stronger functionality and stability
  6. Fixed Socket interface and improved its logic
  7. Extracted gRPC related logic to simplify code management
  8. Integrated quality platform related APIs into DS
  9. Rewrote network configuration logic to simplify control flow
  10. Cleaned up unused logic (e.g., Lua parser implemented on DS side)
  11. Organized and simplified configuration file management logic
  12. Added ConnectExternalIO interface for connecting and disconnecting external IO
  13. Reduced crashes caused by flange exception logs
  14. Each real-time period processes only one command by priority, solving gripper and motion related issues
  15. Solved motion group switching issue when alternating between movept and movej

Software versions and download links

2.3.8

Update notes for advanced users

  1. Fixed target_tcp_pose not changing when TCP updates

Update notes for developers

  1. Added planning error code -10 during move_pt
  2. Fixed queue clearing thread logic
  3. Added some comments

Software versions and download links

2.3.7

Update notes for regular users

  1. Fixed: Robot without gripper, scene task has gripper, after running to gripper task, click stop task, task delays several seconds to fully stop

Update notes for advanced users

  1. Added MovePt support, Lua added command move_pt(pose[], time)
  2. Added error code 1144
  3. Fixed inability to stop fine-tuning

Update notes for developers

  1. Added Dockerfile, supports cloud platform build and upload
  2. Emergency stop and stop clear queue
  3. Removed invalid code, added comments, improved button event handling
  4. KDL added error code -9 planning overspeed

Software versions and download links

2.3.5

Update notes for regular users

  1. Added "Offline Simulation" feature
  2. Added "Extended IO" feature
  3. Fixed wireless network settings issue

Update notes for advanced users

  1. Emergency stop after planning algorithm failure
  2. Coordinate space fine-tuning no longer reports planning error
  3. IO default naming added device name prefix
  4. Lua kinematics_inverse command added second joint parameter
  5. Lua fixed sync command pause issue
  6. Lua added move_pvt, move_pvat commands

Update notes for developers

  1. Changed simulate interface, shows simulation mode switch label
  2. Version number changed from a.b.c.yymmddhh to a.b.c+yymmddhh, conforming to Semantic Versioning 2.0.0open in new window
  3. Rewrote simulation feature
  4. Implemented external extended IO switch feature
  5. Improved translation
  6. Fixed network issues, set WiFi access point SSID naming rules, select NIC configuration priority based on different NIC types availability
  7. Fixed debug page OTA data verification switch enable system update failure
  8. Fixed quality platform unable to start due to gRPC duplicate registration (by modifying CI build parameters)
  9. App version update program supports compatible SemVer version semantics
  10. Lua only checks completeness when not program_begin
  11. Lua state notifies once per second
  12. gRPC RobotInfo added simulated field
  13. gRPC added SwitchSimulate method

Software versions and download links

2.3.4

Update notes for regular users

  1. Completed extended IO feature
  2. Fixed scene name containing English comma causing export error
  3. Fixed backup restore jumping to login page error
  4. Fixed deleting scene with set default startup task in settings-conditional task off state
  5. Fixed scene fuzzy search
  6. Fixed OTA upgrade version number display issue

Update notes for advanced users

  1. Timeline to code editor header comment, leb changed to lua
  2. move_until_rt logic relation defaults to AND
  3. wait_xxx comparison relation defaults to equality if invalid value
  4. Optimized Lua loop task execution efficiency, UI running task and arm state out of sync
  5. Fixed Lua require('libmodbus') ineffective

Update notes for developers

  1. PIN list returns empty when extended IO not enabled
  2. Fixed official website backend device online status display
  3. Fixed new flange code merge issue
  4. Fixed repeated precision test robot collision stop then starting to run program
  5. Fixed quality platform exiting precision calibration setting TCP origin
  6. Fixed gRPC calling some errors not handled causing null pointer
  7. Fixed RC restart and DS restart DS repeated configuring wireless NIC
  8. Hidden simulation mode switch label
  9. DS restart or shutdown exception handling

