Lebai Help

L Master 2.4

2.4.12

Update notes for regular users

  1. Optimized network configuration, added restore default configuration feature
  2. Fixed fine-tuned motion scene unable to stop

Update notes for developers

  1. Added NIC disable feature
  2. Added network configuration read-only mode

Software versions and download links

2.4.11

Update notes for regular users

  1. Supported five-axis extended arm LM3-5L
  2. Added manual software package upload update feature
  3. Updated website, removed error code jump links
  4. Limited frequency of re-fetching system information during state transitions
  5. Optimized network configuration logic
  6. Fixed startup auto task emergency stop state execution issue
  7. Fixed IO conditional task auto-start robot
  8. Optimized device list, filtering all known devices

Update notes for developers

  1. Optimized non-scene Lua execution speed
  2. Fixed quality platform API call authentication issue
  3. Fixed concurrent read/write map error

Software versions and download links

2.4.7

Update notes for regular users

  1. Fixed continuous motion inverse solution incorrect in special cases
  2. Partially increased support for extended arm LM3-L1 model

Update notes for developers

  1. Fixed: mDNS unable to discover normally
  2. Adjusted: Integrated quality platform code
  3. Improved: Only attempt configuration when NIC device actually exists
  4. Added: Auto-generate position library pose.lua file
  5. Deprecated: Multiple build tags, version tags
  6. Added: Artifact files added platform architecture suffix (arm64, amd64)
  7. Improved: Added mDNS related unit tests
  8. Fixed: Blocked configuration operations on EtherCAT NIC

Software versions and download links

2.4.6

Update notes for regular users

  1. Fixed: Network configuration causing state confusion
  2. Fixed: Static IP unable to resolve domain names normally
  3. Fixed: Backup restore blocked some files, such as static IP configuration
  4. Disabled wireless mode switching
  5. Fixed message center filter style

Update notes for developers

  1. Optimized: Globally disabled IPv6
  2. Optimized: Disabled iwl driver 801.11/n support for enhanced stability
  3. Optimized: Database connection count for improved performance
  4. Fixed: Database close logic not handled properly
  5. Fixed: kinematics_forward, kinematics_inverse, pose_times, pose_inverse commands ineffective (introduced in 2.4.0)
  6. Fixed Lua teach_mode() and end_teach_mode() commands cannot be used during execution

Software versions and download links

2.4.5

Update notes for regular users

  1. Fixed: Created 2 package files, only selected first package to run, actually unselected package also runs
  2. Fixed: Selecting any scene motion block, enabling position verification, verifies first position in scene, not selected first position
  3. Fixed: Lua editor, occasional inserting position gripper etc. information, function ineffective
  4. Fixed: Motion block, adjust blend radius to 0M, then check scene global, shows blend radius 0M, actual blend radius function is 1M
  5. Fixed: Running task, prompts 1144, no error message
  6. Fixed: Motion block converted to lua, same scene, sometimes converted with echo, sometimes without
  7. Network settings added USB and 4G
  8. Wireless configuration hidden enable/disable button, AP mode no longer sets static IP in advance
  9. Added error code 2038: Wi-Fi connection failed

Update notes for developers

  1. Scene configuration added base and TCP model settings entry. Need to manually upload files to /data/data/ds/image/, use with caution.
  2. Fixed: Restructured wireless NIC control
  3. Fixed: Device discovery IP confusion and duplication
  4. Adjusted: Cloud address migrated to new version
  5. Fixed: Task execution related event handling
  6. Fixed: Task count related issues
  7. Fixed: Socket interface causing DS crash
  8. Adjusted: Database driver changed to C version
  9. Fixed: Quality platform related errors
  10. Accelerated movep series command consumption speed (5 per cycle)
  11. Fixed scene startup error after emergency stop

