Version

Date

Update Description

V3.9.3

2026-02-11

1.ServoCart() interface added extended axis parameters

2.SetOutputResetCtlBoxDO() interface added parameter for whether to reload DO state before reset after pause resume

3.SetOutputResetCtlBoxAO() interface added parameter for whether to reload DO state before reset after pause resume

4.SetOutputResetAxleDO() interface added parameter for whether to reload DO state before reset after pause resume

5.SetOutputResetAxleAO() interface added parameter for whether to reload DO state before reset after pause resume

6.SetOutputResetExtDO() interface added parameter for whether to reload DO state before reset after pause resume

7.SetOutputResetExtAO() interface added parameter for whether to reload DO state before reset after pause resume

8.SetOutputResetSmartToolDO() interface added parameter for whether to reload DO state before reset after pause resume

9.Added GetInverseKinExaxis() inverse kinematics solution interface including extended axis position

V3.9.2

2026-01-26

1. Added a processing strategy parameter for undetected force/torque to the FT_RotInsertion() interface

2. Added robot fixed-point tracking related parameters to the LaserSensorRecordandReplay() interface

3. Added the MoveStationary() interface

4. Added the TCPComputeRPY() interface

5. Added the TCPComputeXYZ() interface

6. Added the TCPRecordFlangePosStart() interface

7. Added the TCPRecordFlangePosEnd() interface

8. Added the TCPGetRecordFlangePos() interface

9. Added the PhotoelectricSensorTCPCalibration() interface

V3.9.1

2025-12-25

1. Added oacc speed scaling factor parameter / physical acceleration parameter to the MoveL() interface;

2. Added oacc speed scaling factor parameter / physical acceleration parameter to the MoveC() interface;

3. Optimized parameter descriptions for physical speed and physical acceleration in the Circle() interface;

4. Added FT_Control() overloaded function with rx, ry activation thresholds and torque adjustment coefficient parameters;

5. Added SerCoderCompenParams() interface;

V3.9.0

2025-11-26

1. JointSensitivityCalibration() interface adds j1~j6 joint linearity return

2. Added JointHysteresisError() interface

3. Added JointRepeatability() interface

4. Added SetAdmittanceParams() interface

5. Added MoveToIntersectLineStart() interface

6. Added MoveIntersectLine() interface

V3.8.7

2025-10-21

1.FT_Control() adds mass parameter and damping parameter interface

2.Adds JointSensitivityCalibration() interface

3.Adds JointSensitivityCollect() interface

4.Adds MotionQueueClear() interface

5.Adds GetSlavePortErrCounter() interface

6.Adds SlavePortErrCounterClear() interface

7.Adds SetVelFeedForwardRatio() interface

8.Adds GetVelFeedForwardRatio() interface

9.Adds RobotMCULogCollect() interface

10.State structure adds ServoJ command count and last command target position data

11.New spiral parameter structure SpiralParam adds velocity acceleration parameter mode

V3.8.6

2025-09-19

1.SetLoadCoord() interface adds load number parameter

2.Adds LaserTrackingLaserOnOff() interface

3.Adds LaserTrackingTrackOnOff() interface

4.Adds LaserTrackingSearchStart_xyz() interface

5.Adds LaserTrackingSearchStart_point() interface

6.Adds LaserTrackingSearchStop() interface

7.Adds LaserTrackingSensorConfig() interface

8.Adds LaserTrackingSensorSamplePeriod() interface

9.Adds LoadPosSensorDriver() interface

10.Adds UnLoadPosSensorDriver() interface

11.Adds LaserSensorRecord1() interface

12.Adds LaserSensorReplay() interface

13.Adds MoveLTR() interface

14.Adds LaserSensorRecordandReplay() interface

15.Adds MoveToLaserRecordStart() interface

16.Adds MoveToLaserRecordEnd() interface

17.Adds MoveToLaserSeamPos() interface

18.Adds GetLaserSeamPos() interface

19.Adds ImpedanceControlStartStop() interface

20.Adds GetToolCoordWithID() interface

21.Adds GetWObjCoordWithID() interface

22.Adds GetExToolCoordWithID() interface

23.Adds GetExAxisCoordWithID() interface

24.Adds GetTargetPayloadWithID() interface

25.Adds GetExAxisCoordWithID() interface

26.Adds GetCurWObjCoord() interface

27.Adds GetCurExToolCoord() interface

28.Adds GetCurExToolCoord() interface

29.Adds KernelUpgrade() interface

30.Adds GetKernelUpgradeResult() interface

31.Adds CustomWeaveSetPara() interface

32.Adds CustomWeaveGetPara() interface

33.State structure adds tool, workpiece, external tool, extended axis coordinate system and load mass, centroid data