Software versions and download links

2.3.3

Update notes for regular users

  1. Fixed simulation switch button not displaying
  2. Changed task history and message center button click hot zone
  3. Check RC>=2.3.3 set semaphore syntax is set_signal
  4. Scene global speed control hidden time control
  5. Fixed virtual control page, click message, message popup displays below virtual control page
  6. Fixed control and device switching back and forth, device page shows robot pattern, whether selecting TCP settings or end device, shows robot pattern
  7. Fixed home top left corner shows update, actual software already latest version
  8. Fixed device nickname modification ineffective
  9. Fixed English, German, Spanish, French language, batch fine-tuning page content displays beyond box

Update notes for developers

  1. Added extended IO feature
  2. Configuration file added extra_di/do/ai/ao fields, default values 12/12/2/2
  3. Added Lua commands:
    • set_extra_do(pin, value)
    • get_extra_di(pin)
    • wait_extra_di(pin, value, relation)
    • set_extra_ao(pin, value)
    • get_extra_ai(pin)
    • wait_extra_ai(pin, value, relation)
  4. Added gRPC RobotController methods:
    • SetExtraDIO
    • GetExtraDIO
    • SetExtraAIO
    • GetExtraAIO
    • SetExtraAInMode
    • GetExtraAInMode
    • SetExtraAOutMode
    • GetExtraAOutMode
  5. gRPC RobotController::GetRobotIOData method added extended IO field
  6. gRPC RobotPrivateController::Init method added extended IO configuration field
  7. Lua added sync() command:
    • Parameter 0 or no parameter means wait for robot all commands to complete
    • Other values mean wait for specific type of command to complete
      1. Non-blocking commands
      2. Blocking commands
      3. Motion commands
      4. Multi-commands
      5. Control commands
  8. Lua added scene(id) command, supports running specified scene
  9. Added Lua commands, clarifying whether io is i or o, changed tcp to flange. Still compatible with old commands.
    • set_do
    • get_di
    • wait_di
    • set_ao
    • get_ai
    • wait_ai
    • set_flange_do
    • get_flange_di
    • wait_flange_di
  10. Added Lua commands, making semaphore syntax consistent with IO:
    • set_signal
    • get_signal
    • wait_signal
    • add_signal
  11. [Breaking] Changed Lua command select to option (because select is Lua built-in function)
  12. Optimized Lua interpreter:
  13. Optimized GC options, no GC during running, only GC when idle after running completes
  14. Supports Lua Chunk, can distinguish "incomplete code" from "code syntax error", no longer need to manually add program_begin/end
  15. Changed pcallk to pcall, optimized exception handling, error messages precise to scene and line
  16. [Breaking] gRPC RobotController methods all changed to non-blocking, provided Sync and SyncFor methods, giving synchronous control authority to caller (Python SDK can support blend radius)
  17. Implemented gRPC Sleep method
  18. Handled gRPC return values, formatted NaN floats to 0
  19. gRPC Move series methods report error if not idle, paused, or running state
  20. gRPC GetRobotData method added joint velocity field
  21. CI build removed circuit board and joint tests, accelerated build speed

Software versions and download links

2.3.2

Update notes for regular users

  1. Added "Settings", "Conditional Tasks", can set auto-start scene on boot (default program)
  2. Scene list page card, added set default program feature, added delete background image feature
  3. Moved "TCP Settings" from "Settings" to "Device"
  4. Added "Device", "Robot" list, displays LAN online robot device list
  5. Changed "Settings" function icons
  6. Title bar left displays device nickname, version number, moved function entries to left with text descriptions
  7. Robot control sidebar (home, virtual control, position recovery dialog, etc.)
  8. Removed joint temperature ring, whole machine temperature
  9. Separated actual position and target position, renamed to "Current Position" and "Target Position"
  10. Added display device payload, TCP settings and all joint temperatures, collapsible
  11. Changed fine-tuning controls
  12. Relative and coordinate radio buttons moved to top
  13. Added joint space and coordinate space switch buttons at bottom
  14. Joint space added "Temporarily Disable Joint Position Limit" feature, can temporarily release joint limit and recover joint position through fine-tuning when joint position limit causes emergency stop
  15. Separated network settings from system settings to "Settings", "Network Connection" page
  16. Scene editor speed and acceleration controls
  17. Added motion time setting, range 0-1s, disabled speed and acceleration settings when not 0
  18. Added maximum blend radius setting, range 0-1m, 0 means no smoothing
  19. "Backup and Restore" feature added device information verification dialog on restore
  20. Changed "Safety Settings" page, default expanded collision detection and runtime safety settings
  21. Login page added login failure prompt
  22. Fixed device information table display
  23. "Move to Target Position" shows gray when not idle
  24. Device discovery list data display issue fixed
  25. Login password modification issue fixed
  26. Fixed LED board control has two idle states
  27. Scene list supports fuzzy search
  28. Added simulation mode hard switch