Software versions and download links

2.4.4

Update notes for regular users

  1. Extended speed limit accuracy to 1°. Fixed: Scene speed and acceleration set to maximum, running scene, prompts: joint 5 speed: 180.26 °/s exceeds limit: 180 °/s.
  2. Fixed: Running Lua scene, scene only has position and estop(), run scene, directly emergency stops, error message empty.
  3. Fixed: Robot idle then emergency stops robot, start robot, add non-verification task, prompts: scene execution error. Error message: stop task icon disappears from history tasks
  4. Fixed: During position verification, emergency stop arm, start arm, continue position verification, prompts: scene "milk" execution error. Error message: 2011
  5. Fixed: Set motion pack loop count, display inconsistent with actual loop count
  6. Fixed: Robot stopped or emergency stopped, using /public/task to send task, Web starts robot, task auto-runs. Task history page, no stop task button

Software versions and download links

2.4.3

Update notes for regular users

  1. Fixed coordinate space fine-tuning error -7
  2. Fixed: mDNS runtime logic to adapt to network changes
  3. Fixed: Task state interface performance issue
  4. Fixed: Compatibility errors with update management system
  5. Fixed: USB NIC unable to discover
  6. Fixed guide page installation direction setting ineffective

Update notes for developers

  1. Added: Runtime performance monitoring sampling component
  2. Added: NIC device health status check
  3. Adjusted: Wi-Fi configuration reduced log output
  4. Adjusted: Default cloud OTA address to microservice address

Software versions and download links

2.4.2

Update notes for regular users

  1. Fixed: Setting TCP coordinate transformation including rotation part causes dynamics calculation error
    1. Mainly system has automatic process TCP transformation effect on end-effector, calculation didn't include rotation part
    2. This issue only occurs when re-setting (with rotation changes) already set payload tool
  2. Fixed: Occasional fine-tuning interface, after dragging slider, arm keeps running, doesn't auto-stop
  3. Fixed: After running iWan [milk tea machine] program, running other scenes, execution order not according to scene motion block order. And gripper opens and closes while running.
  4. Fixed: First in fine-tuning interface, drag arbitrarily, then execute move_pt task, prompts: robot planning error. Fault code -8
  5. Fixed: During task execution, add non-verification position task, prompts: robot may be collided
  6. Fixed: Running infinite loop task, constantly clicking pause and resume task buttons, task auto-stops
  7. Fixed: Create 4 position blocks, last two positions same, run infinitely, motion block highlight only shows position 1 and 2, actually runs position 1, 2 and 4
  8. Fixed: Running task, emergency stop robot, start robot, task shows stopped, robot shows running
  9. Fixed: Running Lua scene, scene only has position and estop(), run scene, directly emergency stops, error message empty
  10. Fixed: During execution, add non-verification position task, frequently task shows running, robot shows idle
  11. Startup conditional task executes according to scene set count
  12. Modified OTA check error message
  13. Fixed import scene sorting error
  14. Fixed all pagination related errors
  15. Fixed old device lag issue
  16. Fixed cable not inserted during startup, wired NIC device status cannot initialize normally

Update notes for developers

  1. Debug interface added update beta development package interface
  2. Fixed conditional compilation error
  3. Fixed OTA package name parsing logic
  4. Fixed NIC IP initialization feature
  5. Handled network disconnection during system initialization
  6. Fixed external IO enable failure
  7. Added USB NIC device support
  8. Fixed null pointer error on shutdown
  9. Debug page password fixed to 2019, use with caution.

