This index answers one question: "My robot has this problem — has it already been fixed in a newer software version?"
Before investigating a symptom or replacing a part, check the tables below. Many reported issues are resolved simply by updating the software.
How to check your current version
-
Integrated controller (V3.x) — DART-Platform > Settings > System Update. The Integrated Version Name (for example
V3.7.0) is the number used throughout this index. -
Legacy controller (V2.12.x) — DART-Platform > Settings > System Update. The version appears as
GV0212xx00.
The V2.12 line and the V3 line are separate product lines, not a single sequence. A fix listed for V3.6 is not present in V2.12.5 unless it is also listed there.
Release chronology
| Version | Release date | Line | Release note |
|---|---|---|---|
| V3.7.1 | 2026.11.02 | V3 | V3.7.1 SW Release Notes |
| V3.7 | 2026.08.31 | V3 | V3.7 SW Release Note |
| V3.5.2 | 2026.06.29 | V3 (P3020 maintenance) | V3.5.2 SW Release Note |
| V2.12.5 | 2026.06.08 | V2.12 | V2.12.5 SW Release Note |
| V3.6 | 2026.05.01 | V3 | V3.6 SW Release Note |
| V2.12.4 | 2025.12.22 | V2.12 | V2.12.4 SW Release Note |
| V3.5 | 2025.12.19 | V3 | V3.5 SW Release Notes |
| V2.12.3 | 2025.10.17 | V2.12 | V2.12.3 SW Release Note |
| V3.4 | 2025.07.23 | V3 | V3.4 SW Release Note |
Note: V3.5.2 was released after V3.6. It is a maintenance release on the V3.5 line for the P3020, not a predecessor of V3.6.
⚠ Read before updating — behaviour that changes
| V3.7 | Force control trajectories may change. Motion commands overlapping the force-controlled axis are now ignored instead of being executed. Verify your trajectory before starting production. |
| V3.6 | Tool inertia is initialized to [0, 0, 0, 0, 0, 0] when updating from an earlier version. Reconfigure it in the Robot Parameter or Device Manager module if you use it. For data converted from V2, use Device Manager 6.0.0 or higher. |
| V3.5 |
The value parameter was removed from the Modbus signal-adding commands. Programs written for V3.4 or earlier will raise an error popup. Remove the value parameter before running: add_modbus_signal(ip, port, name, reg_type, index, slaveid). |
| V2.12.3 → V3.4 | A manual reboot is required after the first boot when switching a controller used in a V2.12.3 environment over to V3.4. The robot's unique parameters were changed to improve accuracy, and the robot may malfunction if the reboot is skipped. |
Symptom → version, by area
Motion and blending
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
| Motion changes unexpectedly during Task-to-Joint blending | — | V2.12.3 |
| Blending motion malfunctions when calibration parameters (DH) are applied | V3.5.2 / V3.7 | V2.12.5 |
movejx cannot reach the target near a singularity and raises a Joint Limit error (calibration parameters applied) |
V3.6 | V2.12.4 |
movejx solution space becomes unnaturally fixed as the second motion of a blend |
— | V2.12.4 |
Abnormal movej / movejx motion when DH parameters are applied |
— | V2.12.5 |
| Servo On becomes unavailable after an error during motion blending | — | V2.12.5 |
[5.7073] Joint Position Control Error when trailing motions finish before the preceding movej during blending |
— | V2.12.5 |
| Stop distance / stop time inaccurate — stop now calculated from dynamics and available torque | V3.5.2 / V3.7 | V2.12.3 |
| Micro-vibration during motion (M1013, M0617, A0912, H2515, H2017, P3020) | V3.5.2 / V3.7 | V2.12.3 (P3020 not included) |
| Under Voltage / Over Current in certain motions — Power Clamping added (100V–220V) | V3.5.2 / V3.7 (H2017, P3020) | V2.12.3 |
motion_pause() used once, then pause / resume does not progress — only elapsed time increases |
V3.6 | — |
| Positional error after a power cycle (reboot) | V3.4 | V2.12.4 |
Waypoint limit of moveb / amoveb raised from 50 to 300 |
V3.6 | — |
Blending motions skipped when set_auto_acceleration_mode() is executed during program operation |
V3.5 | — |
| Vibration when the program is paused during blending; collision errors and noise at the start of blending | V3.4 | — |
| Acceleration spikes in J2T blending; blending not possible when switching to joint motion in T2J blending | V3.4 | — |
| Joint motion with a specified time fails to generate and raises [4.1025] or [5.7073] | V3.4 | — |
