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Neuromeka Docs Release Notes

Latest maintenance update: 2026/10/29. CB4.0 controllers require Safety MCU firmware v3.5.0 or later.

  • Robots, frames, and devices
    • Humanoid and dual-arm support, including EIR/NAMI and NURI5sDual; arm-specific motion, waypoints, tools, reference links, conveyors, and vision settings
    • Multiple endtools, selectable tool I/O and sensor access, locked joints, and configurable tool links
    • ESI-based EtherCAT device registration, DeviceMapping-based PDO/SDO mapping, ENI generation, and device plugins; ApicooV2 gripper support
  • Programs and interfaces
    • General-purpose text/binary socket commands, variable-based SetGrippers commands, and welding touch sensing
    • Separate control-box and endtool I/O settings in SetSignals
    • Unified Robotiq, DH, and Apicoo gripper commands: activate (cmd1), deactivate (cmd2), and position/speed/torque control (cmd3). Existing DH programs using separate force, position, and speed commands must be updated.
    • Offline Safetics: record command-specific joint-speed limits online and replay them offline
    • Offline IndySDK activation after successful online activation on the same controller; a missing/invalid activation record or a clock rollback requires online activation again
    • Teleoperation constraint, obstacle, collision-sphere, tuning, and runtime-status APIs, with Vive dual-arm examples
    • Modbus TCP status for operating mode, simulation, reduced mode, speed ratios, and 64-bit errors (revision register 1099=1); indexed program capacity increased from 20 to 30
  • Conty and maintenance tools
    • Simplified Chinese support and localized controller status, alarms, and request-failure reasons
    • Variable duplication and batch editing, automatic TCP calibration, current-waypoint highlighting, and connection-progress indication
    • New WebUI for files, variables, configuration, logs, diagnostics, and v2-to-v3 program conversion. Back up programs and settings before conversion.
    • WebWizard improvements for robot/controller setup, EtherCAT master selection, firmware maintenance, encoder backup/restore, diagnostics, and production setup
    • Improved speed limiting, welding parameter handling, Modbus RTU error reporting, Photoneo settings, and software-update reliability
  • Maintenance update — 2026/10/2
    • Fixed the PDO mapping error that prevented recovery with older Rev.E endtools
  • Maintenance update — 2026/10/15
    • Fixed circular-motion direction near 360 degrees and angle-unit/input handling
    • Fixed translational/rotational stiffness application in dual-arm compliance control
    • Fixed incorrect endtool digital outputs in multi-port configurations and Robotiq commands sent to the wrong tool
    • Fixed missing tool indices in sander-command and endtool I/O query responses
    • Improved Chinese alarm and error translations
  • Maintenance update — 2026/10/29
    • Teleoperation: reduced oscillation when tracking joint targets and rejected invalid control settings
    • Force mode: fixed sudden motion during re-entry, stopping, and transitions from MoveJ to MoveL
    • OnRobot: fixed Acontis communication initialization failures when using the device
    • IndySDK: distinguished network unavailability, time-server failures, and invalid responses when activation fails
    • Program Start Permit: added DI-based permission for program start/resume in automatic mode; removing permission does not stop an already running program
    • Conty AMoveL: prevented copy/paste from adding multiple waypoints to a single asynchronous move
  • Known issue: welding circular-motion paths may be incorrect when the requested angle approaches or exceeds 360 degrees.
  • Simplified Chinese in Conty, configurable automatic Servo On delay, and an OPTi5 packing pose
  • Indexed program capacity expanded from 20 to 30 (register commands 1110–1139)
  • Modbus TCP status for operating mode, simulation, reduced mode, speed ratios, and 64-bit errors (revision register 1099=1), added in updates from 2026/9/22
  • Updated robot parameters/default gains for selected Indy7/Indy12 models and improved endtool Modbus RTU firmware compatibility checks
  • Fixed Welcon encoder-zero synchronization, waypoint breakpoints, and IndyDCP2 joint/linear waypoints and speed/acceleration settings
  • Fixed endtool RS485/Modbus RTU communication and firmware-version queries for Panasonic drives, endtools, and I/O boards
  • Fixed safety-board firmware update paths/permissions, Photoneo Detect startup, Conty update reliability, and WebWizard setup permissions
  • Maintenance update — 2026/10/15
    • Fixed ControlTask Lost when renaming a disabled MoveLRel command after saving and reloading
    • Fixed circular-motion direction near 360 degrees and improved Chinese alarm/error translations
  • Known issue: welding circular-motion paths may be incorrect when the requested angle approaches or exceeds 360 degrees.

