-
- Fixed the problem that single joint or direction movement fails in some cases (valid from firmware 2.5.0)
- Added standard ModbusTcp client and Gcode client
- GPIO control supports immediate execution
- Support new version of vacuum gripper
- Support the studio-2.5.0 blockly project conversion to python
-
- Supports obtaining unsaved track recording duration
- Fix the abnormal path of running blockly program in some cases
- Fix the return format of getting C23 and C38 errors
- Supports obtaining identification status
-
- Friction identification supports xarm7_mirror model
- Fix the abnormal return value of blockly conversion robotiq related interface
-
- Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface
-
- Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)
-
- Correct the ambiguity that the
set_position_aa
interface is true when both relative and is_tool_coord are true. After the correction, when is_tool_coord is true, relative is invalid (previously is_tool_coord was invalid when relative was true)
- Correct the ambiguity that the
-
- Optimization pause time is too long (wait=true)
- Add common motion api (Enabled after firmware version 1.11.100)
- The Cartesian motion-related interface adds the motion_type parameter to determine the planning method (Enabled after firmware version 1.11.100)
-
- Support transparent transmission
- 240:
set_tgpio_modbus_timeout(..., is_transparent_transmission=True)
- 241:
getset_tgpio_modbus_data(..., is_transparent_transmission=True)
- 240:
- Modified the centroid unit of the
ft_sensor_iden_load
andft_sensor_cali_load
interfaces to millimeters (originally meters)
- Support transparent transmission
-
- Use monotonic time
- Fix several bugs
-
- Use monotonic time
- Fix several bugs
-
- Support Lite6 Model
- Fix several bugs
-
- Support friction parameter identification interface
- Support relative motion
- Support xarm6-type11 firmware
- Repair time-consuming interface (identification) failure due to heartbeat mechanism
- Fix several bugs
-
- Support the Six-axis Force Torque Sensor (not a third party)
- Add threads to handle callbacks
- Modify the reporting processing logic and optimize the processing of sticky packets
- Fixed frequent switching of the pause state causing the program to hang
- Fix the program hangs when setting the mechanical claw position in speed mode
- Fix relative movement in unsynchronized position
-
- Support for blocky code conversion and operation of xArmStudio-1.8.0
- The Velocity interface supports the duration parameter (requires firmware 1.8.0 or higher)
- Added identification interface (current identification and torque identification)
- Support linear track interface
- Support calling some studio APIs
-
- Support for blocky code conversion and operation of xArmStudio1.6.9
- Support velocity control
- Support calibrate tcp offset and user offset
-
-
-
Support for blocky code conversion and operation of xArmStudio1.6.5
-
-
- Support the xArm BIO gripper, Robotiq 2F-85 gripper and Robotiq 2F-140 gripper
- Support position detection trigger the controller analog IO
- Support self-collision model parameter setting
- Support Modbus communication of end tools
- Supports TCP timeout for setting instructions
- Support joint motion with circular interpolation
- Support for blocky code conversion and operation of xArmStudio1.6.0
- Optimize logic, enhance API security, Fix several bugs
-
- The new parameter of
set_servo_cartisian
interface is used to support servo cartisian movement of tool coordinate system - Support delayed trigger digital IO
- Support position detection trigger digital IO
- Support configure the stop state to automatically reset IO signal
- Support motion commands based on axis angle
- Support to calculate the offset between two points
- Support for blocky code conversion and operation of xArmStudio1.5.0
- The new parameter of
-
- Support servo cartesian interface
- Support for blocky code conversion and operation of xArmStudio1.4.0
-
- Added several attributes
- Support tool coordinate system movement
- Support joint range limitation, collision rebound setting
- Support user coordinate system setting
- Support the status of the air pump
- Added counter interface
- Support for blocky code conversion and operation of xArmStudio1.3.0
-
- Fix the parameters of the control box GPIO analog signal
- Support for more Gcode commands
- Support trajectory recording
- Support for reduced mode settings
- Optimize some interfaces and bug fixes
- Support for blocky code conversion and operation of xArmStudio1.2.0
-
- Modify the claw interface
- Modify error code and error message
- Support for blocky code conversion and operation of xArmStudio1.1.0
-
- Support for the latest firmware 1.0.0, compatible with old firmware
- Support mount angle setting interface
- Support controller IO interface
- Modify clip and Tool GPIO communication protocol, compatible with standard modbus
- Modify the interface name and parameters of the Tool GPIO, note that the value of the parameter ionum is changed from [1, 2] to [0, 1]
- Support for blocky code conversion and operation of xArmStudio1.0.0
-
- Added GPIO example
- Compatible with old reporting protocols using new reporting protocols
- New tools to convert xArmStudio's app code into Python code
-
- Support torque detection
- Support drag teaching mode
-
- Support GPIO interface
-
- Compatible with 5, 6, and 7 axis robot arms
-
- Supports trajectory repeat motion interface with circular interpolation, supports repetition times, calibration
- Increase joint limits, attitude angle limits and cmd cache limits
- Exchange the parameters of the attitude angle yaw and the attitude angle pitch, but retain the parameter position
-
- By specifying the value of the default parameter of the interface in the instantiation parameter, using angle or radians
- Unify all interfaces by default using angle or radians
- More interface routines
- More detailed interface documentation
- Richer interface
- Set interface alias
- Modified the default values of the default parameters of some interfaces, but support the use of parameters to be compatible when instantiating
-
- Support serial port and TCP connection
- Support parameter to enable reporting
- Support callback register and release
- Support Gripper setting
- Support servo setting (Some interfaces are limited to professional debugging)
- Unified return value
- Snaps an exception and returns the specified return value