Update notes for advanced users

  1. Fixed delete scene background image bug, also deletes background image file, compatible with scene update
  2. Fixed arm emergency stops on any movement, added validity tolerance for actual TCP position data
  3. Fixed startup task unable to update and incorrectly filtering task list by state
  4. Implemented HTTP protocol support for Lua movec command
  5. WLAN network in AP mode, set device nickname, SSID displays lebai-device name, startup task other fields cannot modify issue fixed
  6. Added global lock during file backup to avoid frequent request conflicts
  7. Changed code editor from CodeMirror to Monaco (VS Code)

Update notes for developers

  1. Fixed equivalent radius null pointer exception, default equivalent radius set to 1m
  2. Lua sets package.path and package.cpath before each run (solves occasional socket package not found)
  3. Planning algorithm: optimized speed calculation content, removed debug logs
  4. Disabled EtherCAT debug logs in non-debug mode
  5. Fixed movej setting blend radius causing movel speed too large error
  6. Conditional task record added ID and scene name fields
  7. Fixed timer usage requiring exit to release resources and timer exit execution issue
  8. Fixed modifying conditional task without passing parameters causes other parameters to change to defaults

Software versions and download links

2.3.1

Update notes for regular users

  1. Added backup and restore backup feature
  2. System settings added device nickname setting, nickname length range 3-56 bytes
  3. Added login password setting interface, verifies original and new password when setting, password format only allows four digits
  4. WLAN network in AP mode, when device nickname is set, SSID uses device nickname

Update notes for advanced users

  1. Disconnected without processing commands, solves issue where startup command called too early during boot causing startup issues

Update notes for developers

  1. Still sends position commands when CAN is unstable, solves vibration during execution
  2. Added EtherCAT communication debug logs
  3. Updated KDL from 1.4.0 to 1.4.1
  4. Fixed equivalent radius incorrectly set as blend radius (larger blend radius causes slower speed)
  5. Updated Go version to 1.16.3
  6. Broadcasts notification via mDNS device discovery to WebSocket connection when device comes online, notification cycle 60s
  7. Public interface /public/system/status returns device name, device nickname, IP, MAC, wireless NIC status, robot actual joint position, actual TCP position, robot state
  8. Added public interface /public/robot/list returns system state data list of all devices discovered via mDNS in LAN, updates data list on device online or interface request
  9. Added container image build script
  10. Robot controller initialization moved earlier
  11. Export backup default device model is LM3
  12. Automatically exports corresponding Lua script after scene modification
  13. Auto-compares and rebuilds scene related Lua scripts on startup
  14. Deleted legacy test directory
  15. After restoring backup, automatically restarts DS and RC via systemctl
  16. Login interface added password verification logic, returns field verification information on failure

Software versions and download links

2.3.0

Update notes for advanced users

  1. Introduced lua-libmodbus library
  2. Introduced luasocket library
  3. Introduced lua-json library

Update notes for developers

  1. Rewrote blend radius planning algorithm, supports different motion type blend radius settings, non-PVAT motion unified to TG_TP
  2. Modified debug.sh to support scp file transfer and RC restart
  3. Changed flange Modbus implementation mechanism
  4. Changed motion_segment std::string key to char[] key Plain Object
  5. Fixed command queue type subscript judgment
  6. Changed thread to 1ms, changed wait_pop to try_pop, changed moodycamel::BlockingReaderWriterQueue to tbb::concurrent_queue, optimized thread communication
  7. Changed planning algorithm idle judgment to running TRS_RUNNING, Lua judgment for motion end logic added planner idle check, solved Ignored issue
  8. Changed issue method pass by reference to pass by value
  9. Removed program_begin start_sys logic, considered failure when robot is stopped
  10. Lua supports calling other scenes via require('scene.1001')
  11. Fixed ROS movel command parsing error

Software versions and download links