NC/CB4.0 production release. CB3.0 is not officially supported by this version; use the v3.4.0 series for CB3.0.

  • Support for validated Indy7v3, Indy12v3, NURI5s, NURI30, and OPTi3 controller combinations, with Indy Pro models added to the robot list
  • POWER_OFF startup and separate Reset / Servo On / Start operations; operation-mode locking and separate external-control permission in automatic mode
  • Safety-configuration save/restore, joint-limit configuration, clearer recovery status, and improved reset/stop handling
  • Conty jog popup, Servo On/Off controls, multi-command copy/paste, command-level motion tests, and improved variable editing
  • Welding, program-variable editing during execution, step debugging, Switch/Case, I/O variables, SetToolMass, SetCollParam, SetGlobalSpeed, and Modbus RTU commands
  • Variable-based gripper control, tool-property lists, DO Pulse/PWM, additional DO status functions, and gain reset
  • Online controller/Safety MCU updates, filtered log downloads, event-buffer logs, and controller time/RTC synchronization
  • Endtool RS485-based Modbus RTU requires supported firmware (v1.46 or later)
  • Fixed motion-command completion ordering, log cleanup, NURI30 endtool/servo behavior, Modbus welding connections, and singularity-bypass motion
  • Automatic program startup is disabled in external automatic mode; the controller monitor is disabled by default
  • IndyDCP3 documentation covers public client configuration, operating modes, tool-property lists, joint limits, and safety snapshots

This interim NC/CB4.0 production release was followed by v3.4.2. The final stabilization version is v3.4.1-rc29.

