Version Description：

Version Description

V 1.0.4

Version Change Description

1. RM_ARM+ Ecosystem Protocol

   • End-effector ecosystem protocol features:

     • Device type auto-identification: Automatically identifies the type of end-effector upon connection.

     • Real-time status monitoring: Supports device offline/online status detection.

     • 50Hz high-speed closed-loop control: Achieves high-speed closed-loop control of position and angle for end-effectors (e.g., grippers, dexterous hands).

     • High-frequency status update: End-effector status data is reported in real-time at 50Hz.

     • Provides interfaces for controlling action gestures and action sequences, along with preset actions and gestures, which can be modified via official tools.

   • End-effector ecosystem device protocol debugging tool:

     • The tool is completely decoupled from the controller and can be used independently for protocol support and verification of end-effector devices, facilitating development and debugging, see User Instruction for the Debugging Tool of RM_ARM+ Protocol.

   • New control interface added to the teach pendant:

     • Added RM_ARM+ ecosystem protocol control interface, integrating end-effector control and monitoring functions. For details, see End-Effector Ecosystem Protocol.

     • The original "Drag Settings" function has been moved to the teaching page to optimize the interface layout.

2. Six-Dimensional Force Drag

   Supports both fast drag and precise drag modes, enhancing flexibility and accuracy in drag teaching. For details, see Teaching Pendant Drag Teaching.

3. Singularity Avoidance Function

   Added a 6-axis singularity avoidance algorithm to ensure smooth motion of the robot near singular points. For details, see Singularity Avoidance.

4. New Model Support

   Adapted to the RML63-III configuration arm. For details, see RML63 Series.

5. Graphical Programming

   • Added palletizing motion function module.

   • Supports creating and saving end-effector tool actions under the control of the end-effector ecosystem protocol, which can be directly invoked in graphical programming. For details, see End-Effector Action.

6. Motion Control Interfaces

   Added joint space following motion movej_follow and Cartesian space following motion movep_follow. For details, see Joint following motion in space and Following motion in Cartesian space.

7. Tool Coordinate System Calibration

   Added manual and automatic identification methods for end-effector load identification. For details, see Tool Calibration System Calibration.

8. Real-time Speed Adjustment Logic Optimization

   • Teaching speed: Only affects manual teaching, homing, and returning to initial position operations.

   • Program file running speed: Only affects loaded program files.

   • Motion interfaces such as API are not affected by the above speed settings.

9. Example File Naming Optimization

   When creating example files multiple times, the naming convention is changed from "random code" to "fixed name + ID" (e.g., "Draw Circle-1", "Draw Circle-2") to avoid confusion.

10. Trajectory File Saving Limit

    The maximum number of points saved in a single trajectory file is adjusted to 35,000 points to prevent performance issues caused by oversized files.

11. Transparent Transmission Logic Optimization

    • Optimized the transparent transmission logic to eliminate a delay of about 10 cycles.

    • Optimized the UDP reporting logic to eliminate the intermittent issue of unchanged data during UDP reporting.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, and API 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：2025/10/24

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: Vd8.2.7 Joint 2: Vd8.a.7 Joints 5, 6, 7: Vd8.d.7
End interface board	V1.9.8
API2	Github: V1.1.2 Gitee: V1.1.2
ROS1	V2.5.0
ROS2	V1.5.0

V 1.0.3

Version Change Description

First release.

Controller Version Correspondence

Table of correspondence between the controller version and the driver version, end interface board version, and API 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
End interface board	V1.9.8
API2	Github: V1.1.0 Gitee: V1.1.0