SW Version Information

Release Date: 2026.06.29

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Important Notice

V3.5.2 is a maintenance release on the V3.5 line and targets the P3020. It was released after V3.6 (2026.05.01), so it is not a predecessor of V3.6 — check your integrated version name before applying it.

Key Features

Control Algorithm Improvements

Improved Stop Motion When the robot stops, the stop time is now calculated based on dynamics so that the robot can stop in accordance with the currently available torque. In addition, if torque is insufficient during the stopping process, the speed is automatically adjusted so that the robot stops quickly when the load is low and more stably and smoothly when the load is high.

Improved Vibration Reduction The micro-vibration that occurred during motion has been improved for the M1013, M0617, A0912, H2515, H2017, and P3020 models. By refining the relational equation between the robot's motors and links, the robot can now follow the user-specified target points more accurately. As a result, path accuracy has been improved, and overall operational accuracy during each process is expected to increase further.

Added Power Clamping Feature In previous versions, Under Voltage or Over Current errors were observed in certain motions. To address this, when the maximum power of the input standard voltage is about to be exceeded during motion, the motion speed is now reduced so that the program can continue running seamlessly without errors.

• In the settings module, you can select the standard voltage you wish to use within the range of 100V to 220V, and then configure the supported power range. The Power Clamping feature operates based on the configured maximum power value.
• This improvement applies only to the H2017 and P3020 models.

Improved Usability of the set_workpiece_weight Command Previously, set_workpiece_weight could only be called while the robot was stopped. For palletizing motions, this affected cycle time because the weight had to be set after detecting the moment when the speed reached 0 during weight changes between Pick & Place. With this improvement, the command now operates without delay and can also be set during motion, such as during blending motions.

• This improvement applies to the H2017 and P3020 models.

Bug Fixes

Modbus-related Fixes

• Fixed an issue where the alarm code 1.6009 (Modbus TCP I/O variable output failed) intermittently occurred while adding signals by connecting the PLC with Modbus TCP coils and setting / resetting coil values.
• Resolved an issue where a Server Error occurred when running a program for an extended period during Modbus communication.
• Fixed an issue where the get_modbus_signal_multi() command failed to return values correctly when executed in a thread.
• Fixed an issue where a Server Error occurred when running a program with an incorrectly entered IP address in the Modbus signal-adding DRL command (e.g. ip="192.168.1.1extratext").
• Fixed an issue where, when add_modbus_signal_multi() and del_modbus_signal_multi() were called repeatedly in a user background thread within a DRL script, an "already added variable" error occurred when re-running the script after termination. Signals added in a thread are now automatically deleted when the program ends.
• Fixed an issue where the Digital Output value rolled back when the Modbus Slave value was changed immediately after changing the Digital Output value.

Other Fixes

• Fixed an issue where a 4th-axis speed limit alarm occurred on the P3020 when using movejx immediately after Servo On.
• Fixed abnormal Blending Motion behavior caused by calibration parameters (DH Parameters).

RELATED RELEASE NOTES

• V3.5 SW Release Notes — 2025.12.19
• V3.6 SW Release Note — 2026.05.01