Version Description：

Version Description

V 1.0.4

Version Change Description

1. End-Effector Ecosystem Protocol:

   • New support for the RM_ARM+ Protocol is added for end-effector peripheral devices, enabling control of target position and target angle.
   • Supports selection of four baud rates: 9600bps, 115200bps, 256000bps, and 460800bps.
   • When enabled, it independently adapts to the currently connected end-effector and displays the corresponding control interface.

   For details, please refer to End-Effector Ecosystem Protocol.

2. End-Effector Motion: Supports saving target position or target angle data as motions, and enables motion invocation in graphical programming. For details, please refer to End-Effector Action.

3. Singularity Avoidance: A new singularity avoidance function is added to the safety configuration page, supporting singularity avoidance for 6-axis robotic arms. For details, please refer to Singularity Avoidance.

4. Drag Teaching - 6-DOF Force Drag: Supports fast and precise dragging modes. For details, please refer to Teaching Pendant Drag Teaching.

5. End-Effector Load Identification: Supports two methods (default points and manually added points) to automatically calculate data such as the weight and center of mass of the end-effector. For details, please refer to Tool Calibration System Calibration.

6. Supports the RML63III Configuration Robotic Arm. For details, please refer to RML63 Series.

7. Trajectory File Save Size Limit: Supports saving trajectory files with a drag teaching duration of 60 seconds (no restriction on dragging itself, only the size of the saved trajectory file is limited).

8. Trajectory Planning: Supports joint space follow motion (movej_follow) and Cartesian space follow motion (movep_follow). For details, please refer to Joint following motion in space and Following motion in Cartesian space.

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