• SW Version Information
• Key Features
  • Dart-Platform
  • Module
    • Robot Parameter
    • Jog Plus
    • Remote Control
    • Settings
  • Dart Studio
  • Programming DRL
    • New Commands
    • Existing DRL Improvements
  • Other Improvements
    • System Stability & Quality
    • Welding & Safety
    • Communication Stability
  • Other Bug Fixes

SW Version Information

Release Date: 2026.05.01

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Key Features

Dart-Platform

Log Module Improvements: Log Retention after Reboot & Export Function

Previously, user logs were initialized upon controller reboot, making issue analysis difficult. This update ensures that logs are retained even after a reboot. Additionally, a function has been added allowing general users (without dealer authority) to easily export logs as text files.

• Log Retention: Previous log history can be viewed on the TP and Dart-Platform even after the controller reboots.

• Log Export: Application logging data can be exported as text files via USB, etc.

• Filtering UI: When many logs are accumulated, only the latest 100 logs are displayed on the screen. Additional logs are automatically loaded as scrolling down.
  Narrow your search by filtering logs by date, category, or level.

  The input search function searches text in real time, based only on the currently loaded logs.

  The filter clear function resets filtering to show all logs from all categories and levels from the past month.

 

Log Filtering & Log Export/Clear

 

Task Editor Structure Improvements: Global Scope Folder Support

Functionality has been expanded to allow folder creation and command structuring outside of Main Sub (Global Scope). Users can now create folders above or below Main Sub to organize programs more flexibly.

• Folder Creation: Folders can be created in the Global Scope area, and commands can be placed inside these folders.

• Constraints: sub, sub task, thread, and Global Variables cannot be placed inside folders and must be declared in the Global Scope. Define variables can only be declared inside Main/Sub/Thread (Local Scope).

 

Example screen of a folder created outside & inside Main Sub in Task Editor

 

I/O Allocation Conflict Management & Visibility Improvements

The UI has been improved to prevent conflicts when using I/O ports between Robot Parameters and Remote Control modules, and to clearly indicate the current port occupancy status.

• Robot Parameter: The port selection list displays the name of the external module currently assigned (e.g., Remote Control). Since Robot Parameters take precedence, new assignments are possible even if the port is occupied by an external module.

   

  

  
   

• Remote Control: If settings overlap with Safety or Normal I/O, a specific error message (e.g., "Overlaps with Safety I/O settings.") is displayed to prevent duplicate allocation.

   

  

Module

Robot Parameter

• Tool Weight’s Inertia Settings: In addition to the existing Center of Gravity settings, the feature has been upgraded to allow registration of all 6 components of the Tool's Full Inertia ($I_{xx}, I_{yy}, I_{zz}, I_{xy}, I_{yz}, I_{zx}$). This optimizes control performance when using heavy tools or tools with significant eccentricity.
  Since inertia values were not previously used, updating from an earlier version to V3.6 will automatically initialize the inertia values to [0, 0, 0, 0, 0, 0].

  If you wish to set inertia values, please reconfigure them in the Robot Parameter or Device Manager module.

  Additionally, when using converted data from V2 Dart-Platform to V3 Dart-Platform, it is recommended to use Device Manager module version 6.0.0 or higher.

   

• Safety Zone Setting UX Improvements: A popup is provided if the user sets a Safety Zone value that exceeds the global robot limit. Users can intuitively choose to automatically adjust the value within the global limit or cancel the setting via the popup.

   

• Tool Weight Setting Bug Fix: Fixed an issue where the Save button remained disabled even if the Inertia Toggle was turned Off during tool weight setting. Now, when the toggle is Off, Inertia values are initialized to 0, allowing for normal saving.
  
   

Jog Plus

• Movement Target Position Mismatch Notification: In the Move tab, if the Current position and the Target position differ, a highlight effect is applied to the Reset button and a warning is displayed in the Input field to prevent incorrect operation. (Exceptions apply when Tool Coordinate is selected.)

Remote Control

• Improved Accessibility for Backdrive & Recovery in Remote Control Mode: Accessibility has been enhanced to allow quick response to emergencies, such as entrapment, while using Remote Control mode.
  Backdrive and Recovery functions can be executed immediately via the top dashboard menu without closing the module.
  Additionally, in the event of collision detection or a protective stop (such as SS2 or RS1), you can easily recover by using the Clamping Escape button combination on the Cockpit, without operating the Teach Pendant.

  • Press and hold the button combination for 3 seconds to enter recovery mode.

  • Double-click the button combination to exit recovery mode

   

  

  Dashboard Top Header Bar

   

• Variable Monitoring Usability Improvement: Fixed an issue where the scroll was reset whenever data was refreshed in the Variable tab of the Remote Control dashboard. The scroll position viewed by the user is now maintained even when variable values are updated in real-time.