Software versions and download links

2.4.1

Update notes for regular users

  1. Teaching added TCP calculation needs to multiply current TCP setting. Fixed: TCP enabled state, suggest not to manually teach and add TCP
  2. Implemented automatic route switching, order: wired NIC, wireless NIC, IoT card
  3. HTTP interface added IoT card information, default routing device and other fields
  4. Fixed robot nickname related logic
  5. Fixed wireless name abnormal when nickname not set
  6. Fixed TCP list pagination error
  7. Fixed 3D model lag issue
  8. Fixed version number format error
  9. Fixed frontend WebSocket message push frequency
  10. Changed robot data feature from grpc-web to ws (depends on DS 2.3.2), removed envoy service dependency, solved remote access unable to view oscilloscope data issue. Disabled IP input field (can only connect to local machine)
  11. Fixed voice file unable to upload issue
  12. Throttled backend push data
  13. OTA request failure no longer errors (filtered error 2001)
  14. Updated default font, solved serif font display on iOS
  15. Changed language setting to lowercase, solved Safari default language being English
  16. Adjusted mobile control bar position, fixed: Xiaomi iPad 1920*1200 pixels, portrait Lua editor interface, bottom of screen, icons display overlap
  17. Fixed: Scene selected partial motion blocks, convert to Lua, Lua page unselected motion blocks display empty and preserve position, suggest unselected motion blocks commented out after Lua conversion
  18. Fixed: Collision detection interface, change collision detection switch, click save, collision detection switch auto-updates to pre-change state
  19. Fixed: In safety settings, portrait input custom seconds, display doesn't show, enlarge input field
  20. Removed Lua editor undo/redo button, fixed Lua undo/redo function ineffective
  21. Fixed: Control, preview gripper page, adjust amplitude or force to maximum or minimum, pull too fast, page closes directly

Update notes for advanced users

  1. Can only enable teaching when idle. Fixed: Robot stopped or emergency stopped, using 5180 to send teach_mode(), after starting robot, robot auto-changes to teaching mode
  2. Rewrote Lua state machine handling, no longer associated with robot state machine. Details as follows:
    1. When stop(), marks Lua needs to stop STOPPED
    2. When estop(), marks needs to abort ABORTED
    3. When pause(), marks needs to pause PAUSED
    4. When resume(), marks needs to run RUNNING
    5. Lua code execution checks above states on every line, every function call, every function return, and every 16 instructions, and continues or throws exception. Fixed: After creating socket server in scene, terminate scene but background doesn't stop
    6. Lua initial state is idle IDLE, with start running BEGIN and normal end running END states

Update notes for developers

  1. Added separate WebSocket service to push RingData data externally
  2. Optimized CI build DingTalk notification
  3. Removed incorrect command queue clearing logic
  4. RET_LOOP command added current loop count to id field
  5. Check planning group type and switch before adding to motion queue
  6. Split Lua function implementation
  7. Fixed Lua print printing empty table shows only right bracket
  8. Captured Lua exceptions
  9. Rewrote NIC device initialization process to ensure DHCP related services run normally
  10. Handled process exit, related DHCP, hostapd etc. processes sync exit causing network issues
  11. Fixed incorrect static IP configuration causing default gateway conflict
  12. Optimized cloud communication detection feature
  13. Wireless NIC in AP mode doesn't register mDNS protocol
  14. Updated lebai-kdl to 0.5.0
  15. Fixed time related NULL, field missing etc. issues
  16. Debug page filled default password

Software versions and download links

2.4.0

Update notes for regular users

  1. Lua added stop, emergency stop message prompts, e.g. gripper stop prompts: Scene "add gripper" execution error. Error message: 10646.lua:22: set_claw
  2. Solved gripper command still running after stopping position block

Update notes for developers

  1. [Breaking] Lua 5180 port supports running following commands when robot not in running/paused state: start_sys, stop_sys, stop, pause, resume, estop, print, get_xxx series commands
  2. [Breaking] Emergency stopping and stopping robot interrupts current Lua execution and clears all pending Lua code. Means, user can send commands directly to 5180 after stopping robot for immediate execution. Previous versions continued executing previously sent pending Lua code.
  3. Added failure logic for start, stop, pause, resume
  4. Robot not connected, starting, stopping no longer processes commands
  5. Stop task clears command queue and exits current Lua execution, solves stuck not returning state issue (robot operation command timeout)
  6. Reduced logs causing crashes

Software versions and download links