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L Master 3.1

3.1.38

2025-03-12, RCopen in new window (24.7 MB), DSopen in new window (21.0 MB)

  • Adapted LA3 RK control box model

3.1.32

2024-06-12, RCopen in new window (24.3 MB), DSopen in new window (20.9 MB)

  • Added ModBus disconnect reconnect mechanism

3.1.31

  • Fixed collision emergency stop reason anomaly
  • Fixed towardj speed switch not taking effect
  • Optimized fault notification and logs

3.1.30

  • Optimized Lua GC strategy

3.1.29

  • Print resource usage on communication interruption
  • Fixed Lua parallel task memory leak BUG

3.1.28

  • OTA removed timeout

3.1.27

  • Position library empty state compatible with old SDK

3.1.26

  • Fixed DH parameter not taking effect BUG
  • Added position library empty state

3.1.25

  • Fixed plugin unable to stop BUG
  • Serial exclusive mode
  • Serial, ModBus default timeout changed to 800ms
  • Optimized Lua SDK

3.1.24

  • Added pause_move/resume_move
  • Added Lua run_plugin_cmd interface
  • Fixed Lua printing non-continuous array exception
  • Fixed dynamically modifying DH parameters
  • Fixed motion incomplete task ending issue
  • Fixed plugin daemon running stop anomaly
  • Fixed ModBus Server data conversion anomaly

3.1.23

  • Added Lua wait_move interface
  • Reduced file write frequency
  • Reduced communication anomaly probability
  • Optimized gRPC empty events
  • Optimized thread and Tokio runtime

3.1.22

  • Fixed arm power-off gripper position anomaly BUG
  • Reduced gRPC log priority
  • Fixed Lua run count less by 1 BUG
  • Completely removed forced save file to disk feature
  • Fixed partial Lua SDK issues
  • Fixed original Lua Socket data missing task ID BUG

3.1.21

  • Fixed collision Lua task state not changing BUG
  • Fixed move_until triggering collision BUG
  • Fixed collision pause causing joint stall BUG
  • Lua added sync_run interface
  • Fixed Lua task pause specified time not taking effect BUG

3.1.20

  • Fixed JSON-RPC memory leak issue
  • Fixed running task removed from list issue

3.1.19

  • Added EtherCAT abnormal event
  • Fixed forced save file to disk causing communication stutter BUG

3.1.18

  • Optimized arm start/stop time
  • Notify system to save to disk immediately after file write
  • Allow Lua pause event long-term running
  • Can get shoulder, flange button status via get_di
  • Added multi-task related APIs
  • Added task state NONE
  • Added stop motion to collision behavior and prevented collision position stall

3.1.17

  • Fixed burn-in test

3.1.16

  • Prevented duplicate arm start/stop
  • Initialized analog IO voltage/current mode
  • Fixed pose_add interface
  • Added auto-configuration item interface

3.1.15

  • Fixed speed 0 abnormal behavior
  • Added start/stop failure retry feature

3.1.14

  • Improved system update feature
  • Improved data cleanup feature
  • Fixed device discovery device online status anomaly
  • Fixed speedj anomaly
  • Optimized arm start/stop

3.1.13

  • Added plugin feature
  • Added system update feature
  • Improved virtual IP interface
  • Improved data cleanup, restore, backup features
  • Fixed lua async_task interface

3.1.12

  • All moves including speed, movep return MotionId
  • Fixed lua async_task interface
  • Reduced collision detection sensitivity
  • Serial communication added parity setting
  • Serial, ModBus added timeout setting
  • Lua scene interface supports parameters and return values
  • ModBus communication delayed 10ms after completion waiting for RS485 receive/transmit state switch
  • Improved lua task interface
  • Speed supports timeout stop
  • Optimized lua error messages
  • Detect lua infinite loops

3.1.11

2023-05-17, RC 3.1.11open in new window (31.7 MB), DS 2.4.6open in new window (20.8 MB), UI 1.16.0