   

Settings

• Change Note Multi-language Support: The Change Note in the System Update tab has been improved to support a total of 13 languages, including Korean, French, German, Chinese, and Japanese, in addition to English.

Dart Studio

• Retention of Disabled Attribute Values: Fixed an issue where existing values were reset to 0 when disabling attributes such as Collision Sensitivity in Robot Environment Settings. Previously set values are now retained even if disabled and then re-enabled.

Programming DRL

New Commands

get_digital_output() Added

The get_digital_output() DRL function has been added to check the status of the currently set digital output signal.

• Syntax: get_digital_output(index)

Tool Limit Check DRL Added

A function to verify in advance whether the tool information (weight, center of gravity, inertia) to be set exceeds the physical allowable range of the current robot model before actually applying the tool (set_tool) to the robot. From this update, Full Inertia (6 components) information input is supported, enabling more precise validity checks.

• Syntax: check_tool_limit(tool)

• [Parameter Details]

  • (tool): Tool object

Existing DRL Improvements

Force Control Speed Limit Function

A speed limit parameter has been added to prevent excessive speed during Force Control execution. Two optional arguments, vel_limit_dir and vel_limit, have been added to the existing set_desired_force function.

• Syntax: set_desired_force(fd, dir, time, mod, vel_limit_dir, vel_limit)

• [Parameter Details]

  • vel_limit_dir (int list [6]): Sets the axes to apply the speed limit. (1: Apply, 0: Do not apply)

    • Default: [0, 0, 0, 0, 0, 0]

  • vel_limit (float list [6]): Speed limit values to apply to each axis. (Unit: mm/s, deg/s)

    • Values are applied only to axes where vel_limit_dir is 1.

    • If set to 0, no limit is applied.

MoveB Waypoint Count Expansion

The limit on the number of Waypoints configurable in moveb and amoveb commands has been expanded from 50 to a maximum of 300. This allows for the generation of more complex and precise curved paths.

• Syntax: moveb(pos_list, vel=None, acc=None, time=None, ref=None, mod=DR_MV_MOD_ABS, app_type=DR_MV_APP_NONE)

Other Improvements

System Stability & Quality

• Calibration Parameter Noise Improvement: Resolved a "clicking" noise issue that occurred during the minute position error correction process when calibration parameters were applied. Error was reduced and noise eliminated through Gain value adjustment and calculation optimization.

• P3020 Model Jog Movement Improvement: Fixed a phenomenon where the P3020 model moved in a curve instead of a straight line during Jog movement on the Tool Y-axis. The reference coordinate system definition method was improved to enable normal linear movement.

• Inverter Error (4.1054) Detail Guidance: Improved to display a popup message including specific causes (such as Joint information) instead of a simple error code when inverter data is lost due to abnormal power termination, allowing users to clearly understand the situation.

• Clarification of Compatibility Error Messages: The error popup text displayed when the series (M, A, H, etc.) of the connected robot and controller do not match has been changed to "The connected robot does not match the controller settings" to clarify the meaning.

Welding & Safety

• Robot Ready Sequence Change: The logic has been changed to transmit the Robot Ready signal as On if communication with the welder is normally connected (Connected), regardless of whether a welding command is executed.

• Free-Driving Safety Signal Addition: To enhance safety during Free Drive usage, the Handguiding (L) signal has been added to the Safety Output settings.

Communication Stability

TCP Modbus Slave Coil GPR Expansion

GPR has been added to the Coil area of the TCP Modbus Slave map, enabling both reading and writing of values within the address range specified below.

Coil Read/Write address range: 100–200
For more details, please refer to the file: Doosan_Robotics_Modbus-TCP_Slave_IO_Table_V2.2.pdf

Profinet Communication Error Fix

Resolved an issue where an I/O input range exceeded alarm occurred when the PLC inputted ControlBox Digital Output via Profinet communication.

Modbus Error Fix & Stalibility Improvements

Fixed an error in V3.5 where Coil settings of the TCP Modbus Slave were not properly applied.

Ethernet/IP Communication Stability

Fixed server error issues that occurred during long-term robot operation with PLC via Ethernet/IP communication.

Other Bug Fixes

• MoveJX Singularity Error Fix: Fixed an issue where the movejx command failed to reach the target position near a singularity and caused a Joint Limit error when calibration parameters were applied.

• Welding Cockpit Malfunction Fix: Fixed an issue where Cockpit buttons (Get Pose, Reset, etc.) did not function when using Classic Welding.

• motion_pause Error Fix: Resolved an issue where, after executing the motion_pause() command at least once in Task Editor, pausing and resuming the program caused the command to not progress properly, with only the execution time increasing.

• Zone and Robot Body Collision Detection Fix: Fixed the issue where collision detection between the Space Limit Zone and the robot body did not function properly when using the P3020 model.