  • NC15/NC30 support, POWER_OFF startup, and separate Reset / Servo On / Start operations
  • Conty jog popup, Servo On/Off controls, multi-command copy/paste, command-level motion tests, and variable-based gripper control
  • Administrator-only startup-program settings and confirmation dialogs before update/rollback
  • rc29 — 2026/6/11: fixed programs advancing before a motion command completes. This is a required patch for v3.4.1 installations. Installation scripts also run when only the version detail changes.
  • rc28 — 2026/4/7: fixed startup-path issues preventing old-log cleanup; the package was rebuilt on 2026/5/13.
  • Earlier stabilization updates: corrected CR12 models and NC/NURI control timing, improved MCU reset/recovery, and fixed pause/resume behavior for events, conditions, singularity bypass, and pallet operations.
  • STEP2PLUS, Acontis EtherCAT master, and expanded NURI support
  • Online update/rollback through Conty, browser-based WebWizard setup, and network configuration in Conty
  • ComplianceMode, ForceMode, PassSingular, GravComp, and F/T Zero commands for applying control functions to child motions
  • Program comments, expanded tree/list views, pinned variables, clipboard editing, MoveJ/MoveL conversion, CloneGroup, and offline motion editing
  • Tool/environment modeling and model-based collision checks, encrypted Conty login/communication, and improved collision recovery
  • Resource monitoring, SystemTrace logs, gripper support, Modbus tool-mass control, and improved motion transitions
  • FR2 — 2025/11/20: fixed startup with emergency stop engaged, automatic startup before Conty connects, duplicated Modbus variables, conditional commands, and SetFrame behavior. Also fixed Acontis recovery, multi-PDO/multiturn devices, and startup without an endtool.
  • FR3 — 2025/12/2: fixed gripper-type/data display and Rev.C endtool gripper access with firmware v1.4.2.
  • FR3hotfix1 — 2025/12/22: improved motor error-code parsing.
  • FR3hotfix2 — 2026/1/6: fixed reduced-mode defaults, duplicated Modbus variables, singularity-bypass motion jumps after pause, and skipped conditions after resume.
  • FR3hotfix3 — 2026/1/8: fixed event threads stopping after pause.
  • FR3hotfix4 — 2026/1/29: fixed silent stops when starting Sleep/motion commands and removed repeated SetVar messages.
  • FR4 — 2026/2/19: combined FR3hotfix1 through FR3hotfix4.
  • FR4hotfix1 — 2026/6/10: fixed programs advancing before a motion command completes and old logs not being deleted. This is a required patch for v3.4.0 installations. Run install.sh; Conty and overwrite-based updates run it automatically.
  • Indy12v3 and nPad support; CB3.0 operation without IndyKey/nPad and API operation in automatic mode
  • Improved program expressions, automatic startup, asynchronous-motion transitions, pallet/pick speed handling, endtool outputs, and Photoneo settings
  • GA3 — 2025/1/23: automatic configuration conversion and install/reboot after Conty updates; fixes for conveyor sequencing, motion transitions, auxiliary axes, program pause/end handling, and log rotation. Avoid sharing a register between Modbus write variables and SetTool-Modbus control.
  • GA4 — 2025/2/26: corrected Busy/MotionFinished status during Sleep commands.
  • GA5 — 2025/3/17: fixed Clone lookup by name and execution when the source motion is disabled.
  • GA6 — 2025/6/4: added WebWizard and system logging, improved variable-driven pallet indexing, and fixed skipped asynchronous motions, condition-related controller exits, and stop/recovery handling. Existing v3.3.2 installations require SystemLoggingTask to be enabled when updating to this patch.
  • GA7 — 2025/6/19: fixed WebWizard access and auxiliary-axis joint jogging; added simulation with auxiliary axes and improved EtherCAT monitoring.
  • GA8 — 2025/8/11: fixed synchronous moves after consecutive asynchronous moves, auxiliary-axis behavior after collision, and pallet-pose generation. Recheck existing pallets when regenerating them after this update.
  • GA9 / GA10 — 2025/8/28 and 2025/9/1 (unofficial builds): corrected multi-PDO device counting and added CB3.0 configuration options for emergency-input and safety-violation handling.
  • GA11 — 2026/2/20: reduced false Safety Task Lost detections.
  • GA12 — 2026/9/15: fixed old-log cleanup. Run install.sh; Conty and overwrite-based updates run it automatically.
  • Added Indy7v3-tommy-A support and corrected nPad enable-switch recognition on integrated control boxes
  • Fixed variable-editor and waypoint UI translations
  • Expanded NURI/ICoN/Opti support, CB3.0, IndyKey and wired nPad support, operating-mode controls, and safety-setting hash display
  • Robotiq/DH grippers, Photoneo 3D vision, conveyor tracking, laser-tracker calibration, and Conty auxiliary-axis control
  • Event conditions, coordinate calculations, MoveLF, MoveGcode, trajectory playback, Clone, TactTime, Sanding, and SetToolMass commands
  • Start execution from a selected line, automatic program saving, improved collision detection, singularity-avoidance jogging, and clearer diagnostics
  • Fixed vision-command editing, pallet/pick waypoint initialization, and MoveR stability
  • Configurable robot/device combinations and EtherCAT topology, auxiliary-axis control, standalone STEP equipment control, and Moby integration
  • IndyDCP3/gRPC, Modbus TCP and IndyDCP2 interfaces; the former shared-memory Python interface was removed
  • Asynchronous AMoveJ/AMoveL/AMoveC, teleoperation recording/replay, singularity-avoidance motion, MoveLF, event threads, and v2 program/parameter conversion
  • hotfix1 — 2024/4/3: fixed variable payloads, SetFrame/MoveL torque-limit errors, stopping behavior, and program/UI handling.
  • hotfix2 — 2024/4/17: expanded robot/device support and fixed 7-DOF motion, multiple IndyEye connections, relative jogging, and program saving.
  • hotfix3 — 2024/5/17: improved EtherCAT startup waiting and fixed program pause/stop, loop-count, endtool DI, and mixed-input waypoint issues.
  • hotfix4 — 2024/5/24: added Clone and fixed startup initialization, waypoint saving, and premature target-reached messages.
  • hotfix5 — 2024/5/27: added automatic program saving and improved copy/paste, alarms, DO configuration, and waypoint updates.
  • hotfix6 — 2024/6/24: fixed recovery after Connection Lost and reconnection.
  • hotfix7 — 2024/7/8: fixed loading the saved mounting angle.
  • hotfix8 — 2024/7/24: fixed kinematic-calibration application, parameter conversion, and Sleep expressions with many variables.
  • hotfix9 — 2024/7/30: fixed vision error results, 7-DOF conversion, endtool output handling, Modbus timing, and initial settings storage; improved jogging, I/O display, expressions, and model display.
  • hotfix10 — 2024/8/1: fixed a program execution error.
  • hotfix11 — 2024/9/25: fixed the mounting angle not being applied at startup and corrected a variable-editor translation.
  • New features
    • Moby API: New Moby API documents added
  • New features
    • Relative motion: jointMove:Relative and frameMove:Relative are added
    • endToolDO command is added in program tree for convenience
    • EndTool test panel is added in 'Setting > Endtool port' menu for convenience
  • Improved features
    • Conty's UI/UX
  • New features
    • New toolchain is applied
    • IndyCARE is launched
    • CORE's temperature measurement is available
  • Improved features
    • Remove dependancy between Indy and IndyCB
    • Improved logging features
  • Obsolete features
    • 'Virtual keyboard', 'Initializing position', 'Over-current reset' menus are deleted
    • 'Program Load [xml]' is deleted
  • New features
    • Possible to update S/W through Conty app
    • Add external interpolator function
  • Improved features
    • Add TRACE, OFFSET function in frameMove
    • Change belnding input argument from level to radius value
  • Obsolete features

