Version Description:

Version Description

##V 1.7.4

###Version Change Description

1. Added manual collision removal mode command and get manual collision removal mode command, allowing users to manually select the mode:

   • No removal required: Resume motion after receiving motion commands again (default mode);

   • Manual removal required: Must clear errors before resuming motion.

   For details, refer to Manual Collision Removal Mode Command and Get Manual Collision Removal Enable Status respectively.

2. Added the [Current Loop Dragging] feature. When the joint is near the limit position, if drag is enabled, the system will display an error message: "Current loop drag activation failed. The joint is near the limit position."

3. Fixed the issue where joint overspeed and error reporting occurred when using 1% teach speed for posture control.

4. Fixed the issue where joint deactivation occurred when resuming operation after triggering a pause and speed reduction via the real-time speed adjustment interface in graphical programming.

5. Singularity protection function has been opened from administrator function to [Configuration > Robotic Arm Configuration > Security Configuration], please refer to Singularity Protection.

6. Fixed the issue with the default value of singularity protection threshold (the correct default value should be 0.01).

7. [Teach Pendant - Data Management] Data management list now supports sorting in descending order by creation time.

8. [Teach Pendant - Data Management - Global Points] Editing point interaction optimized.

9. Fixed the issue where movep_follow behaves abnormally when pose is expressed in quaternions.

10. Fixed the issue where the teach pendant end-effector dexterous hand current tactile data is misaligned and lost.

11. Fixed the write range of teach pendant Modbus holding registers:

    • signed integer write range: -32768 to 32767;

    • unsigned integer write range: 0 to 65535.

12. Fixed the issue where TCP server does not correctly close the connection after reading data error.

13. Fixed the issue of speed inconsistency between Ctrl layer and Plan layer in real-time speed adjustment, and real-time speed adjustment now supports power-off memory.

14. Temporarily hidden the teach pendant end-effector ecological protocol enable tactile switch and view raw data button.

15. The teach motion limit has been optimized to a real-time soft limit mechanism: During teach motion, the system dynamically adjusts within the motion range based on the soft limit parameters of each joint in real time. After the soft limit is modified, the teach motion will be restricted based on the newly set boundaries.

16. Fix the issue where the JSON command "Start running the specified online programming file by number" and the "Run" button in the teach pendant's data management—graphical programming file list fail to properly execute graphical programming files with names containing a mix of Chinese characters and special characters.

17. Fix the issue where the search box in the teach pendant's data management fails to accept Chinese characters and special symbols.

###Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2025/12/05

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V2.0.0
API2	-
ROS1	-
ROS2	-

V 1.7.3

Version Change Description

1. Added the Cartesian velocity pass-through function. For details, please refer to Cartesian Velocity Pass-Through Initialization and Cartesian Velocity Pass-Through respectively.

2. Added the singularity avoidance function for 7-axis robotic arms. For details, please refer to Singularity Avoidance, Setting Singularity Avoidance, and Getting Singularity Avoidance Mode.

3. Added interfaces for reading end-effector ecosystem device registers and writing to end-effector ecosystem device registers. For details, please refer to Reading End-Effector Ecosystem Device Registers and Writing to End-Effector Ecosystem Device Registers respectively.

4. Fix the inconsistency between the speed returned by the UDP interface and the instantaneous speed based on position difference. For details, please refer to UDP robotic arm state active reporting interface.

5. Fixed the reversed display issue of the end aviation plug on RML63III-B teach pendant.

6. Update the RML63III-6FB URDF teach pendant model.

7. Fix the unclickable issue caused by the flickering pop-up window when copying pose information on the teach pendant.

8. Fix the "setting failed" issue when updating Chinese global points on the teach pendant.

9. End effector load identification - manually add points, supporting the movement of robotic arms through joint teaching.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2025/11/4

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.9
API2	Github：V1.1.3 Gitee：V1.1.3
ROS1	Github：V2.6.0 Gitee：V2.6.0
ROS2	Github： V1.6.0 humble V1.6.0 foxy Gitee： V1.6.0 humble V1.6.0 foxy

V 1.7.2

Version Change Description

• End-effector Load Identification: Load identification supports two methods: Default Point and Manual Detection.
• Customer Service: Add the contact information for Realman Company's official after-sales customer service representative, Rui Xiaobao.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2025/06/17

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.9
API2	Github: V1.1.1 Gitee: V1.1.1
ROS1	-
ROS2	-

V 1.7.1

Version Change Description

• End-Effector Load Identification: Added manual identification function.
• Singularity Avoidance: The robotic arm has added a singularity avoidance function, enabling the arm to bypass singularities by changing some of its joints.
• Collision Detection: Added control commands for collision detection mode when the robotic arm is stationary.
• JSON Commands: Optimized the return values of JSON commands in a unified manner.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2025/06/10

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.9
API2	-
ROS1	-
ROS2	-

V 1.7.0

Version Change Description

• End-effector Control:
  • The end-effector peripheral devices now support the RM_ARM+ protocol, which is disabled by default.
  • Four baud rates are supported: 9600 bps, 115200 bps, 256000 bps, and 460800 bps.
  • When enabled, the system automatically adapts to the connected end-effector and displays the corresponding control interface.
• Robot Arm Teaching - Drag Teaching: The drag teaching function has been moved to the Robot Arm Teaching - Drag Teaching page.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2025/03/11

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.8
API2	Github: V1.0.7 Gitee: V1.0.7
ROS1	Github：V2.4.0 Gitee：V2.4.0
ROS2	Github： V1.4.0 humble V1.4.0 foxy Gitee： V1.4.0 humble V1.4.0 foxy

V 1.6.8

Version Change Description

• 6-DoF Drag Teach: Divides into two modes, Fast Dragging and Precise Dragging.

