ChangeLog for the RobotControl software CPRog and iRC igus Robot Control


April 3rd, 2024:
iRC			V902-14-002-5
RobotControl Core	V980-14-002-5
- Fixed: 48V robots used velocities for 24V
- Fixed: External axes moved to 0 when using command Linear or Joint-to-Cart
- Fixed: Logic of command Joint-to-Cart was not executed
- Fixed: CRI Move-To Relative-Tool acted as Relative-Base
- Fixed: GSig states were not displayed correctly
- Fixed: GUI always loaded the standard robot config, not the config of the real robot
- Fixed: Gantry configuration area did not work if axes were missing
- Fixed: Crash when mouse pointer was in 3D view and gantry axes had length 0
- Fixed: Crash on cloud connect if root CA file is missing


March 21st, 2024:
iRC			V902-14-002-3
RobotControl Core	V980-14-002-3
- Added: DLE-LG-001326, DLE-RG-0004-BLDC, DLE-RG-0328, SCARA RL-A9.0216, SCARA RL-A9.0243
- Added: Program command "Copy User Frame"
- Added: Program command "Joint-to-Cart"
- Added: Patch numbers in version numbers
- Added: CRI tab in configuration area
- Added: Links to documentation in configuration area
- Fixed: Crash during app update if app config file was missing
- Fixed: Could not install app if app directory exists but is empty
- Fixed: Crash when clicking "Access Remote Confguration" on first start
- Fixed: iRC did not load program trigger configuration from the core
- Fixed: Remote programs dialog could not access programs in sub directories
- Fixed: Move-To Relative-Tool did a Relative-Base motion
- Improved: The user frame of a motion command can now be selected via a drop down selection
- Improved: Number boxes in app UI transmit more significant digits


February 13th, 2024:
iRC			V902-14-002
RobotControl Core	V980-14-002
- Added: Compatibility warning to legacy and future clients
- Added: support for Python apps
- Added: position logging
- Added: ReBeL KID kinematics
- Fixed: Brake could be reset while estop was detected by enabling motors
- Fixed: Apps did not always stop on disable
- Fixed: Core on Windows stopped when an app got disabled
- Fixed: Z axis of line gantries was displayed with 0 length
- Fixed: Simulations did not load the assigned program on start
- Fixed: Copying programs to simulation
- Fixed: Could not load program in simulation due to incorrect tool type
- Fixed: Saving sub programs in editor did not load them in the Core
- Fixed: Saving projects and changing tools did not set the correct temporary paths for simulation.
- Fixed: Sub program command in program editor handled relative program paths incorrectly
- Fixed: Global signal names
- Changed: Apps must now send their name in each request (this only affects the vision app, earlier versions are now incompatible)
- Changed: Minor GUI improvements
- Improved: Modbus command logging
- Improved: More info in case of IPO error
- Improved: Faster download from simulation and SSH connections


January 2nd, 2024:
iRC			V902-14-001
RobotControl Core	V980-14-001
- Added: Logging of extended error CANV2 messages
- Added: Hardware connect on Windows via PCAN USB (experimental, only in expert mode for now)
- Improved: Error info when connect fails
- Improved: Simulations of real robots now always use the correct velocity setting 
- Improved: Clearer error messages when loading app command
- Improved: Program is unloaded on tool change to prevent running with different tool configuration
- Improved: Tool up-/download now also copies 3D files
- Fixed: Crash when executing app command after removing the app
- Fixed: Wrong simulation was loaded after disconnect
- Fixed: Simultaneous simulations are now possible
- Fixed: All simulated modules are now enabled by default
- Fixed: A6 on teach pendant was showing wrong position value
- Fixed: Tool axes were not removed on tool change
- Fixed: Tool list in configuration section was not sorted
- Fixed: Tool list is now loaded via CRI
- Fixed: Tool was not visible in 3D view
- Fixed: Instable jog motion when dragging the tool axes in 3D view
- Fixed: LED in the status section was red despite module DEAD error
- Fixed: Rendering issues in thumbnails
- Fixed: After connect the trail started at 0 position


November 22nd, 2023:
iRC			V902-14-000-Beta-RC008
RobotControl Core	V980-14-000-Beta-RC008
- Changed: Gantry project and robot configurations are now in gantry-type sub-directories
- Changed: Projects in updater are now in robot-type sub-directories
- Fixed: Tool was not displayed after changing the tool
- Fixed: Tool open/close buttons were not shown
- Fixed: Connection failed if userFrames.xml was missing
- Fixed: userFrames.xml was sometimes accessed as UserFrames.xml
- Fixed: The Manage Programs window is implemented again and should be faster than V13
- Improved: If no program is loaded for execution saving a program in the editor uploads and loads it for execution
- New: Remote logs are now saved on the PC while connected


November 30th, 2023:
iRC			V902-14-000-Beta-RC007
RobotControl Core	V980-14-000-Beta-RC007
- Fixed: Statistics tab in iRC
- Fixed: Crash when adding app command
- Fixed: PLC interface triggered if an input was high on startup
- Fixed: Issues when installed in C:\Program Files
- Fixed: Active command marker in program editor
- Fixed: "Start at command" function in program editor
- Fixed: Previous connections list could not handle multiple entries of a robot with different IPs
- Fixed: Previous connections list was empty after changing language
- Fixed: Minor visualization issue of kinematic "SingleJointRotational"
- Fixed: Sound files were missing
- Improved: Binaries are now signed to prevent trust warnings
- Improved: Moving Rebel robots is prevented until all axes are ready
- Improved: Error messages if app command is incomplete or ill-defined


November 22nd, 2023:
iRC			V902-14-000-Beta-RC006
RobotControl Core	V980-14-000-Beta-RC006
- Initial release