SW Version Information

Release Date: 2026.11.02

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Key Features

Control Algorithm Improvements

Continuous Motion Support for Conveyor Tracking

In previous versions, the conveyor tracking DRL commands (get_conveyor_obj(), tracking_conveyor(), untracking_conveyor()) were processed only while the robot was stopped. As a result, detecting a workpiece and calculating the pick position required waiting for the motion in progress to finish before recalculating the path, and the robot stopped during that time, causing a loss of cycle time.

From V3.7.1, these three conveyor commands can be called while a task motion (movel, movec, moveb, move_spiral, move_periodic, and so on) is being executed. Workpiece coordinate retrieval and the start / stop of tracking are processed while blending between motions is maintained, so the robot can perform pick-and-place operations along a continuous trajectory without stopping.

• The three commands can be called from within a thread, or while an asynchronous motion such as amovel is being executed.
• tracking_conveyor() can now be called again while tracking is being stopped (during deceleration) to resume tracking. In previous versions, this was rejected as a duplicate command.

※ Conveyor tracking commands can only be called during task motions. As in previous versions, they are not allowed during joint, servo, or speed motions.
※ The blocking of joint motion, jog, and force control during conveyor tracking, as well as the behavior of the existing workflow (stop → start tracking → motion → stop tracking), remains unchanged from previous versions.
※ The timeout setting of get_conveyor_obj() can be used as before. If no workpiece arrives while waiting and the timeout elapses, -1 is returned, so the program can be structured to end conveyor tracking and proceed with another operation. Note, however, that omitting the timeout argument or entering 0 results in an indefinite wait.

Bug Fixes

Motion and Control

Improved force control stability for FTS models Improved vibration that occurred according to the robot's posture and the magnitude of the applied force when performing compliance control or force control on the A0912s (FTS-equipped model).

• ※ This improvement applies only to the A0912s; force control and compliance control behavior on other models is unchanged. There are no changes to DRL commands, API specifications, or taught stiffness values.

Improved hand guiding stability on the M0617 Improved vibration that occurred when guiding downward with the elbow extended (joint 3 near 0°) while performing direct teaching (hand guiding) on the M0617 with a tool attached.

• ※ This improvement applies only to free-drive direct teaching on the M0617. Constrained teaching, recovery teaching, and direct teaching on other models are unchanged.

Fixed false collision detection and skipped sections after resuming from a collision stop Fixed an issue where, after resuming a program from an RS1 collision stop, a collision [2.9011] was falsely detected immediately upon resuming and stopped the robot again, and an issue where the remaining section of the stopped motion was skipped and the program proceeded to the next command.

• ※ The issue in V3.7 where an impact noise occurred when resuming a program after an RS1 stop has also been improved.

Fixed tool center of gravity settings being rejected on the P3020 Fixed an issue where tool center of gravity (CoG) combinations that were accepted up to V3.5 were rejected from V3.6 on the P3020 with the [2.1117] "COG is too far away" alarm. Values within the range allowed by the Payload Diagram were increasingly restricted as the tool became heavier; this has been resolved.

• ※ This fix applies only to the P3020; tool setting behavior on the M / H / A / E series is unchanged.

Servo and Recovery

Fixed Servo ON not responding after a Space Limit protective stop Fixed an issue where Manual / Recovery Servo ON produced no response after the robot had entered a protective stop due to a Space Limit violation ([2.9012]).

Task Editor Module

Fixed User Input labels not being displayed The labels configured for True / False were not displayed correctly when a User Input popup appeared while threads were running rapidly during program execution.

Fixed the screen freezing in Custom Code debug mode Resolved an issue where the entire Teach Pendant screen froze when a specific code line was selected after enabling debug mode in the Custom Code window, for scripts in which code folding ranges were deeply nested by triple-quoted strings ("""), colons (:), and the like. Checkbox response speed in large scripts has also improved.

Fixed automatic scrolling when subs are minimized Selecting another row while some subs were minimized scrolled the view to the last line.