  • Optimized firmware OTA
  • Improved voice OTA
  • Quick task compatible with old task_id
  • Fixed task end time missing BUG
  • Robot initialization supports control box model setting
  • Added trajectory recording and playback feature
  • Fixed first button press failure after boot BUG
  • Lua added on_robot_state event for robot state changes
  • Store sound and light styles
  • Implemented Raspberry Pi CRC check, sequence number, FunctionCode features
  • Optimized collision prompts
  • Added serial operation interface

3.1.8

2023-02-22, RC 3.1.8open in new window (28.8 MB), DS 2.4.5open in new window (20.8 MB), UI 1.16.0

  • Added Modbus TCP server
  • Optimized joint limit feature
  • Added Raspberry Pi board configuration file
  • Auto-update position library when running Lua code
  • Speed factor minimum 10%
  • Fixed unable to emergency stop during startup BUG

3.1.6

2023-02-03, RC 3.1.6open in new window (29.3 MB), DS 2.4.4open in new window (20.8 MB), UI 1.16.0

  • Adapted Raspberry Pi IO
  • Fixed stuck in starting during start/stop
  • Fixed stuck when starting task
  • Fixed communication board firmware partition acquisition anomaly BUG
  • Fixed arm still able to run move commands when not enabled BUG
  • Fixed servo parameter save not taking effect BUG

3.1.5

2023-01-09, RC 3.1.5open in new window (29.2 MB), DS 2.4.4open in new window (20.8 MB), UI 1.16.0

  • Added JSON-RPC exception message feature
  • Fixed arm still able to call motion interfaces when not started BUG
  • Fixed extended arm default DH parameter anomaly
  • Fixed Lua code sent via Lua Socket unable to terminate BUG
  • Added wait_task interface
  • mDNS filtered local IP
  • Updated Lua SDK
  • Fixed pause resume causing command anomaly BUG
  • Fixed move_until anomaly BUG

3.1.3

2022-12-10, RC 3.1.3open in new window (34.3 MB), DS 2.4.3open in new window (20.8 MB), UI 1.16.0

  • All-new pose type to support dynamic workpiece feature modification
  • Added move_hybrid for automatic singularity avoidance
  • Added temporary disable collision detection
  • Added three-point calculate feature coordinate system interface
  • Task defaults to serial task on start
  • Task start interface returns after starting execution
  • Button task migrated to application layer
  • Adapted new mDNS data packet
  • Lua SDK adapted ARM architecture system
  • System runtime data separated from user data
  • Fixed unable to receive new commands during start/stop and when motion buffer is full BUG
  • Fixed communication board exception causing infinite restart BUG

3.1.2

  • Added MotionId related features
  • Added backup and restore feature
  • Added Zip compression and decompression feature
  • Supported DI pin as button use
  • Supported custom button combination feature
  • Lua auto-imports SDK and auto-connects to local machine
  • Arm config, user config auto-restore on restart
  • Distinguished arm DH parameters and KDL world coordinate DH parameters
  • Database distinguished arm config, user config, user data
  • Enhanced channel stability
  • Fixed anomaly caused by duplicate start/stop during starting and stopping
  • Fixed interface error after emergency stop
  • Fixed JSON-RPC subscription disconnect not releasing resources properly BUG
  • Fixed inverse solution causing software crash BUG
  • Simplified gRPC logs
  • Unified UTC timezone usage

3.1.1

  • Used PREEMPT_RT to replace RTAI
  • Added JSON-RPC over HTTP, using ports 3020 and 3021
  • Added reboot command for control box restart
  • Auto-restart control box after EtherCat disconnects for 30s
  • Scene stored in file system
  • Fixed unable to get communication board SN BUG
  • Fixed TCP position empty on boot BUG
  • Optimized gripper retry count when not connected
  • File system uploads executable binary

3.1.0

  • JSON-RPC changed to single parameter mode
  • Merged Frame and Pose structures
  • Supported specifying joint to set zero position

3.1.0-beta.8

  • Supported setting extended servo parameters
  • JSON-RPC supports delete, rename files/folders
  • JSON-RPC refined hardware parameters
  • Fixed switching simulation mode causing joint revolution count error BUG
  • Fixed Lua code issue causing task unable to stop BUG