| MoveSJ intermittently moves slowly or does not move at all | V3.4 | — |
| Reduced Speed setting does not go below 10% even when set lower | V3.4 | — |
| Safety speed limit exceeded in Task-to-Task blending, or when Reduced Speed is activated during motion — TCP Speed Clamping added | V3.4 | — |
Servo and real-time control
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
Invalid ServoJ input triggers a cascade of STATE_SAFE_OFF, [4.1025] Position Following Error and connection errors |
V3.7 | — |
| ServoJ Queue midpoint velocity jumps (long segment followed by short segment) | V3.7 | — |
| Overshoot with consecutive ServoJ commands to the same position or within 1° | V3.7 | — |
RT-Servo alarm because target acceleration is -nan
|
V3.7 | — |
speedj_rt position streaming unstable |
V3.7 | — |
| Vibration or unstable motion when streaming in a real-time control environment | — | V2.12.5 |
| Controller error and communication disconnection on out-of-range servo input values | — | V2.12.5 |
| Monitoring data refresh rate raised from 10 Hz to 50 Hz (DRFL API) | V3.5 | — |
speedj / speedl stop when no new command arrives within 0.1 s — the last command is now kept; servoj Queue Mode added |
V3.4 | — |
servoj_rt structure not transmitted properly |
V3.4 | — |
Robot_mode / Robot_state not updated in real-time monitoring (get_rt_control_output_data_list) |
V3.4 | — |
Force control, direct teaching and collision
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
| Vibration during compliance / force control on the A0912s depending on posture and applied force | V3.7.1 | — |
| Vibration when hand-guiding downward with the elbow extended (joint 3 near 0°) on the M0617 | V3.7.1 | — |
| Motion commands overlapping the force-controlled axis destabilise force control (⚠ trajectory may change) | V3.7 | — |
Speed limit for force control added — set_desired_force(..., vel_limit_dir, vel_limit)
|
V3.6 | — |
| False collision [2.9011] immediately after resuming from an RS1 collision stop; remaining motion section skipped | V3.7.1 | — |
| Impact noise when resuming a program after an RS1 stop | V3.7.1 | — |
[2.1908] motor torque = nan during Cockpit constrained motion |
V3.7 | — |
movel in Compliance Mode moves to a relative instead of an absolute position |
— | V2.12.4 |
| Friction calibration can be performed with the tool attached | V3.5 | — |
| False collision detection or TCP force limit errors after long-term storage (M/H series) — simplified JTS Calibration added in Dart-Studio | V3.4 | — |
| Collision detection and end-effector force limit errors below 0 °C (reducer temperature sensor) | V3.4 | — |
| Intermittent collision alarms | V3.4 | — |
| Robot coordinates misaligned after a Protective Stop in the Compliance ON state | V3.4 | — |
| Compliance / Force commands fail with a Joint Torque Limits error when only the posture changed | V3.4 | — |
Measured external force can be reset before force / compliance control — set_external_force_reset added (safety functions unaffected) |
V3.4 | — |
| Collision sensitivity improved on M0609 / M1509 / M0617 (active at sensitivity 76% or higher) | V3.4 | — |
Tool settings (TCP, weight, inertia)
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
TCP / tool weight can only be used after pre-registering an item — temporary tool settings added (set_temp_tcp, set_temp_tool, reset_temp_*) |
V3.5 | — |
Full tool inertia (6 components) can be registered; check_tool_limit(tool) added |
V3.6 | — |
| Save button stays disabled when the Inertia toggle is turned Off | V3.6 | — |
| [2.1117] "COG is too far away" rejects tool CoG combinations on the P3020 that were accepted up to V3.5 (regression introduced in V3.6) | V3.7.1 | — |
[2.1117] "garbage value outside the Start Time range" when set_tool is executed repeatedly |
V3.7 | — |
| Tool weight not measured automatically and immediately reported as complete | V3.5 | — |
set_workpiece_weight can be called during motion (no longer only while stopped) |
V3.5.2 (H2017, P3020) | — |
Safety, recovery and backdrive
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
| Servo ON does not respond after a Space Limit protective stop [2.9012] | V3.7.1 | — |
| Space Limit Zone / robot body collision detection does not work on the P3020 | V3.6 | — |
