SW Version Information

Release Date: 2026.08.31

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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 Motion 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 Force Control Stability In previous versions, motion commands overlapping the force-controlled axis were still executed, which might make the function unstable. From V3.7, overlapping components are replaced by force control and are ignored.

• ※ Trajectories that worked in previous versions may differ in V3.7. After updating, verify the trajectory before starting your process.

Dart-Services

Change to Dart-Services Distribution Starting from V3.7, updates to the Dart-Services program used for the existing virtual simulator are discontinued. Instead, the Simulator and Build Service remain available through the dart-services-compose GitHub repository via terminal commands. It can be run without Docker Desktop, using the open-source Rancher Desktop and terminal commands. The existing program distributed up to V3.6 will no longer receive updates but can still be used.

• GitHub repository: DoosanRobotics/dart-services-compose
• Installation guide: Dart-Services, GitHub README

Bug Fixes

Motion — Servo Motion

• ServoJ Queue midpoint velocity discontinuity fix — Fixed an issue in ServoJ Queue mode where the midpoint velocity changed discontinuously when, in two consecutive commands in the same direction, the first segment was long and the second segment was short.
• Near-identical position overshoot fix — Resolved an issue where overshoot could occur with consecutive ServoJ commands targeting the same position or positions within 1° of each other.
• RT-Servo acceleration NaN alarm fix — Fixed an error where an alarm was triggered because the target acceleration was set to -nan during RT-Servo motion.
• speedj_rt position streaming stability improvement — Resolved an issue where position streaming using speedj_rt was unstable.
• ServoJ invalid input cascading alarm fix — Resolved an issue where entering a ServoJ motion with invalid values caused STATE_SAFE_OFF, Position Following Error [4.1025], connection error, and other alarms to occur in sequence.
• MoveJX axis 4 velocity limit alarm fix — Fixed an axis 4 velocity limit alarm error that occurred when using movejx immediately after servo-on in P3020.
• Blending motion malfunction fix — Fixed a Blending Motion malfunction that occurred when calibration parameters (DH Parameters) were applied.

set_tool Command

• Fixed the [2.1117] "Contains a garbage value outside the Start Time range (0–2 or -10000)" alarm error that occurred when the set_tool command was executed repeatedly.

Dart-Studio Variable Watch Window

• Fixed an issue in Dart-Studio V3.6 where debug variable values were not displayed in the variable watch window, or system variable values were not automatically updated. This fix is included in the Dart-Studio V3.6.0.1 hotfix.

Cockpit Constrained Motion

• Fixed the [2.1908] motor torque = nan error that occurred when performing Cockpit constrained motion under certain conditions.

Dart-Services Simulation

• Fixed a phenomenon where the system operated in deceleration mode even though deceleration mode had not been set.

PREVIOUS RELEASE NOTES

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