Fixed system variable values rolling back When a program was terminated unexpectedly during execution — for example by a power cut — system variable values did not retain their latest values and rolled back to the values at the start of the previous run. Values are now saved every 100 ms during execution and saved immediately when the task stops. The issue where the variable list in the Monitoring tab and the Select Variable popup showed different values has also been resolved.

Fixed undefined functions running with the definition from the previously executed program Calling a function (def) that was not defined in the current program raised no alarm and, if the previously executed program contained a function of the same name, that definition was executed instead. User global variables behaved the same way — values from the previous run remained, so a program that did not initialize its variables could run on the earlier values without any error. Functions and global variables left over from the previous run are now cleared when program execution starts, so calling a function that is not defined in the current program raises an alarm, as it did in V3.5 and earlier.

• ※ This issue occurs in V3.6 and V3.7; it does not occur in V3.5 or earlier.
• ※ System variables are recreated on every program execution and are therefore unaffected. Global variable monitoring (Watch) display and sub-program behavior are also unchanged.

Industrial Communication

Fixed Set Signal not responding in GPR expand mode When the GPR setting of industrial communication (EtherNet/IP) was 'Bit, Int, Float GPR (500 bytes)', executing Set Signal did not transmit the value and the program waited indefinitely in the Play state. DRL commands that do not match the current GPR setting now return an error immediately, and the error message indicates the command that should be used instead.

• ※ Existing programs that use the command matching the setting are unaffected.

Fixed output values written over Modbus not being applied Fixed an issue where writing a value from an external Modbus Master to an output of the controller (Modbus Slave) did not change the actual output. A status-monitoring update overwrote the requested value with the current output value before the write request reached the robot, so the request was lost; due to a change in monitoring processing from V3.6, this occurred in most cases. Output requests are now passed to the robot first during the monitoring update, so the outputs change to the written values.

• Affected outputs: Flange Digital Output (Coil 42–47, Holding Register 22), Control Box Digital Output (Coil 20–35, Holding Register 2), analog output value and type (Holding Register 16–19), and analog input type (Holding Register 5, 7) — for both Write Single Coil and Write Single Register.
• ※ The fix also applies to the output settings of user communication modules (SDK modules) that use the same output request method.
• ※ Modbus read (Coil / Register read) responses, the behavior of the Modbus Slave module itself, and output operation through DRL set_digital_output() / set_tool_digital_output() and the Teach Pendant are unchanged.
• ※ When writing several values in succession, we recommend adding a wait between write requests for stable communication.

Improved Modbus communication failure popups When Modbus communication was momentarily lost or responses were delayed, as many error popups ([1.6013]) as there were signals registered to the slave appeared at once, making operation difficult until all of them had been closed. From V3.7.1, only one popup is raised per failure cause.

• For communication faults (response timeout, disconnection, device status error), one popup is raised per slave; no additional popups appear while the fault persists, and a new popup is raised if the fault recurs after communication has recovered.
• For address and configuration errors (such as a non-existent index), failures with the same error code on the same slave are grouped into a single popup, and a signal that has already been reported is not reported again until it returns to normal.
• The popup details now show the list of failed signals, the cause of the failure, and the target slave information (IP, ID), so you can identify which device failed and why. Up to four signal names and indexes are shown, with the remaining count indicated as (+count).

※ For communication faults, only one entry per slave is recorded in the alarm history viewed in the Log module.
※ In the Modbus Master module, if all signals of the slave are deleted and registered again, one popup is raised again even if the problem has not been resolved. Restarting only the program does not raise it again, as in previous versions.
※ The per-signal normal / failure status display and signal values on the monitoring screen of the Modbus Master module, DRL Modbus read / write operations, the communication timeout and reconnection behavior, and the signal registration failure ([1.6004]) and write failure ([1.6009]) notifications are unchanged.

PREVIOUS RELEASE NOTES

• V3.7 SW Release Note — 2026.08.31
• V3.6 SW Release Note — 2026.05.01
• V3.5 SW Release Notes — 2025.12.19

See also: Software Version Index: Which Release Fixed or Added What — look up a symptom and find the release that fixed it.