  • Precise Dragging Mode, which is heavier to drag but offers higher precision, suitable for precise dragging to the target position.
  • Fast Dragging Mode, which is lighter to drag but has lower precision, suitable for quickly dragging to the target position.

• Multi-Language Support: Added support for Spanish, Korean, and Japanese.

• Online Programming: Online programming is waiting for the modbus to be changed to read a single register mode.

• RML63 Robotic Arm: Supports the RML63 III configuration robotic arm.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2025/01/15

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.4
API2	Github: V1.0.6 Gitee: V1.0.6
ROS1	-
ROS2	-

V 1.6.7

Version Change Description

• High-Follow-Through Transparency Function Optimization: In high-follow-through transparency scenarios, three modes are supported.

  • Mode 1: Full Transparency Mode, this is the default mode, which directly passes the original data to the joints, and the joints fully support the trajectory sent;
  • Mode 2: Curve Fitting Mode, in this mode, a smoothing coefficient (0-100) can be input, the larger the smoothing coefficient, the smoother the trajectory; however, the lag effect will be more noticeable, with a maximum lag of about 15 cycles;
  • Mode 3: Filtering Mode, in this mode, users can input filtering parameters (ranging from 0 to 1000). The larger the parameter value, the smoother the motion trajectory of the robotic arm will be. Since filtering technology is used, after the user inputs the last target point, to ensure that the robotic arm can accurately reach the target position, the user needs to continue sending instructions for the last target point until it is confirmed that the robotic arm has reached the final position.

• Top Navigation Bar Optimization: The speed bar displays or sets the current speed of the robotic arm in real-time.

• Graphical Programming Optimization: Adds real-time speed adjustment blocks to the basic category.

• External Interface Optimization: IO control adds real-time speed adjustment options.

• Real-Time Speed Adjustment Function and Interface: Real-time control of the robotic arm's movement speed can be achieved through the teach pendant, IO, Modbus, and online programming.

• Joint Enable Error Optimization: Optimizes the situation where, when the joint drops enable, sending errors and sending motion control commands (MOVEJ, MOVEL, MOVEC, MOVEJ_P, MOVES, etc.) do not return failures.

• Support for Real Mode: Electronic fences and self-collision support real mode.

• 3D Model Supports Copying Position Information: In the pose information area of the 3D model, supports right-clicking to copy position information, and users can choose to copy joint information or pose information.

• Online Programming File Export and Import Optimization: Online programming files support one-click batch export and import.

• Graphical Programming Optimization:

  • Adds a modification time field, supporting viewing in ascending or descending order by modification time.
  • Prompts the line number when stopped, and the click on that line or rerun makes the indicator disappear.

• Modbus Optimization:

  • Add an emergency stop status to the input register addresses: The emergency stop status is triggered by an emergency stop operation and directly cleared upon release.
  • Adds start address inquiry.
  • Adds data format switching for controller 485 and end 485, including unsigned numbers, signed numbers, and hexadecimal numbers.

• JSON Protocol Reply Optimization: Elevator control supports immediate JSON protocol response, with a follow-up response indicating the status of arrival once the position is reached.

• Support for Chinese Naming: Position names and graphical programming file names support Chinese characters.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2024/12/20

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.3
API2	Github: V1.0.5 Gitee: V1.0.5
API	Github：V4.3.7 Gitee：V4.3.7
ROS1	Github：V2.3.0 Gitee：V2.3.0
ROS2	Github： V1.3.0 humble V1.3.0 foxy Gitee： V1.3.0 humble V1.3.0 foxy

V 1.6.6

Version Change Description

• ECO63: Resolved the issue of abnormal display in the 3D model of the ECO63 arm's teach pendant.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2024/11/22

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	Joint 1, 3, 4: Vd8.2.5 Joint 2: Vd8.a.5 Joints 5, 6, 7: Vd8.d.5
End interface board	V1.9.3
API2	Github：V1.0.4 Gitee：V1.0.4
API	Github：V4.3.6 Gitee：V4.3.6
ROS1	Github：V2.2.1 Gitee：V2.2.1
ROS2	Github: V1.2.1 humble V1.2.1 foxy Gitee: V1.2.1 humble V1.2.1 foxy

V 1.6.5

Version Change Description

• Graphical Programming: Resolved the display issue for file names containing underscores "_".
• Pose Editing: To facilitate troubleshooting of joint angle data errors, the page can display the actual position when the joint exceeds the limit range.
• Integrated Six-Axis Force: 3D model rendering optimization; robotic arm models are now suffixed with 6FB.
• TCP Communication Real-time Improvement: Reconstructed the TCP server to enhance communication real-time performance and expand the limit on the number of connections.
• Dynamic Calibration and Load Identification: Dynamic calibration and load identification use a new motion execution strategy, optimizing the modification of joint limits caused by stopping during execution.
• New High-Speed Dexterous Hand Interface: Added interfaces for dexterous hand angle following control and dexterous hand position following control, and the UDP setup report interface now includes a dexterous hand status instruction set.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, API version and ROS version. During software version upgrade, please refer to this table for version correspondence.
When using the development package, be sure to use the corresponding controller version. Please contact the technical support personnel for help.

Updated on: 2024/11/11

Item	Version No.
Driver	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0 Soft brake driver V5.1.0
End interface board	V1.9.3
API2	Github：V1.0.4 Gitee：V1.0.4
API	Github：V4.3.6 Gitee：V4.3.6
ROS1	Github：V2.2.1 Gitee：V2.2.1
ROS2	Github: V1.2.1 humble V1.2.1 foxy Gitee: V1.2.1 humble V1.2.1 foxy

Historical Versions

For more information on the correspondence of historical versions, please refer to the Historical Version Correspondence。