V3.8.5

2025-08-20

1.MoveL(), MoveC(), Circle() commands add velAccParamMode parameter

2.Adds MoveJ(), SplinePTP(), ExtAxisSyncMoveJ() automatic forward kinematics calculation interface

3.LoadTrajectoryLA() adds uniform velocity lookahead switch parameter

4.Adds MoveL(), MoveC(), Circle(), NewSplinePoint(), NewSpiral(), ExtAxisSyncMoveL(), ExtAxisSyncMoveC() automatic inverse kinematics calculation interface

5.Adds SetSuckerCtrl(), GetSuckerState(), WaitSuckerState() suction cup control interfaces, SetExAxisRobotPlan() synchronized motion strategy interface

6.Adds OpenLuaUpload(), GetFieldBusConfig(), FieldBusSlaveWriteDO(), FieldBusSlaveWriteAO(), FieldBusSlaveReadDI(), FieldBusSlaveReadAI(), FieldBusSlaveWaitDI(), FieldBusSlaveWaitAI() robot slave mode control commands

V3.8.4

2025-07-17

1.ExtAxisMove() interface adds blend smoothing parameter

2.Adds SetFocusCalibPoint() interface

3.Adds ComputeFocusCalib() interface

4.Adds SetFocusPosition() interface

5.Adds FocusStart() interface

6.Adds FocusEnd() interface

7.Adds SetJointFirmwareUpgrade() interface

8.Adds SetCtrlFirmwareUpgrade() interface

9.Adds SetEndFirmwareUpgrade() interface

10.Adds JointAllParamUpgrade() interface

V3.8.3

2025-06-24

1.Circle() interface adds acceleration percentage and smoothing radius parameters

2.EndForceDragControl() interface adds robot collision detection flag parameter during assisted dragging

3.ServoJ() interface adds command ID parameter

4.Adds SetWideBoxTempFanMonitorParam() interface

5.Adds GetWideBoxTempFanMonitorParam() interface

6.State structure adds control box temperature and fan current status data

V3.8.2

2025-06-13

1.WeaveSetPara() interface adds swing direction roll angle (rotation around swing X-axis) parameter

2.WeaveChangeStart() interface adds swing number, welding start speed, welding end speed parameters

3.ExtDevSetUDPComParam() interface adds whether to automatically establish connection after power restart parameter

4.SetCollisionDetectionMethod() interface adds collision level threshold method selection

5.PtpFIRPlanningStart() interface adds unified joint jerk extreme value

6.Adds WeldingSetVoltageGradualChangeStart() interface

7.Adds WeldingSetVoltageGradualChangeEnd() interface

8.Adds WeldingSetCurrentGradualChangeStart() interface

9.Adds WeldingSetCurrentGradualChangeEnd() interface

10.Adds ArcWeldTraceAIChannelCurrent() interface

11.Adds ArcWeldTraceAIChannelVoltage() interface

12.Adds ArcWeldTraceCurrentPara() interface

13.Adds ArcWeldTraceVoltagePara() interface

14.Adds GetSmarttoolBtnState() interface

15.Adds ExtAxisGetCoord() interface

V3.8.1

2025-04-24

1.ConveyorSetParam() interface adds tracking motion type, tracking start distance, tracking end distance parameters

2.Adds AccSmoothStart() interface

3.Adds AccSmoothEnd() interface

4.Adds RbLogDownload() interface

5.Adds AllDataSourceDownload() interface

6.Adds DataPackageDownload() interface

7.Adds GetRobotSN() interface

8.Adds ShutDownRobotOS() interface

9.Adds ConveyorComDetect() interface

10.Adds ConveyorComDetectTrigger() interface

V3.8.0

2025-02-12

1.EndForceDragControl() interface adds singularity avoidance parameter

2.ArcWeldTraceControl() interface adds offset parameter

3.Adds WeaveChangeStart() interface

4.Adds WeaveChangeEnd() interface

5.Adds LoadTrajectoryLA() interface

6.Adds MoveTrajectoryLA() interface

7.Adds CustomCollisionDetectionStart() interface

8.Adds CustomCollisionDetectionEnd() interface