| Cannot tell which axis brake is released in Backdrive mode — Release / Hold labels, red marking and per-axis warning | V3.5 | V2.12.3 |
| Backdrive and Recovery reachable from the Remote Control dashboard; Cockpit Clamping Escape recovery (hold 3 s to enter, double-click to exit) | V3.6 | — |
| Popup when a Safety Zone value exceeds the global robot limit, with an option to clamp automatically | V3.6 | — |
| Handguiding (L) added to Safety Output settings | V3.6 | — |
| Safety settings on the A and E series can be configured without an automatic Servo On | V3.5 | — |
| SS2_violation during SS2 stops in specific motions on the H series | V3.4 | — |
| External Protective Stop signal can be invalidated in Manual, Recovery and Handguide Control states (re-enabled in Auto) | V3.4 | — |
| CPU errors when using the Protective Stop Auto Reset & Resume signal in Remote Control Mode | V3.4 | — |
Industrial communication
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
| A flood of [1.6013] popups — one per registered signal — when Modbus communication drops; now one popup per failure cause, with slave IP / ID and the failed signal list | V3.7.1 | — |
| EtherNet/IP Set Signal does not transmit and the program waits forever in Play when GPR is set to 'Bit, Int, Float GPR (500 bytes)' | V3.7.1 | — |
| Values written by an external Modbus Master to controller outputs (Modbus Slave) — flange / control box digital outputs, analog outputs — are not applied (regression introduced in V3.6) | V3.7.1 | — |
| [1.6009] Modbus TCP I/O variable output failed, intermittently, while setting / resetting PLC coil values | V3.5.2 | — |
| Server Error after running a program for a long period over Modbus | V3.5.2 | — |
get_modbus_signal_multi() returns wrong values inside a thread |
V3.5.2 | — |
"Already added variable" error after repeated add_modbus_signal_multi() / del_modbus_signal_multi() in a background thread |
V3.5.2 | — |
| Digital Output value rolls back when the Modbus Slave value is changed right after it | V3.5.2 | — |
| Modbus TCP Slave Coil settings not applied (V3.5 defect); Coil GPR read / write range 100–200 added | V3.6 | — |
Modbus Master Coil settings not applied (V3.4 defect); add-signal and set-value separated (⚠ value parameter removed)
|
V3.5 | — |
| Profinet: I/O input range exceeded alarm when the PLC writes ControlBox Digital Output | V3.6 | — |
| EtherNet/IP: server error during long-term operation with a PLC | V3.6 | — |
Industrial communication slave data readable through Dart-API without calling setMonitoring() first |
V3.5 | — |
| Modbus TCP Slave stops accepting the Master after rapid connect / disconnect cycles | V3.4 | — |
| Robot alarm codes readable by external devices through Profinet, EtherNet/IP and Modbus TCP Slave | V3.4 | — |
Task Editor, DRL and Dart-Studio
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
| A function that is not defined in the current program silently runs the definition left over from the previously executed program (affects V3.6 and V3.7 only) | V3.7.1 | — |
| System variable values roll back to the start of the previous run after an unexpected termination such as a power cut | V3.7.1 | — |
| Teach Pendant freezes when selecting a code line in Custom Code debug mode (deeply nested folding ranges) | V3.7.1 | — |
| User Input popup does not show the configured True / False labels | V3.7.1 | — |
| View scrolls to the last line when selecting a row while subs are minimized | V3.7.1 | — |
| Debug variable values not displayed in the Dart-Studio variable watch window (Dart-Studio V3.6.0.1 hotfix) | V3.7 | — |
| Folders can be created in Global Scope, outside Main Sub | V3.6 | — |
get_digital_output(index) added |
V3.6 | — |
| Duplicate variable / function names in Sub, Thread, Run Thread or Repeat overwrite the last declaration | V3.5 | — |
| Wrong line reported by the program syntax check | V3.5 | — |
| Analog Wait command misreads inequality signs | V3.5 | — |
| Pose cannot be saved from the Cockpit when using MoveJ inside a Move command | V3.5 | — |
| Sub / Thread / Sub Task items with an empty execution name cannot be copied and pasted | V3.5 | — |
| Values of attributes such as Collision Sensitivity reset to 0 when disabled in Dart-Studio | V3.6 | — |
movel accepts a posj argument without raising an error |
