Version Description：

Version Description

V 1.0.6

Version Change Description

New Features

1. Teaching Pendant Language Switching

   Added support for multiple languages, including Japanese, Korean, Spanish, Portuguese, and Russian.

2. Motion Control

   Added the Cartesian-space velocity pass-through feature. For details, see Cartesian velocity pass-through.

3. Safety Monitoring

   • Self-collision safety monitoring: Monitors the relative distance between the components of the robotic arm. When a self-collision risk is detected, an active warning or braking is triggered. For details, see Self-Collision Safety Detection Command Set.

   • Enhanced motion logging: Added the LOG recording function for motion commands.

   • Position deviation verification: Added monitoring of the deviation between the control command and the actual reached position. When the difference exceeds the preset threshold (the threshold needs to be measured in practice), a log record is generated.

   • Controller undervoltage/overvoltage alarm strategy optimization: Added instantaneous undervoltage/overvoltage filtering, and optimized the undervoltage/overvoltage threshold log alarms and the real undervoltage fault handling strategy.

4. Graphical Programming Extension

   • Global speed setting: Added a global speed control module. Supports dynamically adjusting the execution speed of all subsequent motion commands while the programming program is running.

   • Variable viewer: Provides real-time monitoring of global variables, supporting viewing of the current variable values while the programming file is running.

5. 3D Model Optimization

   Point display control: Supports showing or hiding the saved points in the 3D simulation interface.

6. Ecosystem Adaptation

   • Dexterous hand optimization: Completed the tactile data transmission optimization for the Strong Brain Revo2 dexterous hand, ensuring software and hardware compatibility and control stability.

   • Ecosystem interface extension: Added the end-effector ecosystem device register read-write interfaces. For details, see End Effector Ecosystem Device Register Read-Write.

7. Control Permission Interfaces

   • Added the query and disable switch interfaces for the end blue trajectory-replay button. For details, see Set the enabling state of the end button functions and Get the enabling state of the end button functions.

   • The query and disable switch interfaces for the teaching pendant (Webserver). For details, see Set the enabling state of the teaching pendant function and Get the enabling state of the teaching pendant function.

8. Version Upgrade

   Version upgrade: Supports triggering the system version upgrade through a standard API interface.

Optimization and Improvement

1. Communication Frame Loss Reporting Logic Optimization

   Introduced a multi-dimensional frame loss detection mechanism:

   • Continuous frame loss detection

   • Cumulative frame loss detection

   • socket disconnection and reconnection issue optimization

2. Dynamics Identification Error Enhancement

   Added error feedback when dynamics identification fails, supporting the return of the specific joint numbers that did not pass the identification.

3. Force Control Dragging Safety Admission

   • External force verification: Before enabling force control related functions (such as force control dragging and force-position hybrid control), an external force verification must be performed. Only when the static drift is within a safe range can the normal operation of the force control function be ensured.

   • Force control code optimization: Adjusted the calculation order of the impedance controller position, velocity, and acceleration, further improving the response accuracy of force control interaction.

4. Strategy Optimization

   Added a quaternion validity check before the pose data is passed to the algorithm interface, ensuring the robustness of the input for the underlying trajectory planning.

5. Naming Convention

   • The name of the end sensor in the teaching pendant, the integrated six-axis force, is uniformly changed to 【6F】.

   • Removed the related descriptions of the old "-6FB".

6. The teaching pendant version information page displays the end-effector hardware version number.

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：2026/11/05

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.2.4 Multi-coil driver Ve5.2.6
GEN Series Joint Drives	-
End interface board	V2.0.0
API2	V1.1.7
ROS1	-
ROS2	Github： V1.7.1 humble V1.7.1 foxy V1.7.1 jazzy Gitee： V1.7.1 humble V1.7.1 foxy V1.7.1 jazzy

V 1.0.5

Version Change Description

1. New Model Support

   Supports the RX75 humanoid arm (RX75-6FB, RX75-6FB-V). For details, see RX75 Series.

2. Singularity Protection

   Added a singularity protection feature (enabled by default), with a minimum singularity threshold set to 0.01, effectively preventing loss of control near singularities. For details, see Singularity Protection.

3. 7-Axis Singularity Avoidance

   Supports singularity avoidance for 7-axis robotic arms, with power-off memory to improve safety and continuity in complex trajectories. For details, see Singularity Avoidance.

4. Enhanced Network Configuration

   • Subnet mask validation: Prevents network issues caused by incorrect configurations.
   • Dual IP mechanism: Default IP is 192.168.17.2, improving network redundancy and flexibility.

5. Passthrough Function Optimization

   High-following passthrough: Added a filtering mode.

6. IO Function Multiplexing

   Supports multiplexing of IO port functions.

7. Force Control Dynamic Compensation

   Added dynamic compensation for force control, significantly improving trajectory tracking accuracy during high-speed motion.

8. Graphical Programming

   Added descriptions for nodes (modules).

9. Information Display

   The version information page now includes algorithm library version display for easier version tracking and troubleshooting. For details, see About.

10. Programming File Import/Export Optimization

    The import/export function now supports complete data, including coordinate systems, point information, variables, trajectories, and actions, facilitating file migration and sharing.

11. Fixed IP Address Modification Issue

    Resolved the issue where the IP address could not be directly changed from 192.168.1.18 to 192.168.0.18, and optimized the handling logic for IP addresses containing “0”.

12. New APIs in API2:

    • rm_set_webserver_enabled, for details please refer to Set Web Server Enable State - C/C++ and Set Web Server Enable State - Python respectively.

    • rm_get_webserver_enabled, for details please refer to Get Web Server Enable State - C/C++ and Get Web Server Enabled State - Python respectively.

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：2026/03/08

Item	Version No.
RM, RML, ECO Series Joint Drivers	Conventional driver Vd5.1.0 Multi-coil driver Ve5.1.0
GEN Series Joint Drives	-
End interface board	V1.9.9
API2	V1.1.5
ROS1	-
ROS2	-

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