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ReleaseNotes.md

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xArm-C++-SDK Release Notes

Update Summary

  • 1.14.2

    • Fix the 503 interface protocol identification error issue
    • Added sync parameters to some gpio interfaces to support immediate execution (requires firmware 2.4.101 or above)
    • Added XArmAPIWrapper to C# calls to support simultaneous control of multiple robotic arms
    • Added new interface to support obtaining some error information

  • 1.13.0

    • Compatible with the standard Modbus TCP protocol, providing part of the standard Modbus TCP protocol interface

  • 1.12.2

    • Support partial Task feedback (requires firmware version greater than or equal to v2.1.0)

  • 1.11.6

    • 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)

  • 1.11.5

    • 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)

  • 1.11.0

    • Support transparent transmission (240/241)
    • Modified the centroid unit of ft_sensor_iden_load and ft_sensor_cali_load interfaces to millimeters (originally meters)

  • 1.9.10

    • Support Lite6 Model
    • Fix several bugs

  • 1.9.0

    • Support friction parameter identification interface
    • Support relative motion
    • Repair time-consuming interface (identification) failure due to heartbeat mechanism
    • Fix several bugs

  • 1.8.4

    • Support the Six-axis Force Torque Sensor (not a third party)
    • 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

  • 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) (requires firmware 1.8.0 or higher)
    • Support linear track interface (requires firmware 1.8.0 or higher)
    • Fix the problem of not waiting when the timeout parameter of the motion interface is greater than 0
    • Support macos compilation
    • Fix some bugs

  • 1.6.9

    • Support velocity control
    • Support calibrate tcp offset and user offset
    • Fix several bugs

  • 1.6.0

    • 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
    • Optimize logic, enhance API security, Fix several bugs

  • 1.5.0

    • 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