— | V2.12.5 |
| Error occurrence time and program line number shown when an error occurs | V3.5 | V2.12.3 |
Sub Tasks saved within a Task cannot be run with sub_program_run in Custom Code |
V3.4 | — |
flange_serial_read / flangeSerialReadOn always return the last received data; timeout does not work |
V3.4 | — |
Platform, logs and remote control
| Symptom or change | V3 line | V2.12 line |
|---|---|---|
| Logs are wiped on controller reboot — logs are now retained, and general users can export them as text files | V3.6 | — |
| Log export simplified to selecting a date range only | V3.5 | — |
| Whole system log can be exported during System Log Export | — | V2.12.3 |
| Log screen flickering and lost log records | V3.5 | — |
| Remote Control popups cause resource load — changed to list output | — | V2.12.3 |
| Scroll resets whenever variables refresh in the Remote Control dashboard | V3.6 | — |
| Administrator password can be required when exiting Remote Control with operator authority | V3.5 | — |
| Screen switches to WCM when reclaiming control authority from the TP after the screensaver, blocking safety parameter synchronisation | — | V2.12.5 |
| License error popup does not explain the cause — now shows robot match, key validity and issue location | — | V2.12.3 |
| Start Module (auto-start after boot) and Default User Authority settings added | V3.5 | — |
| Module compatibility with the connected robot model checked at install time | V3.5 | — |
| I/O port conflicts between Robot Parameters and Remote Control — occupancy now shown, duplicate allocation blocked | V3.6 | — |
| "Clicking" noise from minute position correction when calibration parameters are applied | V3.6 | — |
| [4.1054] inverter data loss on abnormal power-off now reports the specific cause (such as joint information) instead of a bare code | V3.6 | — |
| Unexpected error [5.7056] when restarting a program that was stopped mid-execution | — | V2.12.4 |
| Teach Pendant slows down or the robot stops because of excessive log messages; intermittent log loss | V3.4 | — |
| "No space left on device" error during program execution | V3.4 | — |
| Controller logs exported from Dart-Platform can be loaded in Fault Log Analysis; calibration parameters shown in the Fault Log | V3.4 | — |
| Servo Off in Remote Control Mode when using FOCAS for MCT integration | V3.4 | — |
| Motion commands fail after performing the initial homing twice in a row | V3.4 | — |
Model-specific
| Model | Symptom or change | Fixed / added in |
|---|---|---|
| P3020 | Axis 4 speed limit alarm when running movejx immediately after Servo On (forced controller termination on the V2.12 line) |
V3.5.2 / V3.7, V2.12.5 |
| P3020 | Tool CoG rejected with [2.1117] "COG is too far away" (regression from V3.6) | V3.7.1 |
| P3020 | Jog along the Tool Y-axis follows a curve instead of a straight line | V3.6 |
| P3020 | Space Limit Zone / robot body collision detection not working | V3.6 |
| P3020 | J2T blending error when exiting a singularity in Palletizing Mode | V2.12.5 |
| P3020 | Axis limit alarms with set_workpiece_weight; SS2-Violation when stopping the 6th axis; axis angle limit errors in Recovery Mode |
V3.4 |
| E series | Intermittent Precharge Over Current at Servo On with certain grippers attached | V3.4 |
| A series |
set_tool_digital_outputs / get_tool_digital_inputs not working |
V3.4 |
| A0912s | Vibration during compliance / force control depending on posture and force | V3.7.1 |
| M0617 | Vibration when hand-guiding downward with the elbow extended | V3.7.1 |
| H2017, P3020 | Power Clamping; set_workpiece_weight during motion |
V3.5.2 / V3.7 |
| A, E series | Safety settings configurable without an automatic Servo On | V3.5 |
If the symptom is not listed here
An alarm code that keeps recurring after updating to the version listed above is a hardware or configuration issue, not a software defect. Start from the matching alarm code article and the diagnostic guides:
- How to Read Robot Logs with Fault Log Analysis
- Torque Monitoring and Joint Module Diagnosis in DART-Studio
If you cannot find the version your robot is running, or the fix you need is not in any release listed here, please raise a ticket with your integrated version name and the alarm code.
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