We’re excited to announce the latest software updates for MachineMotion v3.2.0. This release exposes support for the MMAI URcap, multiple Tool Center Points per robot, and new code free instructions for Robot Stop, Robot Move Relative, and Wait For.
This release also removes a deprecated third-party dependency that was blocking successful OTA upgrades from v3.1.0 and earlier to v3.2.0, v3.2.2, and v3.3.2.
🛠️ Full Release Notes
General
Introduced support for the Heavy Duty Rotary Actuator and Telescopic Column actuators, throughout the Configuration, MachineLogic and Control Center.
Configuration: Each robot can now define multiple Tool Center Points (TCP). One of them will be the default one, applied on boot up.
MachineLogic
Full MachineLogic instruction card revamp.
New Command menu with instruction categories.
New instruction UI with typed input fields.
Actuator motion commands can now be toggled async or blocking.
State Machine instruction now supports Inline sequences.
New Robot Stop instruction. This instruction allows users to safely stop a robot's motion at any point during program execution.
New Robot Move Relative instruction. This instruction allows users to program relative robot motion with respect to the currently active TCP
New Wait for Multiple. This new instruction lets users configure multiple Wait for clauses (MQTT Event, Digital Input State, Digital Input Transition, Motion Completion, Time, Condition. A guard condition can also be added to certain Wait For clauses.
New Robot Set TCP instruction. in ML and MC.
Removal of a 20 ms polling loop to reduce IO latency in Code-Free (not applicable to ML python)
Firmware
Support for the URcap software.
Bumped up the file size that can be uploaded to the MMAI to 100Mb.
Disabled velocity monitoring on motor drives.
TCP Socket API
Introduced a breaking change by adding an end of line character to every command
Introduced the heartbeat mechanism as well