3.1.0-beta.7

  • Motion related operations no longer monitor timeout
  • Resend and record count on CAN unstable
  • Added file operations
  • URI encoded special characters in database key values
  • History tasks only keep recent 40
  • After data setting completes, wait one cycle to sync data before returning success

3.1.0-beta.6

  • Added TowardJ
  • Flange Modbus auto-retries 3 times
  • Used EulerZyx to replace RPY
  • Fixed pose matrix default empty causing program crash BUG

3.1.0-beta.5

  • Database fully replaced SQLite with KVDB
  • Separated Modbus feature from IO feature

3.1.0-beta.4

  • Database gradually replaced SQLite with KVDB
  • Position library, feature library storage supports workspace
  • Lua auto-terminates if executed more than 20 times within 1 second
  • Fixed Lua stdout not stored BUG
  • Fixed fine-tuning motion stop delay

3.1.0-beta.3

  • Lua added feature to create independent threads for scene execution
  • Moved operation logs, task list from database

3.1.0-beta.2

  • Added set_force interface for external force control sensor
  • Lua added timestamp method for millisecond timestamp
  • Fixed emergency stop flange Modbus no return value
  • Fixed joint zeroing array overflow
  • IO/Modbus/Signal no longer records operation logs
  • On RC restart, forces all running tasks to Interrupt (terminated) state

3.1.0-beta.1

  • Adapted Raspberry Pi
  • Fixed unable to get paused state serial task BUG
  • Cache current task info before command execution
  • Signal added continuous read/write feature
  • Monitor hardware control layer each command start time
  • Stop motion, disable joint, power on/off no longer actively terminates task execution
  • lua: Added disable_auto_sync for disabling auto-wait before command
  • lua: Can set global functions on_robot_stop, on_task_exit, on_task_pause, on_task_resume for event callbacks

3.1.0-alpha.7

  • Moved interface call logs from stdout to database
  • Auto-stop motion when move speed reaches edge
  • Auto-pause receiving cmd when kdl buffer nearly full or stopping motion, no longer requires manual check
  • Temporarily removed gripper boot initialization check due to gripper hardware compatibility issues
  • Fixed database rename issue where it renames even when name not duplicated
  • Lua scene command uses async execution
  • Added Lua rt_sleep command, error 0~10ms
  • Lua join renamed wait_all; select renamed wait_any
  • Optimized move_pvat, only supports joint space, not coordinate space
  • Lua auto-runs /data/data/rc/scene/pose.lua on startup
  • Added HTTP file upload, download features

3.1.0-alpha.6

  • Supported aarch64 simulation environment
  • Used SQLite to store DH parameters, servo parameters
  • Rewrote SQL migration files
  • Only renamed configuration file when modifying device model
  • Handled Lua socket disconnect receiving empty data
  • Stop all running tasks in database when restarting RC

3.1.0-alpha.5

  • Used protobuf to generate JSON-RPC interface
  • Provided KV storage

3.1.0-alpha.4

  • Optimized data immediately available after setting
  • Optimized running state to arm moving
  • Fixed collision triggered when new move command executes before stopping task completes
  • Fixed emergency stop when setting servo parameters
  • Supported adjusting robot position arbitrarily in simulation mode
  • Added JSON-RPC IO interface Modbus support
  • Fixed Lua not waiting for program_end after receiving program_begin
  • Fixed pose anomaly BUG

3.1.0-alpha.3

  • Added gripper initialization interface
  • Digital input/output uses 0/1 instead of boolean type
  • Added task stdout
  • Added protobuf to json feature

3.1.0-alpha.2

  • Opened flange Modbus interface
  • Joint position supports setting reference frame
  • Duplicate scene names auto-renamed
  • Improved JSON-RPC interface

3.1.0-alpha.1

  • Added sub-task feature
  • Opened partial JSON-RPC interface
  • Opened all-new Web operation interface
  • Opened Lua multi-runtime TCP Socket
  • Added Lua luasocket third-party library
  • Fixed gripper amplitude not updating when item unexpectedly drops
  • Optimized arm power-on time