v2.2.4b - released 2019/7/1

  • Improved features
    • Support both Rev.B and Rev.C COREs

v2.2.4 - released 2019/5/31

  • Improved features
    • Remove motion and program delay
    • Old version of Indy7 support
    • Improved CORE status check and exception handling
    • Synchronize Threads

v2.2.3 - released 2019/4/19

  • New features
    • Constant speed mode in frameMove command
    • Automatic tuning of threshold values for collision detection
    • Robot mounting angle setting
  • Improved features
    • Possible to change tool property (e.g. mass, com) without turning off the power
    • Speed limit in manual mode for safety
    • Increased movement acceleration in automatic mode
    • Improved indyDCP function

v2.2.2 - released 2019/1/13

  • Improved features
    • DIO configuration settings : the NRMK robots can be controlled simply by using digital I/O and their combination
    • Brake On/Off for Opti5
  • Obsolete features
    • Zero position setting

v2.2.1 - released 2019/1/4

  • New features
    • Pick and place
    • Palletizing : allows the robot to perform the same sequence of motions and actions at several different positions
  • Improved features
    • Convenient settings
      • Easy to set up general tools as well as NRMK dedicated tools
      • Possible to save multiple default program and select a default program when power turns on
    • Enhanced safety
      • All manual motions only move when the button is held down
      • In direct teaching mode, cannot be operated manually
    • Support for new OPTi5 and CB2.0 products