SW Version Information

Release Date: 2026.06.08

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Important Notice

When using the robot in the V2.12.3 environment and switching the controller to use V3.4, a manual reboot is required after the initial boot.
This procedure is necessary for optimization following the restoration because the robot's unique parameters were changed to improve accuracy. If the reboot is not performed, the robot may malfunction.

Key Changes

System Stability

Fixed an issue where the screen switched to WCM upon reclaiming control authority via TP Reclaiming control authority from the Teach Pendant after screensaver activation caused the screen to navigate to the WCM, preventing the safety parameters from synchronizing.

Fixed controller malfunction caused by abnormal input values during servo motion Out-of-range invalid inputs during servo motion control caused controller errors and communication disconnections. The system has been modified to properly generate an error for invalid inputs.

Motion Control

Fixed abnormal behavior during MoveJ and MoveJX motions after applying DH parameters Abnormal motions occurred when moving with movej or movejx commands while DH parameters were applied to the robot.

Fixed an issue where no error occurred when inputting the posj type into the movel command Inputting a posj type into the position argument of the DRL movel command proceeded to the next action without displaying an error. It has been modified to properly trigger an error.

Fixed intermittent vibration and unstable motion in real-time control environments The robot experienced vibrations or unstable motion when streaming via real-time commands in a real-time control environment.

Fixed a specific axis speed limit error when executing MoveJX immediately after Servo On On the P3020, executing a motion immediately after Servo On caused a target joint speed limit exceeded error on the 4th axis, leading to a forced termination of the controller.

Fixed a J2T blending motion error when exiting a singularity in Palletizing Mode An error occurred during a J2T blending motion when exiting a singularity zone while Palletizing Mode was active.

Fixed an issue where an error occurred during motion blending and Servo On became unavailable Servo On became impossible due to the blending algorithm's internal calculations when executing the movel command during the movej stabilization process.

Fixed an issue where Error [5.7073] occurred when trailing motions ended early during blending Error [5.7073] Joint Position Control Error occurred if two trailing motions finished before the preceding motion (movej) during the motion blending process.

OTHER RELEASE NOTES IN THE V2.12 SERIES

• V2.12.3 SW Release Note — 2025.10.17
• V2.12.4 SW Release Note — 2025.12.22